Project import generated by Copybara.

GitOrigin-RevId: 4419aaa472eeb91123d1f8576188166ee0e5ea69

.bazelrc

@@ -12,13 +12,16 @@ build --copt='-Wno-comment'
 build --copt='-Wno-return-type'
 build --copt='-Wno-unused-local-typedefs'
 build --copt='-Wno-ignored-attributes'
-# Temporarily set the incompatiblity flag for Bazel 0.27.0 and above
+# Temporarily set the incompatibility flag for Bazel 0.27.0 and above
 build --incompatible_disable_deprecated_attr_params=false
 build --incompatible_depset_is_not_iterable=false
 
 # Sets the default Apple platform to macOS.
 build --apple_platform_type=macos
 
+# Allow debugging with XCODE
+build --apple_generate_dsym
+
 # Android configs.
 build:android --crosstool_top=//external:android/crosstool
 build:android --host_crosstool_top=@bazel_tools//tools/cpp:toolchain

Dockerfile

@@ -30,10 +30,13 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
         unzip \
         python \
         python-pip \
+        python3-pip \
         libopencv-core-dev \
         libopencv-highgui-dev \
         libopencv-imgproc-dev \
         libopencv-video-dev \
+        libopencv-calib3d-dev \
+        libopencv-features2d-dev \
         software-properties-common && \
     add-apt-repository -y ppa:openjdk-r/ppa && \
     apt-get update && apt-get install -y openjdk-8-jdk && \
@@ -42,9 +45,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN pip install --upgrade setuptools
 RUN pip install future
+RUN pip3 install six
 
 # Install bazel
-ARG BAZEL_VERSION=0.26.1
+ARG BAZEL_VERSION=1.1.0
 RUN mkdir /bazel && \
     wget --no-check-certificate -O /bazel/installer.sh "https://github.com/bazelbuild/bazel/releases/download/${BAZEL_VERSION}/b\
 azel-${BAZEL_VERSION}-installer-linux-x86_64.sh" && \

README.md

@@ -1,7 +1,7 @@
 ![MediaPipe](mediapipe/docs/images/mediapipe_small.png?raw=true "MediaPipe logo")
 =======================================================================
 
-[MediaPipe](http://mediapipe.dev) is a framework for building multimodal (eg. video, audio, any time series data) applied ML pipelines. With MediaPipe, a perception pipeline can be built as a graph of modular components, including, for instance, inference models (e.g., TensorFlow, TFLite) and media processing functions.
+[MediaPipe](http://mediapipe.dev) is a framework for building multimodal (eg. video, audio, any time series data), cross platform (i.e Android, iOS, web, edge devices) applied ML pipelines. With MediaPipe, a perception pipeline can be built as a graph of modular components, including, for instance, inference models (e.g., TensorFlow, TFLite) and media processing functions.
 
 ![Real-time Face Detection](mediapipe/docs/images/realtime_face_detection.gif)
 
@@ -9,21 +9,28 @@
 
 ## ML Solutions in MediaPipe
 
-* [Hand Tracking](mediapipe/docs/hand_tracking_mobile_gpu.md)
+* [Face Detection](mediapipe/docs/face_detection_mobile_gpu.md) [[Web Demo]](https://viz.mediapipe.dev/runner/demos/face_detection/face_detection.html)
-* [Face Detection](mediapipe/docs/face_detection_mobile_gpu.md)
+* [Multi-hand Tracking](mediapipe/docs/multi_hand_tracking_mobile_gpu.md)
-* [Hair Segmentation](mediapipe/docs/hair_segmentation_mobile_gpu.md)
+* [Hand Tracking](mediapipe/docs/hand_tracking_mobile_gpu.md) [[Web Demo]](https://viz.mediapipe.dev/runner/demos/hand_tracking/hand_tracking.html)
+* [Hair Segmentation](mediapipe/docs/hair_segmentation_mobile_gpu.md) [[Web Demo]](https://viz.mediapipe.dev/runner/demos/hair_segmentation/hair_segmentation.html)
 * [Object Detection](mediapipe/docs/object_detection_mobile_gpu.md)
+* [Object Detection and Tracking](mediapipe/docs/object_tracking_mobile_gpu.md)
+* [Objectron: 3D Object Detection and Tracking](mediapipe/docs/objectron_mobile_gpu.md)
+* [AutoFlip](mediapipe/docs/autoflip.md)
 
-![hand_tracking](mediapipe/docs/images/mobile/hand_tracking_3d_android_gpu_small.gif)
 ![face_detection](mediapipe/docs/images/mobile/face_detection_android_gpu_small.gif)
+![multi-hand_tracking](mediapipe/docs/images/mobile/multi_hand_tracking_android_gpu_small.gif)
+![hand_tracking](mediapipe/docs/images/mobile/hand_tracking_3d_android_gpu_small.gif)
 ![hair_segmentation](mediapipe/docs/images/mobile/hair_segmentation_android_gpu_small.gif)
-![object_detection](mediapipe/docs/images/mobile/object_detection_android_gpu_small.gif)
+![object_tracking](mediapipe/docs/images/mobile/object_tracking_android_gpu_small.gif)
 
 ## Installation
 Follow these [instructions](mediapipe/docs/install.md).
 
 ## Getting started
-See mobile and desktop [examples](mediapipe/docs/examples.md).
+See mobile, desktop and Google Coral [examples](mediapipe/docs/examples.md).
+
+Check out some web demos [[Edge detection]](https://viz.mediapipe.dev/runner/demos/edge_detection/edge_detection.html) [[Face detection]](https://viz.mediapipe.dev/runner/demos/face_detection/face_detection.html) [[Hand Tracking]](https://viz.mediapipe.dev/runner/demos/hand_tracking/hand_tracking.html)
 
 ## Documentation
 [MediaPipe Read-the-Docs](https://mediapipe.readthedocs.io/) or [docs.mediapipe.dev](https://docs.mediapipe.dev)
@@ -33,14 +40,19 @@ Check out the [Examples page](https://mediapipe.readthedocs.io/en/latest/example
 ## Visualizing MediaPipe graphs
 A web-based visualizer is hosted on [viz.mediapipe.dev](https://viz.mediapipe.dev/). Please also see instructions [here](mediapipe/docs/visualizer.md).
 
-## Community forum
+## Videos
-*  [Discuss](https://groups.google.com/forum/#!forum/mediapipe) - General community discussion around MediaPipe
+*  [YouTube Channel](https://www.youtube.com/channel/UCObqmpuSMx-usADtL_qdMAw)
 
 ## Publications
+* [MediaPipe Objectron: Real-time 3D Object Detection on Mobile Devices](https://mediapipe.page.link/objectron-aiblog)
+* [AutoFlip: An Open Source Framework for Intelligent Video Reframing](https://mediapipe.page.link/autoflip)
+* [Google Developer Blog: MediaPipe on the Web](https://mediapipe.page.link/webdevblog)
+* [Google Developer Blog: Object Detection and Tracking using MediaPipe](https://mediapipe.page.link/objecttrackingblog)
 * [On-Device, Real-Time Hand Tracking with MediaPipe](https://ai.googleblog.com/2019/08/on-device-real-time-hand-tracking-with.html)
 * [MediaPipe: A Framework for Building Perception Pipelines](https://arxiv.org/abs/1906.08172)
 
 ## Events
+* [AI Nextcon 2020, 12-16 Feb 2020, Seattle](http://aisea20.xnextcon.com/)
 * [MediaPipe Madrid Meetup, 16 Dec 2019](https://www.meetup.com/Madrid-AI-Developers-Group/events/266329088/)
 * [MediaPipe London Meetup, Google 123 Building, 12 Dec 2019](https://www.meetup.com/London-AI-Tech-Talk/events/266329038)
 * [ML Conference, Berlin, 11 Dec 2019](https://mlconference.ai/machine-learning-advanced-development/mediapipe-building-real-time-cross-platform-mobile-web-edge-desktop-video-audio-ml-pipelines/)
@@ -50,8 +62,11 @@ A web-based visualizer is hosted on [viz.mediapipe.dev](https://viz.mediapipe.de
 * [Google Industry Workshop at ICIP 2019](http://2019.ieeeicip.org/?action=page4&id=14#Google) [Presentation](https://docs.google.com/presentation/d/e/2PACX-1vRIBBbO_LO9v2YmvbHHEt1cwyqH6EjDxiILjuT0foXy1E7g6uyh4CesB2DkkEwlRDO9_lWfuKMZx98T/pub?start=false&loop=false&delayms=3000&slide=id.g556cc1a659_0_5) on Sept 24 in Taipei, Taiwan
 * [Open sourced at CVPR 2019](https://sites.google.com/corp/view/perception-cv4arvr/mediapipe) on June 17~20 in Long Beach, CA
 
+## Community forum
+*  [Discuss](https://groups.google.com/forum/#!forum/mediapipe) - General community discussion around MediaPipe
+
 ## Alpha Disclaimer
-MediaPipe is currently in alpha for v0.6. We are still making breaking API changes and expect to get to stable API by v1.0.
+MediaPipe is currently in alpha for v0.7. We are still making breaking API changes and expect to get to stable API by v1.0.
 
