// Copyright 2023 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "mediapipe/calculators/tensor/tensor_to_joints_calculator.h"
#include <utility>
#include "mediapipe/calculators/tensor/tensor_to_joints_calculator.pb.h"
#include "mediapipe/framework/calculator_framework.h"
#include "mediapipe/framework/formats/body_rig.pb.h"
#include "mediapipe/framework/formats/tensor.h"
#include "mediapipe/framework/port/ret_check.h"
namespace mediapipe {
namespace api2 {
namespace {
// Number of values in 6D representation of rotation.
constexpr int kRotation6dSize = 6;
} // namespace
class TensorToJointsCalculatorImpl
: public mediapipe::api2::NodeImpl<TensorToJointsCalculator> {
public:
absl::Status Open(CalculatorContext* cc) override {
const auto& options = cc->Options<TensorToJointsCalculatorOptions>();
// Get number of joints.
RET_CHECK_GE(options.num_joints(), 0);
num_joints_ = options.num_joints();
// Get start index.
start_index_ = options.start_index();
return absl::OkStatus();
}
absl::Status Process(CalculatorContext* cc) override {
// Skip if Tensor is empty.
if (kInTensor(cc).IsEmpty()) {
return absl::OkStatus();
}
// Get raw floats from the Tensor.
const Tensor& tensor = kInTensor(cc).Get();
RET_CHECK_EQ(tensor.shape().num_elements(),
num_joints_ * kRotation6dSize + start_index_)
<< "Unexpected number of values in Tensor";
const float* raw_floats = tensor.GetCpuReadView().buffer<float>();
// Convert raw floats into Joint rotations.
JointList joints;
for (int joint_idx = 0; joint_idx < num_joints_; ++joint_idx) {
Joint* joint = joints.add_joint();
for (int idx_6d = 0; idx_6d < kRotation6dSize; ++idx_6d) {
joint->add_rotation_6d(
raw_floats[start_index_ + joint_idx * kRotation6dSize + idx_6d]);
}
}
kOutJoints(cc).Send(std::move(joints));
return absl::OkStatus();
}
private:
int num_joints_ = 0;
int start_index_ = 0;
};
MEDIAPIPE_NODE_IMPLEMENTATION(TensorToJointsCalculatorImpl);
} // namespace api2
} // namespace mediapipe