# MediaPipe graph to filter landmarks temporally (across packets with
# incremental timestamps) to reduce jitter.
#
# EXAMPLE:
# node {
# calculator: "PoseLandmarkFiltering"
# input_side_packet: "ENABLE:enable"
# input_stream: "IMAGE_SIZE:image_size"
# input_stream: "NORM_LANDMARKS:landmarks"
# input_stream: "AUX_NORM_LANDMARKS:aux_landmarks"
# input_stream: "WORLD_LANDMARKS:world_landmarks"
# output_stream: "FILTERED_NORM_LANDMARKS:filtered_landmarks"
# output_stream: "FILTERED_AUX_NORM_LANDMARKS:filtered_aux_landmarks"
# output_stream: "FILTERED_WORLD_LANDMARKS:filtered_world_landmarks"
# }
type: "PoseLandmarkFiltering"
# Whether to enable filtering. If unspecified, functions as enabled. (bool)
input_side_packet: "ENABLE:enable"
# Size of the image (width & height) where the landmarks are estimated from.
# (std::pair<int, int>)
input_stream: "IMAGE_SIZE:image_size"
# Normalized landmarks. (NormalizedLandmarkList)
input_stream: "NORM_LANDMARKS:landmarks"
# Auxiliary set of normalized landmarks. (NormalizedLandmarkList)
input_stream: "AUX_NORM_LANDMARKS:aux_landmarks"
# World landmarks. (LandmarkList)
input_stream: "WORLD_LANDMARKS:world_landmarks"
# Filtered normalized landmarks. (NormalizedLandmarkList)
output_stream: "FILTERED_NORM_LANDMARKS:filtered_landmarks"
# Filtered auxiliary set of normalized landmarks. (NormalizedLandmarkList)
output_stream: "FILTERED_AUX_NORM_LANDMARKS:filtered_aux_landmarks"
# Filtered world landmarks. (LandmarkList)
output_stream: "FILTERED_WORLD_LANDMARKS:filtered_world_landmarks"
# Converts landmarks to a detection that tightly encloses all landmarks.
node {
calculator: "LandmarksToDetectionCalculator"
input_stream: "NORM_LANDMARKS:aux_landmarks"
output_stream: "DETECTION:aux_detection"
}
# Converts detection into a rectangle based on center and scale alignment
# points.
node {
calculator: "AlignmentPointsRectsCalculator"
input_stream: "DETECTION:aux_detection"
input_stream: "IMAGE_SIZE:image_size"
output_stream: "NORM_RECT:roi"
options: {
[mediapipe.DetectionsToRectsCalculatorOptions.ext] {
rotation_vector_start_keypoint_index: 0
rotation_vector_end_keypoint_index: 1
rotation_vector_target_angle_degrees: 90
}
}
}
# Smoothes pose landmark visibilities to reduce jitter.
node {
calculator: "SwitchContainer"
input_side_packet: "ENABLE:enable"
input_stream: "NORM_LANDMARKS:landmarks"
output_stream: "NORM_FILTERED_LANDMARKS:filtered_visibility"
options: {
[mediapipe.SwitchContainerOptions.ext] {
enable: true
contained_node: {
calculator: "VisibilitySmoothingCalculator"
options: {
[mediapipe.VisibilitySmoothingCalculatorOptions.ext] {
no_filter: {}
}
}
}
contained_node: {
calculator: "VisibilitySmoothingCalculator"
options: {
[mediapipe.VisibilitySmoothingCalculatorOptions.ext] {
low_pass_filter {
alpha: 0.1
}
}
}
}
}
}
}
# Smoothes pose landmark coordinates to reduce jitter.
node {
calculator: "SwitchContainer"
input_side_packet: "ENABLE:enable"
input_stream: "NORM_LANDMARKS:filtered_visibility"
input_stream: "IMAGE_SIZE:image_size"
input_stream: "OBJECT_SCALE_ROI:roi"
output_stream: "NORM_FILTERED_LANDMARKS:filtered_landmarks"
options: {
[mediapipe.SwitchContainerOptions.ext] {
enable: true
contained_node: {
calculator: "LandmarksSmoothingCalculator"
options: {
[mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
no_filter: {}
}
}
}
contained_node: {
calculator: "LandmarksSmoothingCalculator"