 ## Contributing
 We welcome contributions. Please follow these [guidelines](./CONTRIBUTING.md).

WORKSPACE

@@ -10,19 +10,25 @@ http_archive(
     sha256 = "2ef429f5d7ce7111263289644d233707dba35e39696377ebab8b0bc701f7818e",
 )
 load("@bazel_skylib//lib:versions.bzl", "versions")
-versions.check(minimum_bazel_version = "0.24.1")
+versions.check(minimum_bazel_version = "1.0.0",
+               maximum_bazel_version = "1.2.1")
 
-# ABSL cpp library.
+
+# ABSL cpp library lts_2020_02_25
 http_archive(
     name = "com_google_absl",
-    # Head commit on 2019-04-12.
-    # TODO: Switch to the latest absl version when the problem gets
-    # fixed.
     urls = [
-        "https://github.com/abseil/abseil-cpp/archive/a02f62f456f2c4a7ecf2be3104fe0c6e16fbad9a.tar.gz",
+        "https://github.com/abseil/abseil-cpp/archive/20200225.tar.gz",
     ],
-    sha256 = "d437920d1434c766d22e85773b899c77c672b8b4865d5dc2cd61a29fdff3cf03",
+    # Remove after https://github.com/abseil/abseil-cpp/issues/326 is solved.
-    strip_prefix = "abseil-cpp-a02f62f456f2c4a7ecf2be3104fe0c6e16fbad9a",
+    patches = [
+        "@//third_party:com_google_absl_f863b622fe13612433fdf43f76547d5edda0c93001.diff"
+    ],
+    patch_args = [
+        "-p1",
+    ],
+    strip_prefix = "abseil-cpp-20200225",
+    sha256 = "728a813291bdec2aa46eab8356ace9f75ac2ed9dfe2df5ab603c4e6c09f1c353"
 )
 
 http_archive(
@@ -72,6 +78,14 @@ http_archive(
     ],
 )
 
+# easyexif
+http_archive(
+    name = "easyexif",
+    url = "https://github.com/mayanklahiri/easyexif/archive/master.zip",
+    strip_prefix = "easyexif-master",
+    build_file = "@//third_party:easyexif.BUILD",
+)
+
 # libyuv
 http_archive(
     name = "libyuv",
@@ -103,15 +117,23 @@ http_archive(
     ],
 )
 
-# 2019-11-12
+# 2020-02-12
-_TENSORFLOW_GIT_COMMIT = "a5f9bcd64453ff3d1f64cb4da4786db3d2da7f82"
+# The last commit before TensorFlow switched to Bazel 2.0
-_TENSORFLOW_SHA256= "f2b6f2ab2ffe63e86eccd3ce4bea6b7197383d726638dfeeebcdc1e7de73f075"
+_TENSORFLOW_GIT_COMMIT = "77e9ffb9b2bfb1a4f7056e62d84039626923e328"
+_TENSORFLOW_SHA256= "176ccd82f7dd17c5e117b50d353603b129c7a6ccbfebd522ca47cc2a40f33f13"
 http_archive(
     name = "org_tensorflow",
     urls = [
       "https://mirror.bazel.build/github.com/tensorflow/tensorflow/archive/%s.tar.gz" % _TENSORFLOW_GIT_COMMIT,
       "https://github.com/tensorflow/tensorflow/archive/%s.tar.gz" % _TENSORFLOW_GIT_COMMIT,
     ],
+    # A compatibility patch
+    patches = [
+        "@//third_party:org_tensorflow_528e22eae8bf3206189a066032c66e9e5c9b4a61.diff"
+    ],
+    patch_args = [
+        "-p1",
+    ],
     strip_prefix = "tensorflow-%s" % _TENSORFLOW_GIT_COMMIT,
     sha256 = _TENSORFLOW_SHA256,
 )
@@ -119,8 +141,22 @@ http_archive(
 load("@org_tensorflow//tensorflow:workspace.bzl", "tf_workspace")
 tf_workspace(tf_repo_name = "org_tensorflow")
 
+http_archive(
+    name = "ceres_solver",
+    url = "https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip",
+    patches = [
+        "@//third_party:ceres_solver_9bf9588988236279e1262f75d7f4d85711dfa172.diff"
+    ],
+    patch_args = [
+        "-p1",
+    ],
+    strip_prefix = "ceres-solver-1.14.0",
+    sha256 = "5ba6d0db4e784621fda44a50c58bb23b0892684692f0c623e2063f9c19f192f1"
+)
+
 # Please run
 # $ sudo apt-get install libopencv-core-dev libopencv-highgui-dev \
+#                        libopencv-calib3d-dev libopencv-features2d-dev \
 #                        libopencv-imgproc-dev libopencv-video-dev
 new_local_repository(
     name = "linux_opencv",
@@ -149,11 +185,10 @@ new_local_repository(
 
 http_archive(
     name = "android_opencv",
-    sha256 = "056b849842e4fa8751d09edbb64530cfa7a63c84ccd232d0ace330e27ba55d0b",
     build_file = "@//third_party:opencv_android.BUILD",
     strip_prefix = "OpenCV-android-sdk",
     type = "zip",
-    url = "https://github.com/opencv/opencv/releases/download/4.1.0/opencv-4.1.0-android-sdk.zip",
+    url = "https://github.com/opencv/opencv/releases/download/3.4.3/opencv-3.4.3-android-sdk.zip",
 )
 
 # After OpenCV 3.2.0, the pre-compiled opencv2.framework has google protobuf symbols, which will
@@ -184,13 +219,18 @@ maven_install(
     artifacts = [
         "androidx.annotation:annotation:aar:1.1.0",
         "androidx.appcompat:appcompat:aar:1.1.0-rc01",
+        "androidx.camera:camera-core:aar:1.0.0-alpha06",
+        "androidx.camera:camera-camera2:aar:1.0.0-alpha06",
         "androidx.constraintlayout:constraintlayout:aar:1.1.3",
         "androidx.core:core:aar:1.1.0-rc03",
         "androidx.legacy:legacy-support-v4:aar:1.0.0",
         "androidx.recyclerview:recyclerview:aar:1.1.0-beta02",
         "com.google.android.material:material:aar:1.0.0-rc01",
     ],
-    repositories = ["https://dl.google.com/dl/android/maven2"],
+    repositories = [
+        "https://dl.google.com/dl/android/maven2",
+        "https://repo1.maven.org/maven2",
+    ],
 )
 
 maven_server(
@@ -206,10 +246,10 @@ maven_jar(
 )
 
 maven_jar(
-     name = "androidx_concurrent_futures",
+    name = "androidx_concurrent_futures",
-     artifact = "androidx.concurrent:concurrent-futures:1.0.0-alpha03",
+    artifact = "androidx.concurrent:concurrent-futures:1.0.0-alpha03",
-     sha1 = "b528df95c7e2fefa2210c0c742bf3e491c1818ae",
+    sha1 = "b528df95c7e2fefa2210c0c742bf3e491c1818ae",
-     server = "google_server",
+    server = "google_server",
 )
 
 maven_jar(
@@ -284,3 +324,4 @@ http_archive(
     strip_prefix = "google-toolbox-for-mac-2.2.1",
     build_file = "@//third_party:google_toolbox_for_mac.BUILD",
 )
+

mediapipe/MediaPipe.tulsiproj/Configs/MediaPipe.tulsigen

@@ -9,6 +9,7 @@
     "mediapipe/examples/ios/facedetectiongpu/BUILD",
     "mediapipe/examples/ios/handdetectiongpu/BUILD",
     "mediapipe/examples/ios/handtrackinggpu/BUILD",
+    "mediapipe/examples/ios/multihandtrackinggpu/BUILD",
     "mediapipe/examples/ios/objectdetectioncpu/BUILD",
     "mediapipe/examples/ios/objectdetectiongpu/BUILD"
   ],
@@ -18,6 +19,7 @@
     "//mediapipe/examples/ios/facedetectiongpu:FaceDetectionGpuApp",
     "//mediapipe/examples/ios/handdetectiongpu:HandDetectionGpuApp",
     "//mediapipe/examples/ios/handtrackinggpu:HandTrackingGpuApp",
+    "//mediapipe/examples/ios/multihandtrackinggpu:MultiHandTrackingGpuApp",
     "//mediapipe/examples/ios/objectdetectioncpu:ObjectDetectionCpuApp",
     "//mediapipe/examples/ios/objectdetectiongpu:ObjectDetectionGpuApp",
     "//mediapipe/objc:mediapipe_framework_ios"
@@ -84,6 +86,8 @@
     "mediapipe/examples/ios/handdetectiongpu/Base.lproj",
     "mediapipe/examples/ios/handtrackinggpu",
     "mediapipe/examples/ios/handtrackinggpu/Base.lproj",
+    "mediapipe/examples/ios/multihandtrackinggpu",
+    "mediapipe/examples/ios/multihandtrackinggpu/Base.lproj",
     "mediapipe/examples/ios/objectdetectioncpu",
     "mediapipe/examples/ios/objectdetectioncpu/Base.lproj",
     "mediapipe/examples/ios/objectdetectiongpu",

mediapipe/MediaPipe.tulsiproj/project.tulsiconf

@@ -16,6 +16,7 @@
     "mediapipe/examples/ios/facedetectiongpu",
     "mediapipe/examples/ios/handdetectiongpu",
     "mediapipe/examples/ios/handtrackinggpu",
+    "mediapipe/examples/ios/multihandtrackinggpu",
     "mediapipe/examples/ios/objectdetectioncpu",
     "mediapipe/examples/ios/objectdetectiongpu"
   ],

mediapipe/calculators/core/BUILD

@@ -47,6 +47,13 @@ proto_library(
     deps = ["//mediapipe/framework:calculator_proto"],
 )
 
+proto_library(
+    name = "packet_thinner_calculator_proto",
+    srcs = ["packet_thinner_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = ["//mediapipe/framework:calculator_proto"],
+)
+
 proto_library(
     name = "split_vector_calculator_proto",
     srcs = ["split_vector_calculator.proto"],
@@ -79,6 +86,15 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "constant_side_packet_calculator_proto",
+    srcs = ["constant_side_packet_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+    ],
+)
+
 proto_library(
     name = "clip_vector_size_calculator_proto",
     srcs = ["clip_vector_size_calculator.proto"],
@@ -102,6 +118,14 @@ mediapipe_cc_proto_library(
     deps = [":packet_resampler_calculator_proto"],
 )
 
+mediapipe_cc_proto_library(
+    name = "packet_thinner_calculator_cc_proto",
+    srcs = ["packet_thinner_calculator.proto"],
+    cc_deps = ["//mediapipe/framework:calculator_cc_proto"],
+    visibility = ["//visibility:public"],
+    deps = [":packet_thinner_calculator_proto"],
+)
+
 mediapipe_cc_proto_library(
     name = "split_vector_calculator_cc_proto",
     srcs = ["split_vector_calculator.proto"],
@@ -158,6 +182,14 @@ mediapipe_cc_proto_library(
     deps = [":gate_calculator_proto"],
 )
 
+mediapipe_cc_proto_library(
+    name = "constant_side_packet_calculator_cc_proto",
+    srcs = ["constant_side_packet_calculator.proto"],
+    cc_deps = ["//mediapipe/framework:calculator_cc_proto"],
+    visibility = ["//visibility:public"],
+    deps = [":constant_side_packet_calculator_proto"],
+)
+
 cc_library(
     name = "add_header_calculator",
     srcs = ["add_header_calculator.cc"],
@@ -165,6 +197,7 @@ cc_library(
     deps = [
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework/port:logging",
+        "//mediapipe/framework/port:status",
     ],
     alwayslink = 1,
 )
@@ -283,7 +316,6 @@ cc_test(
     srcs = ["concatenate_vector_calculator_test.cc"],
     deps = [
         ":concatenate_vector_calculator",
-        "//mediapipe/calculators/core:packet_resampler_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework:timestamp",
@@ -450,6 +482,37 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "packet_thinner_calculator",
+    srcs = ["packet_thinner_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/calculators/core:packet_thinner_calculator_cc_proto",
+        "//mediapipe/framework:calculator_context",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:video_stream_header",
+        "//mediapipe/framework/port:integral_types",
+        "//mediapipe/framework/port:logging",
+        "//mediapipe/framework/port:status",
+    ],
+    alwayslink = 1,
+)
+
+cc_test(
+    name = "packet_thinner_calculator_test",
+    srcs = ["packet_thinner_calculator_test.cc"],
+    deps = [
+        ":packet_thinner_calculator",
+        "//mediapipe/calculators/core:packet_thinner_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:calculator_runner",
+        "//mediapipe/framework/formats:video_stream_header",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:integral_types",
+        "@com_google_absl//absl/strings",
+    ],
+)
+
 cc_library(
     name = "pass_through_calculator",
     srcs = ["pass_through_calculator.cc"],
@@ -547,6 +610,22 @@ cc_library(
     alwayslink = 1,
 )
 
+cc_test(
+    name = "side_packet_to_stream_calculator_test",
+    srcs = ["side_packet_to_stream_calculator_test.cc"],
+    deps = [
+        ":side_packet_to_stream_calculator",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:integral_types",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/framework/tool:options_util",
+        "@com_google_absl//absl/memory",
+        "@com_google_absl//absl/strings",
+    ],
+)
+
 cc_test(
     name = "immediate_mux_calculator_test",
     srcs = ["immediate_mux_calculator_test.cc"],
@@ -571,6 +650,7 @@ cc_test(
 cc_library(
     name = "packet_resampler_calculator",
     srcs = ["packet_resampler_calculator.cc"],
+    hdrs = ["packet_resampler_calculator.h"],
     visibility = [
         "//visibility:public",
     ],
@@ -594,17 +674,17 @@ cc_library(
 cc_test(
     name = "packet_resampler_calculator_test",
     timeout = "short",
-    srcs = ["packet_resampler_calculator_test.cc"],
+    srcs = [
+        "packet_resampler_calculator_test.cc",
+    ],
     deps = [
         ":packet_resampler_calculator",
         "//mediapipe/calculators/core:packet_resampler_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework:calculator_runner",
-        "//mediapipe/framework:timestamp",
         "//mediapipe/framework/formats:video_stream_header",
         "//mediapipe/framework/port:gtest_main",
         "//mediapipe/framework/port:parse_text_proto",
-        "//mediapipe/framework/port:status",
         "@com_google_absl//absl/strings",
     ],
 )
@@ -691,12 +771,19 @@ cc_library(
         ":split_vector_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/framework/formats:rect_cc_proto",
         "//mediapipe/framework/port:ret_check",
         "//mediapipe/framework/port:status",
         "//mediapipe/util:resource_util",
         "@org_tensorflow//tensorflow/lite:framework",
         "@org_tensorflow//tensorflow/lite/kernels:builtin_ops",
-    ],
+    ] + select({
+        "//mediapipe/gpu:disable_gpu": [],
+        "//mediapipe:ios": [],
+        "//conditions:default": [
+            "@org_tensorflow//tensorflow/lite/delegates/gpu/gl:gl_buffer",
+        ],
+    }),
     alwayslink = 1,
 )
 
@@ -906,3 +993,30 @@ cc_test(
         "@com_google_absl//absl/memory",
     ],
 )
+
+cc_library(
+    name = "constant_side_packet_calculator",
+    srcs = ["constant_side_packet_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":constant_side_packet_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:collection_item_id",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+    ],
+    alwayslink = 1,
+)
+
+cc_test(
+    name = "constant_side_packet_calculator_test",
+    srcs = ["constant_side_packet_calculator_test.cc"],
+    deps = [
+        ":constant_side_packet_calculator",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+        "@com_google_absl//absl/strings",
+    ],
+)

mediapipe/calculators/core/add_header_calculator.cc

@@ -13,11 +13,12 @@
 // limitations under the License.
 
 #include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/port/canonical_errors.h"
 #include "mediapipe/framework/port/logging.h"
 
 namespace mediapipe {
 
-// Attach the header from one stream to another stream.
+// Attach the header from a stream or side input to another stream.
 //
 // The header stream (tag HEADER) must not have any packets in it.
 //
@@ -25,17 +26,53 @@ namespace mediapipe {
 // calculator to not need a header or to accept a separate stream with
 // a header, that would be more future proof.
 //
+// Example usage 1:
+// node {
+//   calculator: "AddHeaderCalculator"
+//   input_stream: "DATA:audio"
+//   input_stream: "HEADER:audio_header"
+//   output_stream: "audio_with_header"
+// }
+//
+// Example usage 2:
+// node {
+//   calculator: "AddHeaderCalculator"
+//   input_stream: "DATA:audio"
+//   input_side_packet: "HEADER:audio_header"
+//   output_stream: "audio_with_header"
+// }
+//
 class AddHeaderCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
-    cc->Inputs().Tag("HEADER").SetNone();
+    bool has_side_input = false;
+    bool has_header_stream = false;
+    if (cc->InputSidePackets().HasTag("HEADER")) {
+      cc->InputSidePackets().Tag("HEADER").SetAny();
+      has_side_input = true;
+    }
+    if (cc->Inputs().HasTag("HEADER")) {
+      cc->Inputs().Tag("HEADER").SetNone();
+      has_header_stream = true;
+    }
+    if (has_side_input == has_header_stream) {
+      return mediapipe::InvalidArgumentError(
+          "Header must be provided via exactly one of side input and input "
+          "stream");
+    }
     cc->Inputs().Tag("DATA").SetAny();
     cc->Outputs().Index(0).SetSameAs(&cc->Inputs().Tag("DATA"));
     return ::mediapipe::OkStatus();
   }
 
   ::mediapipe::Status Open(CalculatorContext* cc) override {
-    const Packet& header = cc->Inputs().Tag("HEADER").Header();
+    Packet header;
+    if (cc->InputSidePackets().HasTag("HEADER")) {
+      header = cc->InputSidePackets().Tag("HEADER");
+    }
+    if (cc->Inputs().HasTag("HEADER")) {
+      header = cc->Inputs().Tag("HEADER").Header();
+    }
     if (!header.IsEmpty()) {
       cc->Outputs().Index(0).SetHeader(header);
     }

mediapipe/calculators/core/add_header_calculator_test.cc

@@ -14,8 +14,10 @@
 
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/calculator_runner.h"
+#include "mediapipe/framework/port/canonical_errors.h"
 #include "mediapipe/framework/port/gmock.h"
 #include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/status.h"
 #include "mediapipe/framework/port/status_matchers.h"
 #include "mediapipe/framework/timestamp.h"
 #include "mediapipe/framework/tool/validate_type.h"
@@ -24,7 +26,7 @@ namespace mediapipe {
 
 class AddHeaderCalculatorTest : public ::testing::Test {};
 
-TEST_F(AddHeaderCalculatorTest, Works) {
+TEST_F(AddHeaderCalculatorTest, HeaderStream) {
   CalculatorGraphConfig::Node node;
   node.set_calculator("AddHeaderCalculator");
   node.add_input_stream("HEADER:header_stream");
@@ -96,4 +98,62 @@ TEST_F(AddHeaderCalculatorTest, NoPacketsOnHeaderStream) {
   ASSERT_FALSE(runner.Run().ok());
 }
 