options: {
[mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
one_euro_filter {
# Min cutoff 0.1 results into ~0.01 alpha in landmark EMA filter
# when landmark is static.
min_cutoff: 0.05
# Beta 80.0 in combintation with min_cutoff 0.05 results into
# ~0.94 alpha in landmark EMA filter when landmark is moving fast.
beta: 80.0
# Derivative cutoff 1.0 results into ~0.17 alpha in landmark
# velocity EMA filter.
derivate_cutoff: 1.0
}
}
}
}
}
}
}
# Smoothes world landmark visibilities to reduce jitter.
node {
calculator: "SwitchContainer"
input_side_packet: "ENABLE:enable"
input_stream: "LANDMARKS:world_landmarks"
output_stream: "FILTERED_LANDMARKS:filtered_world_visibility"
options: {
[mediapipe.SwitchContainerOptions.ext] {
enable: true
contained_node: {
calculator: "VisibilitySmoothingCalculator"
options: {
[mediapipe.VisibilitySmoothingCalculatorOptions.ext] {
no_filter: {}
}
}
}
contained_node: {
calculator: "VisibilitySmoothingCalculator"
options: {
[mediapipe.VisibilitySmoothingCalculatorOptions.ext] {
low_pass_filter {
alpha: 0.1
}
}
}
}
}
}
}
# Smoothes world landmark coordinates to reduce jitter.
node {
calculator: "SwitchContainer"
input_side_packet: "ENABLE:enable"
input_stream: "LANDMARKS:filtered_world_visibility"
output_stream: "FILTERED_LANDMARKS:filtered_world_landmarks"
options: {
[mediapipe.SwitchContainerOptions.ext] {
enable: true
contained_node: {
calculator: "LandmarksSmoothingCalculator"
options: {
[mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
no_filter: {}
}
}
}
contained_node: {
calculator: "LandmarksSmoothingCalculator"
options: {
[mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
one_euro_filter {
# Min cutoff 0.1 results into ~ 0.02 alpha in landmark EMA filter
# when landmark is static.
min_cutoff: 0.1
# Beta 40.0 in combintation with min_cutoff 0.1 results into ~0.8
# alpha in landmark EMA filter when landmark is moving fast.
beta: 40.0
# Derivative cutoff 1.0 results into ~0.17 alpha in landmark
# velocity EMA filter.
derivate_cutoff: 1.0
# As world landmdarks are predicted in real world 3D coordintates
# in meters (rather than in pixels of input image) prediction
# scale does not depend on the pose size in the image.
disable_value_scaling: true
}
}
}
}
}
}
}
# Smoothes auxiliary landmark visibilities to reduce jitter.
node {
calculator: "VisibilitySmoothingCalculator"
input_stream: "NORM_LANDMARKS:aux_landmarks"
output_stream: "NORM_FILTERED_LANDMARKS:filtered_aux_visibility"
options: {
[mediapipe.VisibilitySmoothingCalculatorOptions.ext] {
low_pass_filter {
alpha: 0.1
}
}
}
}
# Smoothes auxiliary landmarks to reduce jitter.
node {
calculator: "LandmarksSmoothingCalculator"
input_stream: "NORM_LANDMARKS:filtered_aux_visibility"
input_stream: "IMAGE_SIZE:image_size"
input_stream: "OBJECT_SCALE_ROI:roi"
output_stream: "NORM_FILTERED_LANDMARKS:filtered_aux_landmarks"
options: {
[mediapipe.LandmarksSmoothingCalculatorOptions.ext] {
# Auxiliary landmarks are smoothed heavier than main landmarks to
# make ROI crop for pose landmarks prediction very stable when
# object is not moving but responsive enough in case of sudden
# movements.
one_euro_filter {
# Min cutoff 0.01 results into ~0.002 alpha in landmark EMA
# filter when landmark is static.
min_cutoff: 0.01
# Beta 10.0 in combintation with min_cutoff 0.01 results into ~0.68
# alpha in landmark EMA filter when landmark is moving fast.
beta: 10.0
# Derivative cutoff 1.0 results into ~0.17 alpha in landmark
# velocity EMA filter.
derivate_cutoff: 1.0
}
}
}
}
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