+TEST_F(AddHeaderCalculatorTest, InputSidePacket) {
+  CalculatorGraphConfig::Node node;
+  node.set_calculator("AddHeaderCalculator");
+  node.add_input_stream("DATA:data_stream");
+  node.add_output_stream("merged_stream");
+  node.add_input_side_packet("HEADER:header");
+
+  CalculatorRunner runner(node);
+
+  // Set header and add 5 packets.
+  runner.MutableSidePackets()->Tag("HEADER") =
+      Adopt(new std::string("my_header"));
+  for (int i = 0; i < 5; ++i) {
+    Packet packet = Adopt(new int(i)).At(Timestamp(i * 1000));
+    runner.MutableInputs()->Tag("DATA").packets.push_back(packet);
+  }
+
+  // Run calculator.
+  MP_ASSERT_OK(runner.Run());
+
+  ASSERT_EQ(1, runner.Outputs().NumEntries());
+
+  // Test output.
+  EXPECT_EQ(std::string("my_header"),
+            runner.Outputs().Index(0).header.Get<std::string>());
+  const std::vector<Packet>& output_packets = runner.Outputs().Index(0).packets;
+  ASSERT_EQ(5, output_packets.size());
+  for (int i = 0; i < 5; ++i) {
+    const int val = output_packets[i].Get<int>();
+    EXPECT_EQ(i, val);
+    EXPECT_EQ(Timestamp(i * 1000), output_packets[i].Timestamp());
+  }
+}
+
+TEST_F(AddHeaderCalculatorTest, UsingBothSideInputAndStream) {
+  CalculatorGraphConfig::Node node;
+  node.set_calculator("AddHeaderCalculator");
+  node.add_input_stream("HEADER:header_stream");
+  node.add_input_stream("DATA:data_stream");
+  node.add_output_stream("merged_stream");
+  node.add_input_side_packet("HEADER:header");
+
+  CalculatorRunner runner(node);
+
+  // Set both headers and add 5 packets.
+  runner.MutableSidePackets()->Tag("HEADER") =
+      Adopt(new std::string("my_header"));
+  runner.MutableSidePackets()->Tag("HEADER") =
+      Adopt(new std::string("my_header"));
+  for (int i = 0; i < 5; ++i) {
+    Packet packet = Adopt(new int(i)).At(Timestamp(i * 1000));
+    runner.MutableInputs()->Tag("DATA").packets.push_back(packet);
+  }
+
+  // Run should fail because header can only be provided one way.
+  EXPECT_EQ(runner.Run().code(), ::mediapipe::InvalidArgumentError("").code());
+}
+
 }  // namespace mediapipe

mediapipe/calculators/core/begin_loop_calculator.cc

@@ -21,16 +21,10 @@
 
 namespace mediapipe {
 
-// A calculator to process std::vector<NormalizedLandmark>.
+// A calculator to process std::vector<NormalizedLandmarkList>.
-typedef BeginLoopCalculator<std::vector<::mediapipe::NormalizedLandmark>>
+typedef BeginLoopCalculator<std::vector<::mediapipe::NormalizedLandmarkList>>
-    BeginLoopNormalizedLandmarkCalculator;
+    BeginLoopNormalizedLandmarkListVectorCalculator;
-REGISTER_CALCULATOR(BeginLoopNormalizedLandmarkCalculator);
+REGISTER_CALCULATOR(BeginLoopNormalizedLandmarkListVectorCalculator);
-
-// A calculator to process std::vector<std::vector<NormalizedLandmark>>.
-typedef BeginLoopCalculator<
-    std::vector<std::vector<::mediapipe::NormalizedLandmark>>>
-    BeginLoopNormalizedLandmarksVectorCalculator;
-REGISTER_CALCULATOR(BeginLoopNormalizedLandmarksVectorCalculator);
 
 // A calculator to process std::vector<NormalizedRect>.
 typedef BeginLoopCalculator<std::vector<::mediapipe::NormalizedRect>>

mediapipe/calculators/core/clip_vector_size_calculator.h

@@ -38,6 +38,8 @@ namespace mediapipe {
 //     }
 //   }
 // }
+// Optionally, you can pass in a side packet that will override `max_vec_size`
+// that is specified in the options.
 template <typename T>
 class ClipVectorSizeCalculator : public CalculatorBase {
  public:
@@ -53,6 +55,10 @@ class ClipVectorSizeCalculator : public CalculatorBase {
 
     cc->Inputs().Index(0).Set<std::vector<T>>();
     cc->Outputs().Index(0).Set<std::vector<T>>();
+    // Optional input side packet that determines `max_vec_size`.
+    if (cc->InputSidePackets().NumEntries() > 0) {
+      cc->InputSidePackets().Index(0).Set<int>();
+    }
 
     return ::mediapipe::OkStatus();
   }
@@ -61,6 +67,11 @@ class ClipVectorSizeCalculator : public CalculatorBase {
     cc->SetOffset(TimestampDiff(0));
     max_vec_size_ = cc->Options<::mediapipe::ClipVectorSizeCalculatorOptions>()
                         .max_vec_size();
+    // Override `max_vec_size` if passed as side packet.
+    if (cc->InputSidePackets().NumEntries() > 0 &&
+        !cc->InputSidePackets().Index(0).IsEmpty()) {
+      max_vec_size_ = cc->InputSidePackets().Index(0).Get<int>();
+    }
     return ::mediapipe::OkStatus();
   }
 

mediapipe/calculators/core/clip_vector_size_calculator_test.cc

@@ -176,4 +176,31 @@ TEST(TestClipUniqueIntPtrVectorSizeCalculatorTest, ConsumeOneTimestamp) {
   }
 }
 
+TEST(TestClipIntVectorSizeCalculatorTest, SidePacket) {
+  CalculatorGraphConfig::Node node_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig::Node>(R"(
+        calculator: "TestClipIntVectorSizeCalculator"
+        input_stream: "input_vector"
+        input_side_packet: "max_vec_size"
+        output_stream: "output_vector"
+        options {
+          [mediapipe.ClipVectorSizeCalculatorOptions.ext] { max_vec_size: 1 }
+        }
+      )");
+  CalculatorRunner runner(node_config);
+  // This should override the default of 1 set in the options.
+  runner.MutableSidePackets()->Index(0) = Adopt(new int(2));
+  std::vector<int> input = {0, 1, 2, 3};
+  AddInputVector(input, /*timestamp=*/1, &runner);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<Packet>& outputs = runner.Outputs().Index(0).packets;
+  EXPECT_EQ(1, outputs.size());
+  EXPECT_EQ(Timestamp(1), outputs[0].Timestamp());
+  const std::vector<int>& output = outputs[0].Get<std::vector<int>>();
+  EXPECT_EQ(2, output.size());
+  std::vector<int> expected_vector = {0, 1};
+  EXPECT_EQ(expected_vector, output);
+}
+
 }  // namespace mediapipe

mediapipe/calculators/core/concatenate_vector_calculator.cc

@@ -19,7 +19,7 @@
 #include "mediapipe/framework/formats/landmark.pb.h"
 #include "tensorflow/lite/interpreter.h"
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__APPLE__)
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 #include "tensorflow/lite/delegates/gpu/gl/gl_buffer.h"
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
@@ -35,6 +35,16 @@ namespace mediapipe {
 typedef ConcatenateVectorCalculator<float> ConcatenateFloatVectorCalculator;
 REGISTER_CALCULATOR(ConcatenateFloatVectorCalculator);
 
+// Example config:
+// node {
+//   calculator: "ConcatenateInt32VectorCalculator"
+//   input_stream: "int32_vector_1"
+//   input_stream: "int32_vector_2"
+//   output_stream: "concatenated_int32_vector"
+// }
+typedef ConcatenateVectorCalculator<int32> ConcatenateInt32VectorCalculator;
+REGISTER_CALCULATOR(ConcatenateInt32VectorCalculator);
+
 // Example config:
 // node {
 //   calculator: "ConcatenateTfLiteTensorVectorCalculator"
@@ -50,7 +60,7 @@ typedef ConcatenateVectorCalculator<::mediapipe::NormalizedLandmark>
     ConcatenateLandmarkVectorCalculator;
 REGISTER_CALCULATOR(ConcatenateLandmarkVectorCalculator);
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__APPLE__)
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 typedef ConcatenateVectorCalculator<::tflite::gpu::gl::GlBuffer>
     ConcatenateGlBufferVectorCalculator;
 REGISTER_CALCULATOR(ConcatenateGlBufferVectorCalculator);

mediapipe/calculators/core/constant_side_packet_calculator.cc

@@ -0,0 +1,116 @@
+// Copyright 2020 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 <string>
+
+#include "mediapipe/calculators/core/constant_side_packet_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/collection_item_id.h"
+#include "mediapipe/framework/port/canonical_errors.h"
+#include "mediapipe/framework/port/ret_check.h"
+#include "mediapipe/framework/port/status.h"
+
+namespace mediapipe {
+
+// Generates an output side packet or multiple output side packets according to
+// the specified options.
+//
+// Example configs:
+// node {
+//   calculator: "ConstantSidePacketCalculator"
+//   output_side_packet: "PACKET:packet"
+//   options: {
+//     [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+//       packet { int_value: 2 }
+//     }
+//   }
+// }
+//
+// node {
+//   calculator: "ConstantSidePacketCalculator"
+//   output_side_packet: "PACKET:0:int_packet"
+//   output_side_packet: "PACKET:1:bool_packet"
+//   options: {
+//     [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+//       packet { int_value: 2 }
+//       packet { bool_value: true }
+//     }
+//   }
+// }
+class ConstantSidePacketCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc) {
+    const auto& options = cc->Options().GetExtension(
+        ::mediapipe::ConstantSidePacketCalculatorOptions::ext);
+    RET_CHECK_EQ(cc->OutputSidePackets().NumEntries(kPacketTag),
+                 options.packet_size())
+        << "Number of output side packets has to be same as number of packets "
+           "configured in options.";
+
+    int index = 0;
+    for (CollectionItemId id = cc->OutputSidePackets().BeginId(kPacketTag);
+         id != cc->OutputSidePackets().EndId(kPacketTag); ++id, ++index) {
+      const auto& packet_options = options.packet(index);
+      auto& packet = cc->OutputSidePackets().Get(id);
+      if (packet_options.has_int_value()) {
+        packet.Set<int>();
+      } else if (packet_options.has_float_value()) {
+        packet.Set<float>();
+      } else if (packet_options.has_bool_value()) {
+        packet.Set<bool>();
+      } else if (packet_options.has_string_value()) {
+        packet.Set<std::string>();
+      } else {
+        return ::mediapipe::InvalidArgumentError(
+            "None of supported values were specified in options.");
+      }
+    }
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override {
+    const auto& options = cc->Options().GetExtension(
+        ::mediapipe::ConstantSidePacketCalculatorOptions::ext);
+    int index = 0;
+    for (CollectionItemId id = cc->OutputSidePackets().BeginId(kPacketTag);
+         id != cc->OutputSidePackets().EndId(kPacketTag); ++id, ++index) {
+      auto& packet = cc->OutputSidePackets().Get(id);
+      const auto& packet_options = options.packet(index);
+      if (packet_options.has_int_value()) {
+        packet.Set(MakePacket<int>(packet_options.int_value()));
+      } else if (packet_options.has_float_value()) {
+        packet.Set(MakePacket<float>(packet_options.float_value()));
+      } else if (packet_options.has_bool_value()) {
+        packet.Set(MakePacket<bool>(packet_options.bool_value()));
+      } else if (packet_options.has_string_value()) {
+        packet.Set(MakePacket<std::string>(packet_options.string_value()));
+      } else {
+        return ::mediapipe::InvalidArgumentError(
+            "None of supported values were specified in options.");
+      }
+    }
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Process(CalculatorContext* cc) override {
+    return ::mediapipe::OkStatus();
+  }
+
+ private:
+  static constexpr const char* kPacketTag = "PACKET";
+};
+
+REGISTER_CALCULATOR(ConstantSidePacketCalculator);
+
+}  // namespace mediapipe

mediapipe/calculators/core/constant_side_packet_calculator.proto

@@ -0,0 +1,36 @@
+// Copyright 2020 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+
+message ConstantSidePacketCalculatorOptions {
+  extend CalculatorOptions {
+    optional ConstantSidePacketCalculatorOptions ext = 291214597;
+  }
+
+  message ConstantSidePacket {
+    oneof value {
+      int32 int_value = 1;
+      float float_value = 2;
+      bool bool_value = 3;
+      string string_value = 4;
+    }
+  }
+
+  repeated ConstantSidePacket packet = 1;
+}

mediapipe/calculators/core/constant_side_packet_calculator_test.cc

@@ -0,0 +1,196 @@
+// Copyright 2020 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 <string>
+
+#include "absl/strings/string_view.h"
+#include "absl/strings/substitute.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/port/gmock.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/framework/port/status_matchers.h"
+
+namespace mediapipe {
+
+template <typename T>
+void DoTestSingleSidePacket(absl::string_view packet_spec,
+                            const T& expected_value) {
+  static constexpr absl::string_view graph_config_template = R"(
+        node {
+          calculator: "ConstantSidePacketCalculator"
+          output_side_packet: "PACKET:packet"
+          options: {
+            [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+              packet $0
+            }
+          }
+        }
+      )";
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+          absl::Substitute(graph_config_template, packet_spec));
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+
+  MP_ASSERT_OK(graph.GetOutputSidePacket("packet"));
+  auto actual_value =
+      graph.GetOutputSidePacket("packet").ValueOrDie().template Get<T>();
+  EXPECT_EQ(actual_value, expected_value);
+}
+
+TEST(ConstantSidePacketCalculatorTest, EveryPossibleType) {
+  DoTestSingleSidePacket("{ int_value: 2 }", 2);
+  DoTestSingleSidePacket("{ float_value: 6.5f }", 6.5f);
+  DoTestSingleSidePacket("{ bool_value: true }", true);
+  DoTestSingleSidePacket<std::string>(R"({ string_value: "str" })", "str");
+}
+
+TEST(ConstantSidePacketCalculatorTest, MultiplePackets) {
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(R"(
+        node {
+          calculator: "ConstantSidePacketCalculator"
+          output_side_packet: "PACKET:0:int_packet"
+          output_side_packet: "PACKET:1:float_packet"
+          output_side_packet: "PACKET:2:bool_packet"
+          output_side_packet: "PACKET:3:string_packet"
+          output_side_packet: "PACKET:4:another_string_packet"
+          output_side_packet: "PACKET:5:another_int_packet"
+          options: {
+            [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+              packet { int_value: 256 }
+              packet { float_value: 0.5f }
+              packet { bool_value: false }
+              packet { string_value: "string" }
+              packet { string_value: "another string" }
+              packet { int_value: 128 }
+            }
+          }
+        }
+      )");
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+
+  MP_ASSERT_OK(graph.GetOutputSidePacket("int_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("int_packet").ValueOrDie().Get<int>(),
+            256);
+  MP_ASSERT_OK(graph.GetOutputSidePacket("float_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("float_packet").ValueOrDie().Get<float>(),
+            0.5f);
+  MP_ASSERT_OK(graph.GetOutputSidePacket("bool_packet"));
+  EXPECT_FALSE(
+      graph.GetOutputSidePacket("bool_packet").ValueOrDie().Get<bool>());
+  MP_ASSERT_OK(graph.GetOutputSidePacket("string_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("string_packet")
+                .ValueOrDie()
+                .Get<std::string>(),
+            "string");
+  MP_ASSERT_OK(graph.GetOutputSidePacket("another_string_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("another_string_packet")
+                .ValueOrDie()
+                .Get<std::string>(),
+            "another string");
+  MP_ASSERT_OK(graph.GetOutputSidePacket("another_int_packet"));
+  EXPECT_EQ(
+      graph.GetOutputSidePacket("another_int_packet").ValueOrDie().Get<int>(),
+      128);
+}
+
+TEST(ConstantSidePacketCalculatorTest, ProcessingPacketsWithCorrectTagOnly) {
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(R"(
+        node {
+          calculator: "ConstantSidePacketCalculator"
+          output_side_packet: "PACKET:0:int_packet"
+          output_side_packet: "no_tag0"
+          output_side_packet: "PACKET:1:float_packet"
+          output_side_packet: "INCORRECT_TAG:0:name1"
+          output_side_packet: "PACKET:2:bool_packet"
+          output_side_packet: "PACKET:3:string_packet"
+          output_side_packet: "no_tag2"
+          output_side_packet: "INCORRECT_TAG:1:name2"
+          options: {
+            [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+              packet { int_value: 256 }
+              packet { float_value: 0.5f }
+              packet { bool_value: false }
+              packet { string_value: "string" }
+            }
+          }
+        }
+      )");
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+
+  MP_ASSERT_OK(graph.GetOutputSidePacket("int_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("int_packet").ValueOrDie().Get<int>(),
+            256);
+  MP_ASSERT_OK(graph.GetOutputSidePacket("float_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("float_packet").ValueOrDie().Get<float>(),
+            0.5f);
+  MP_ASSERT_OK(graph.GetOutputSidePacket("bool_packet"));
+  EXPECT_FALSE(
+      graph.GetOutputSidePacket("bool_packet").ValueOrDie().Get<bool>());
+  MP_ASSERT_OK(graph.GetOutputSidePacket("string_packet"));
+  EXPECT_EQ(graph.GetOutputSidePacket("string_packet")
+                .ValueOrDie()
+                .Get<std::string>(),
+            "string");
+}
+
+TEST(ConstantSidePacketCalculatorTest, IncorrectConfig_MoreOptionsThanPackets) {
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(R"(
+        node {
+          calculator: "ConstantSidePacketCalculator"
+          output_side_packet: "PACKET:int_packet"
+          options: {
+            [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+              packet { int_value: 256 }
+              packet { float_value: 0.5f }
+            }
+          }
+        }
+      )");
+  CalculatorGraph graph;
+  EXPECT_FALSE(graph.Initialize(graph_config).ok());
+}
+
+TEST(ConstantSidePacketCalculatorTest, IncorrectConfig_MorePacketsThanOptions) {
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(R"(
+        node {
+          calculator: "ConstantSidePacketCalculator"
+          output_side_packet: "PACKET:0:int_packet"
+          output_side_packet: "PACKET:1:float_packet"
+          options: {
+            [mediapipe.ConstantSidePacketCalculatorOptions.ext]: {
+              packet { int_value: 256 }
+            }
+          }
+        }
+      )");
+  CalculatorGraph graph;
+  EXPECT_FALSE(graph.Initialize(graph_config).ok());
+}
+
+}  // namespace mediapipe

mediapipe/calculators/core/end_loop_calculator.cc

@@ -26,14 +26,9 @@ typedef EndLoopCalculator<std::vector<::mediapipe::NormalizedRect>>
     EndLoopNormalizedRectCalculator;
 REGISTER_CALCULATOR(EndLoopNormalizedRectCalculator);
 
-typedef EndLoopCalculator<std::vector<::mediapipe::NormalizedLandmark>>
+typedef EndLoopCalculator<std::vector<::mediapipe::NormalizedLandmarkList>>
-    EndLoopNormalizedLandmarkCalculator;
+    EndLoopNormalizedLandmarkListVectorCalculator;
-REGISTER_CALCULATOR(EndLoopNormalizedLandmarkCalculator);
+REGISTER_CALCULATOR(EndLoopNormalizedLandmarkListVectorCalculator);
-
-typedef EndLoopCalculator<
-    std::vector<std::vector<::mediapipe::NormalizedLandmark>>>
-    EndLoopNormalizedLandmarksVectorCalculator;
-REGISTER_CALCULATOR(EndLoopNormalizedLandmarksVectorCalculator);
 
 typedef EndLoopCalculator<std::vector<bool>> EndLoopBooleanCalculator;
 REGISTER_CALCULATOR(EndLoopBooleanCalculator);

mediapipe/calculators/core/packet_resampler_calculator.cc

@@ -12,25 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cstdlib>
+#include "mediapipe/calculators/core/packet_resampler_calculator.h"
-#include <memory>
-#include <string>
 
-#include "absl/strings/str_cat.h"
+#include <memory>
-#include "mediapipe/calculators/core/packet_resampler_calculator.pb.h"
-#include "mediapipe/framework/calculator_framework.h"
-#include "mediapipe/framework/collection_item_id.h"
-#include "mediapipe/framework/deps/mathutil.h"
-#include "mediapipe/framework/deps/random_base.h"
-#include "mediapipe/framework/formats/video_stream_header.h"
-#include "mediapipe/framework/port/integral_types.h"
-#include "mediapipe/framework/port/logging.h"
-#include "mediapipe/framework/port/ret_check.h"
-#include "mediapipe/framework/port/status.h"
-#include "mediapipe/framework/port/status_macros.h"
-#include "mediapipe/framework/tool/options_util.h"
 
 namespace {
+// Reflect an integer against the lower and upper bound of an interval.
+int64 ReflectBetween(int64 ts, int64 ts_min, int64 ts_max) {
+  if (ts < ts_min) return 2 * ts_min - ts - 1;
+  if (ts >= ts_max) return 2 * ts_max - ts - 1;
+  return ts;
+}
 
 // Creates a secure random number generator for use in ProcessWithJitter.
 // If no secure random number generator can be constructed, the jitter
@@ -45,120 +37,7 @@ std::unique_ptr<RandomBase> CreateSecureRandom(const std::string& seed) {
 
 namespace mediapipe {
 
-// This calculator is used to normalize the frequency of the packets
-// out of a stream. Given a desired frame rate, packets are going to be
-// removed or added to achieve it.
-//
-// The jitter feature is disabled by default. To enable it, you need to
-// implement CreateSecureRandom(const std::string&).
-//
-// The data stream may be either specified as the only stream (by index)
-// or as the stream with tag "DATA".
-//
-// The input and output streams may be accompanied by a VIDEO_HEADER
-// stream.  This stream includes a VideoHeader at Timestamp::PreStream().
-// The input VideoHeader on the VIDEO_HEADER stream will always be updated
-// with the resampler frame rate no matter what the options value for
-// output_header is before being output on the output VIDEO_HEADER stream.
-// If the input VideoHeader is not available, then only the frame rate
-// value will be set in the output.
-//
-// Related:
-//   packet_downsampler_calculator.cc: skips packets regardless of timestamps.
-class PacketResamplerCalculator : public CalculatorBase {
- public:
-  static ::mediapipe::Status GetContract(CalculatorContract* cc);
-
-  ::mediapipe::Status Open(CalculatorContext* cc) override;
-  ::mediapipe::Status Close(CalculatorContext* cc) override;
-  ::mediapipe::Status Process(CalculatorContext* cc) override;
-
- private:
-  // Calculates the first sampled timestamp that incorporates a jittering
-  // offset.
-  void InitializeNextOutputTimestampWithJitter();
-  // Calculates the next sampled timestamp that incorporates a jittering offset.
-  void UpdateNextOutputTimestampWithJitter();
-
-  // Logic for Process() when jitter_ != 0.0.
-  ::mediapipe::Status ProcessWithJitter(CalculatorContext* cc);
-
-  // Logic for Process() when jitter_ == 0.0.
-  ::mediapipe::Status ProcessWithoutJitter(CalculatorContext* cc);
-
-  // Given the current count of periods that have passed, this returns
-  // the next valid timestamp of the middle point of the next period:
-  //    if count is 0, it returns the first_timestamp_.
-  //    if count is 1, it returns the first_timestamp_ + period (corresponding
-  //       to the first tick using exact fps)
-  // e.g. for frame_rate=30 and first_timestamp_=0:
-  //    0: 0
-  //    1: 33333
-  //    2: 66667
-  //    3: 100000
-  //
-  // Can only be used if jitter_ equals zero.
-  Timestamp PeriodIndexToTimestamp(int64 index) const;
-
-  // Given a Timestamp, finds the closest sync Timestamp based on
-  // first_timestamp_ and the desired fps.
-  //
-  // Can only be used if jitter_ equals zero.
-  int64 TimestampToPeriodIndex(Timestamp timestamp) const;
-
-  // Outputs a packet if it is in range (start_time_, end_time_).
-  void OutputWithinLimits(CalculatorContext* cc, const Packet& packet) const;
-
-  // The timestamp of the first packet received.
-  Timestamp first_timestamp_;
-
-  // Number of frames per second (desired output frequency).
-  double frame_rate_;
-
-  // Inverse of frame_rate_.
-  int64 frame_time_usec_;
-
-  // Number of periods that have passed (= #packets sent to the output).
-  //
-  // Can only be used if jitter_ equals zero.
-  int64 period_count_;
-
-  // The last packet that was received.
-  Packet last_packet_;
-
-  VideoHeader video_header_;
-  // The "DATA" input stream.
-  CollectionItemId input_data_id_;
-  // The "DATA" output stream.
-  CollectionItemId output_data_id_;
-
-  // Indicator whether to flush last packet even if its timestamp is greater
-  // than the final stream timestamp.  Set to false when jitter_ is non-zero.
-  bool flush_last_packet_;
-
-  // Jitter-related variables.
-  std::unique_ptr<RandomBase> random_;
-  double jitter_ = 0.0;
-  Timestamp next_output_timestamp_;
-
-  // If specified, output timestamps are aligned with base_timestamp.
-  // Otherwise, they are aligned with the first input timestamp.
-  Timestamp base_timestamp_;
-
-  // If specified, only outputs at/after start_time are included.
-  Timestamp start_time_;
-
-  // If specified, only outputs before end_time are included.
-  Timestamp end_time_;
-
-  // If set, the output timestamps nearest to start_time and end_time
-  // are included in the output, even if the nearest timestamp is not
-  // between start_time and end_time.
-  bool round_limits_;
-};
-
 REGISTER_CALCULATOR(PacketResamplerCalculator);
-
 namespace {
 // Returns a TimestampDiff (assuming microseconds) corresponding to the
 // given time in seconds.
@@ -209,6 +88,7 @@ TimestampDiff TimestampDiffFromSeconds(double seconds) {
 
   flush_last_packet_ = resampler_options.flush_last_packet();
   jitter_ = resampler_options.jitter();
+  jitter_with_reflection_ = resampler_options.jitter_with_reflection();
 
   input_data_id_ = cc->Inputs().GetId("DATA", 0);
   if (!input_data_id_.IsValid()) {
@@ -239,6 +119,8 @@ TimestampDiff TimestampDiffFromSeconds(double seconds) {
       << Timestamp::kTimestampUnitsPerSecond;
 
   frame_time_usec_ = static_cast<int64>(1000000.0 / frame_rate_);
+  jitter_usec_ = static_cast<int64>(1000000.0 * jitter_ / frame_rate_);
+  RET_CHECK_LE(jitter_usec_, frame_time_usec_);
 
   video_header_.frame_rate = frame_rate_;
 
@@ -279,7 +161,10 @@ TimestampDiff TimestampDiffFromSeconds(double seconds) {
           "SecureRandom is not available.  With \"jitter\" specified, "
           "PacketResamplerCalculator processing cannot proceed.");
     }
+    packet_reservoir_random_ = CreateSecureRandom(seed);
   }
+  packet_reservoir_ =
+      std::make_unique<PacketReservoir>(packet_reservoir_random_.get());
   return ::mediapipe::OkStatus();
 }
 
@@ -294,6 +179,14 @@ TimestampDiff TimestampDiffFromSeconds(double seconds) {
     }
   }
   if (jitter_ != 0.0 && random_ != nullptr) {
+    // Packet reservior is used to make sure there's an output for every period,
+    // e.g. partial period at the end of the stream.
+    if (packet_reservoir_->IsEnabled() &&
+        (first_timestamp_ == Timestamp::Unset() ||
+         (cc->InputTimestamp() - next_output_timestamp_min_).Value() >= 0)) {
+      auto curr_packet = cc->Inputs().Get(input_data_id_).Value();
+      packet_reservoir_->AddSample(curr_packet);
+    }
     MP_RETURN_IF_ERROR(ProcessWithJitter(cc));
   } else {
     MP_RETURN_IF_ERROR(ProcessWithoutJitter(cc));
@@ -303,11 +196,34 @@ TimestampDiff TimestampDiffFromSeconds(double seconds) {
 }
 
 void PacketResamplerCalculator::InitializeNextOutputTimestampWithJitter() {
+  next_output_timestamp_min_ = first_timestamp_;
+  if (jitter_with_reflection_) {
+    next_output_timestamp_ =
+        first_timestamp_ + random_->UnbiasedUniform64(frame_time_usec_);
+    return;
+  }
   next_output_timestamp_ =
       first_timestamp_ + frame_time_usec_ * random_->RandFloat();
 }
 
 void PacketResamplerCalculator::UpdateNextOutputTimestampWithJitter() {
+  packet_reservoir_->Clear();
+  if (jitter_with_reflection_) {
+    next_output_timestamp_min_ += frame_time_usec_;
+    Timestamp next_output_timestamp_max_ =
+        next_output_timestamp_min_ + frame_time_usec_;
+
+    next_output_timestamp_ += frame_time_usec_ +
+                              random_->UnbiasedUniform64(2 * jitter_usec_ + 1) -
+                              jitter_usec_;
+    next_output_timestamp_ = Timestamp(ReflectBetween(
+        next_output_timestamp_.Value(), next_output_timestamp_min_.Value(),
+        next_output_timestamp_max_.Value()));
+    CHECK_GE(next_output_timestamp_, next_output_timestamp_min_);
+    CHECK_LT(next_output_timestamp_, next_output_timestamp_max_);
+    return;
+  }
+  packet_reservoir_->Disable();
   next_output_timestamp_ +=
       frame_time_usec_ *
       ((1.0 - jitter_) + 2.0 * jitter_ * random_->RandFloat());
@@ -330,22 +246,27 @@ void PacketResamplerCalculator::UpdateNextOutputTimestampWithJitter() {
     return ::mediapipe::OkStatus();
   }
 
-  LOG_IF(WARNING, frame_time_usec_ <
+  if (frame_time_usec_ <
-                      (cc->InputTimestamp() - last_packet_.Timestamp()).Value())
+      (cc->InputTimestamp() - last_packet_.Timestamp()).Value()) {
-      << "Adding jitter is meaningless when upsampling.";
+    LOG_FIRST_N(WARNING, 2)
+        << "Adding jitter is not very useful when upsampling.";
+  }
 
-  const int64 curr_diff =
+  while (true) {
-      (next_output_timestamp_ - cc->InputTimestamp()).Value();
+    const int64 last_diff =
-  const int64 last_diff =
+        (next_output_timestamp_ - last_packet_.Timestamp()).Value();
-      (next_output_timestamp_ - last_packet_.Timestamp()).Value();
+    RET_CHECK_GT(last_diff, 0);
-  if (curr_diff * last_diff > 0) {
+    const int64 curr_diff =
-    return ::mediapipe::OkStatus();
+        (next_output_timestamp_ - cc->InputTimestamp()).Value();
+    if (curr_diff > 0) {
+      break;
+    }
+    OutputWithinLimits(cc, (std::abs(curr_diff) > last_diff
+                                ? last_packet_
+                                : cc->Inputs().Get(input_data_id_).Value())
+                               .At(next_output_timestamp_));
+    UpdateNextOutputTimestampWithJitter();
   }
-  OutputWithinLimits(cc, (std::abs(curr_diff) > std::abs(last_diff)
-                              ? last_packet_
-                              : cc->Inputs().Get(input_data_id_).Value())
-                             .At(next_output_timestamp_));
-  UpdateNextOutputTimestampWithJitter();
   return ::mediapipe::OkStatus();
 }
 
@@ -426,6 +347,9 @@ void PacketResamplerCalculator::UpdateNextOutputTimestampWithJitter() {
     OutputWithinLimits(cc,
                        last_packet_.At(PeriodIndexToTimestamp(period_count_)));
   }
+  if (!packet_reservoir_->IsEmpty()) {
+    OutputWithinLimits(cc, packet_reservoir_->GetSample());
+  }
   return ::mediapipe::OkStatus();
 }
 

mediapipe/calculators/core/packet_resampler_calculator.h

@@ -0,0 +1,205 @@
+#ifndef MEDIAPIPE_CALCULATORS_CORE_PACKET_RESAMPLER_CALCULATOR_H_
+#define MEDIAPIPE_CALCULATORS_CORE_PACKET_RESAMPLER_CALCULATOR_H_
+
+#include <cstdlib>
+#include <memory>
+#include <string>
+
+#include "absl/strings/str_cat.h"
+#include "mediapipe/calculators/core/packet_resampler_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/collection_item_id.h"
+#include "mediapipe/framework/deps/mathutil.h"
+#include "mediapipe/framework/deps/random_base.h"
+#include "mediapipe/framework/formats/video_stream_header.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/logging.h"
+#include "mediapipe/framework/port/ret_check.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/framework/port/status_macros.h"
+#include "mediapipe/framework/tool/options_util.h"
+
+namespace mediapipe {
+
+class PacketReservoir {
+ public:
+  PacketReservoir(RandomBase* rng) : rng_(rng) {}
+  // Replace candidate with current packet with 1/count_ probability.
+  void AddSample(Packet sample) {
+    if (rng_->UnbiasedUniform(++count_) == 0) {
+      reservoir_ = sample;
+    }
+  }
+  bool IsEnabled() { return rng_ && enabled_; }
+  void Disable() {
+    if (enabled_) enabled_ = false;
+  }
+  void Clear() { count_ = 0; }
+  bool IsEmpty() { return count_ == 0; }
+  Packet GetSample() { return reservoir_; }
+
+ private:
+  RandomBase* rng_;
+  bool enabled_ = true;
+  int32 count_ = 0;
+  Packet reservoir_;
+};
+
+// This calculator is used to normalize the frequency of the packets
+// out of a stream. Given a desired frame rate, packets are going to be
+// removed or added to achieve it.
+//
+// If jitter_ is specified:
+//   - The first packet is chosen randomly (uniform distribution) among frames
+//     that correspond to timestamps [0, 1/frame_rate).  Let the chosen packet
+//     correspond to timestamp t.
+//   - The next packet is chosen randomly (uniform distribution) among frames
+//     that correspond to [t+(1-jitter)/frame_rate, t+(1+jitter)/frame_rate].
+//     - if jitter_with_reflection_ is true, the timestamp will be reflected
+//       against the boundaries of [t_0 + (k-1)/frame_rate, t_0 + k/frame_rate)
+//       so that its marginal distribution is uniform within this interval.
+//       In the formula, t_0 is the timestamp of the first sampled
+//       packet, and the k is the packet index.
+//       See paper (https://arxiv.org/abs/2002.01147) for details.
+//   - t is updated and the process is repeated.
+//   - Note that seed is specified as input side packet for reproducibility of
+//     the resampling.  For Cloud ML Video Intelligence API, the hash of the
+//     input video should serve this purpose.  For YouTube, either video ID or
+//     content hex ID of the input video should do.
+//
+// If jitter_ is not specified:
+//   - The first packet defines the first_timestamp of the output stream,
+//     so it is always emitted.
+//   - If more packets are emitted, they will have timestamp equal to
+//     round(first_timestamp + k * period) , where k is a positive
+//     integer and the period is defined by the frame rate.
+//     Example: first_timestamp=0, fps=30, then the output stream
+//              will have timestamps: 0, 33333, 66667, 100000, etc...
+//   - The packets selected for the output stream are the ones closer
+//     to the exact middle point (33333.33, 66666.67 in our previous
+//     example). In case of ties, later packets are chosen.
+//   - 'Empty' periods happen when there are no packets for a long time
+//     (greater than a period). In this case, we send a copy of the last
+//     packet received before the empty period.
+// The jitter feature is disabled by default. To enable it, you need to
+// implement CreateSecureRandom(const std::string&).
+//
+// The data stream may be either specified as the only stream (by index)
+// or as the stream with tag "DATA".
+//
+// The input and output streams may be accompanied by a VIDEO_HEADER
+// stream.  This stream includes a VideoHeader at Timestamp::PreStream().
+// The input VideoHeader on the VIDEO_HEADER stream will always be updated
+// with the resampler frame rate no matter what the options value for
+// output_header is before being output on the output VIDEO_HEADER stream.
+// If the input VideoHeader is not available, then only the frame rate
+// value will be set in the output.
+//
+// Related:
+//   packet_downsampler_calculator.cc: skips packets regardless of timestamps.
+class PacketResamplerCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Close(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+
+ private:
+  // Calculates the first sampled timestamp that incorporates a jittering
+  // offset.
+  void InitializeNextOutputTimestampWithJitter();
+  // Calculates the next sampled timestamp that incorporates a jittering offset.
+  void UpdateNextOutputTimestampWithJitter();
+
+  // Logic for Process() when jitter_ != 0.0.
+  ::mediapipe::Status ProcessWithJitter(CalculatorContext* cc);
+
+  // Logic for Process() when jitter_ == 0.0.
+  ::mediapipe::Status ProcessWithoutJitter(CalculatorContext* cc);
+
+  // Given the current count of periods that have passed, this returns
+  // the next valid timestamp of the middle point of the next period:
+  //    if count is 0, it returns the first_timestamp_.
+  //    if count is 1, it returns the first_timestamp_ + period (corresponding
+  //       to the first tick using exact fps)
+  // e.g. for frame_rate=30 and first_timestamp_=0:
+  //    0: 0
+  //    1: 33333
+  //    2: 66667
+  //    3: 100000
+  //
+  // Can only be used if jitter_ equals zero.
+  Timestamp PeriodIndexToTimestamp(int64 index) const;
+
+  // Given a Timestamp, finds the closest sync Timestamp based on
+  // first_timestamp_ and the desired fps.
+  //
+  // Can only be used if jitter_ equals zero.
+  int64 TimestampToPeriodIndex(Timestamp timestamp) const;
+
+  // Outputs a packet if it is in range (start_time_, end_time_).
+  void OutputWithinLimits(CalculatorContext* cc, const Packet& packet) const;
+
+  // The timestamp of the first packet received.
+  Timestamp first_timestamp_;
+
+  // Number of frames per second (desired output frequency).
+  double frame_rate_;
+
+  // Inverse of frame_rate_.
+  int64 frame_time_usec_;
+
+  // Number of periods that have passed (= #packets sent to the output).
+  //
+  // Can only be used if jitter_ equals zero.
+  int64 period_count_;
+
+  // The last packet that was received.
+  Packet last_packet_;
+
+  VideoHeader video_header_;
+  // The "DATA" input stream.
+  CollectionItemId input_data_id_;
+  // The "DATA" output stream.
+  CollectionItemId output_data_id_;
+
+  // Indicator whether to flush last packet even if its timestamp is greater
+  // than the final stream timestamp.  Set to false when jitter_ is non-zero.
+  bool flush_last_packet_;
+
+  // Jitter-related variables.
+  std::unique_ptr<RandomBase> random_;
+  double jitter_ = 0.0;
+  bool jitter_with_reflection_;
+  int64 jitter_usec_;
+  Timestamp next_output_timestamp_;
+  // If jittering_with_reflection_ is true, next_output_timestamp_ will be
+  // kept within the interval
+  // [next_output_timestamp_min_, next_output_timestamp_min_ + frame_time_usec_)
+  Timestamp next_output_timestamp_min_;
+
+  // If specified, output timestamps are aligned with base_timestamp.
+  // Otherwise, they are aligned with the first input timestamp.
+  Timestamp base_timestamp_;
+
+  // If specified, only outputs at/after start_time are included.
+  Timestamp start_time_;
+
+  // If specified, only outputs before end_time are included.
+  Timestamp end_time_;
+
+  // If set, the output timestamps nearest to start_time and end_time
+  // are included in the output, even if the nearest timestamp is not
+  // between start_time and end_time.W
+  bool round_limits_;
+
+  // packet reservior used for sampling random packet out of partial
+  // period when jitter is enabled
+  std::unique_ptr<PacketReservoir> packet_reservoir_;
+  // random number generator used in packet_reservior_.
+  std::unique_ptr<RandomBase> packet_reservoir_random_;
+};
+
+}  // namespace mediapipe
+#endif  // MEDIAPIPE_CALCULATORS_CORE_PACKET_RESAMPLER_CALCULATOR_H_

mediapipe/calculators/core/packet_resampler_calculator.proto

@@ -66,6 +66,7 @@ message PacketResamplerCalculatorOptions {
   // pseudo-random number generator does its job and the number of frames is
   // sufficiently large, the average frame rate will be close to this value.
   optional double jitter = 4;
+  optional bool jitter_with_reflection = 9 [default = false];
 
   // If specified, output timestamps are aligned with base_timestamp.
   // Otherwise, they are aligned with the first input timestamp.

mediapipe/calculators/core/packet_resampler_calculator_test.cc

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "mediapipe/calculators/core/packet_resampler_calculator.h"
+
 #include <memory>
 #include <string>
 #include <vector>
@@ -29,7 +31,6 @@
 namespace mediapipe {
 
 namespace {
-
 // A simple version of CalculatorRunner with built-in convenience
 // methods for setting inputs from a vector and checking outputs
 // against expected outputs (both timestamps and contents).

mediapipe/calculators/core/packet_thinner_calculator.cc

@@ -0,0 +1,304 @@
+// Copyright 2019 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.
+//
+// Declaration of PacketThinnerCalculator.
+
+#include <cmath>  // for ceil
+#include <memory>
+
+#include "mediapipe/calculators/core/packet_thinner_calculator.pb.h"
+#include "mediapipe/framework/calculator_context.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/video_stream_header.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/logging.h"
+#include "mediapipe/framework/port/status.h"
+
+namespace mediapipe {
+
+namespace {
+const double kTimebaseUs = 1000000;  // Microseconds.
+const char* const kPeriodTag = "PERIOD";
+}  // namespace
+
+// This calculator is used to thin an input stream of Packets.
+// An example application would be to sample decoded frames of video
+// at a coarser temporal resolution. Unless otherwise stated, all
+// timestamps are in units of microseconds.
+//
+// Thinning can be accomplished in one of two ways:
+// 1) asynchronous thinning (known below as async):
+//    Algorithm does not rely on a master clock and is parameterized only
+//    by a single option -- the period.  Once a packet is emitted, the
+//    thinner will discard subsequent packets for the duration of the period
+//    [Analogous to a refractory period during which packet emission is
+//    suppressed.]
+//    Packets arriving before start_time are discarded, as are packets
+//    arriving at or after end_time.
+// 2) synchronous thinning (known below as sync):
+//    There are two variants of this algorithm, both parameterized by a
+//    start_time and a period.  As in (1), packets arriving before start_time
+//    or at/after end_time are discarded.  Otherwise, at most one packet is
+//    emitted during a period, centered at timestamps generated by the
+//    expression:
+//      start_time + i * period  [where i is a non-negative integer]
+//    During each period, the packet closest to the generated timestamp is
+//    emitted (latest in the case of ties).  In the first variant
+//    (sync_output_timestamps = true), the emitted packet is output at the
+//    generated timestamp.  In the second variant, the packet is output at
+//    its original timestamp.  Both variants emit exactly the same packets,
+//    but at different timestamps.
+//
+// Thinning period can be provided in the calculator options or via a
+// side packet with the tag "PERIOD".
+//
+// Example config:
+// node {
+//   calculator: "PacketThinnerCalculator"
+//   input_stream: "signal"
+//   output_stream: "output"
+//   options {
+//     [mediapipe.PacketThinnerCalculatorOptions.ext] {
+//       thinner_type: SYNC
+//       period: 10
+//       sync_output_timestamps: true
+//       update_frame_rate: false
+//     }
+//   }
+// }
+class PacketThinnerCalculator : public CalculatorBase {
+ public:
+  PacketThinnerCalculator() {}
+  ~PacketThinnerCalculator() override {}
+
+  static ::mediapipe::Status GetContract(CalculatorContract* cc) {
+    cc->Inputs().Index(0).SetAny();
+    cc->Outputs().Index(0).SetSameAs(&cc->Inputs().Index(0));
+    if (cc->InputSidePackets().HasTag(kPeriodTag)) {
+      cc->InputSidePackets().Tag(kPeriodTag).Set<int64>();
+    }
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Close(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override {
+    if (cc->InputTimestamp() < start_time_) {
+      return ::mediapipe::OkStatus();  // Drop packets before start_time_.
+    } else if (cc->InputTimestamp() >= end_time_) {
+      if (!cc->Outputs().Index(0).IsClosed()) {
+        cc->Outputs()
+            .Index(0)
+            .Close();  // No more Packets will be output after end_time_.
+      }
+      return ::mediapipe::OkStatus();
+    } else {
+      return thinner_type_ == PacketThinnerCalculatorOptions::ASYNC
+                 ? AsyncThinnerProcess(cc)
+                 : SyncThinnerProcess(cc);
+    }
+  }
+
+ private:
+  // Implementation of ASYNC and SYNC versions of thinner algorithm.
+  ::mediapipe::Status AsyncThinnerProcess(CalculatorContext* cc);
+  ::mediapipe::Status SyncThinnerProcess(CalculatorContext* cc);
+
+  // Cached option.
+  PacketThinnerCalculatorOptions::ThinnerType thinner_type_;
+
+  // Given a Timestamp, finds the closest sync Timestamp
+  // based on start_time_ and period_.  This can be earlier or
+  // later than given Timestamp, but is guaranteed to be within
+  // half a period_.
+  Timestamp NearestSyncTimestamp(Timestamp now) const;
+
+  // Cached option used by both async and sync thinners.
+  TimestampDiff period_;  // Interval during which only one packet is emitted.
+  Timestamp start_time_;  // Cached option - default Timestamp::Min()
+  Timestamp end_time_;    // Cached option - default Timestamp::Max()
+
+  // Only used by async thinner:
+  Timestamp next_valid_timestamp_;  // Suppress packets until this timestamp.
+
+  // Only used by sync thinner:
+  Packet saved_packet_;          // Best packet not yet emitted.
+  bool sync_output_timestamps_;  // Cached option.
+};
+REGISTER_CALCULATOR(PacketThinnerCalculator);
+
+namespace {
+TimestampDiff abs(TimestampDiff t) { return t < 0 ? -t : t; }
+}  // namespace
+
+::mediapipe::Status PacketThinnerCalculator::Open(CalculatorContext* cc) {
+  auto& options = cc->Options<PacketThinnerCalculatorOptions>();
+
+  thinner_type_ = options.thinner_type();
+  // This check enables us to assume only two thinner types exist in Process()
+  CHECK(thinner_type_ == PacketThinnerCalculatorOptions::ASYNC ||
+        thinner_type_ == PacketThinnerCalculatorOptions::SYNC)
+      << "Unsupported thinner type.";
+
+  if (thinner_type_ == PacketThinnerCalculatorOptions::ASYNC) {
+    // ASYNC thinner outputs packets with the same timestamp as their input so
+    // its safe to SetOffset(0). SYNC thinner manipulates timestamps of its
+    // output so we don't do this for that case.
+    cc->SetOffset(0);
+  }
+
+  if (cc->InputSidePackets().HasTag(kPeriodTag)) {
+    period_ =
+        TimestampDiff(cc->InputSidePackets().Tag(kPeriodTag).Get<int64>());
+  } else {
+    period_ = TimestampDiff(options.period());
+  }
+  CHECK_LT(TimestampDiff(0), period_) << "Specified period must be positive.";
+
+  if (options.has_start_time()) {
+    start_time_ = Timestamp(options.start_time());
+  } else if (thinner_type_ == PacketThinnerCalculatorOptions::ASYNC) {
+    start_time_ = Timestamp::Min();
+  } else {
+    start_time_ = Timestamp(0);
+  }
+
+  end_time_ =
+      options.has_end_time() ? Timestamp(options.end_time()) : Timestamp::Max();
+  CHECK_LT(start_time_, end_time_)
+      << "Invalid PacketThinner: start_time must be earlier than end_time";
+
+  sync_output_timestamps_ = options.sync_output_timestamps();
+
+  next_valid_timestamp_ = start_time_;
+  // Drop packets until this time.
+  cc->Outputs().Index(0).SetNextTimestampBound(start_time_);
+
+  if (!cc->Inputs().Index(0).Header().IsEmpty()) {
+    if (options.update_frame_rate()) {
+      const VideoHeader& video_header =
+          cc->Inputs().Index(0).Header().Get<VideoHeader>();
+      double new_frame_rate;
+      if (thinner_type_ == PacketThinnerCalculatorOptions::ASYNC) {
+        new_frame_rate =
+            video_header.frame_rate /
+            ceil(video_header.frame_rate * options.period() / kTimebaseUs);
+      } else {
+        const double sampling_rate = kTimebaseUs / options.period();
+        new_frame_rate = video_header.frame_rate < sampling_rate
+                             ? video_header.frame_rate
+                             : sampling_rate;
+      }
+      std::unique_ptr<VideoHeader> header(new VideoHeader);
+      header->format = video_header.format;
+      header->width = video_header.width;
+      header->height = video_header.height;
+      header->frame_rate = new_frame_rate;
+      cc->Outputs().Index(0).SetHeader(Adopt(header.release()));
+    } else {
+      cc->Outputs().Index(0).SetHeader(cc->Inputs().Index(0).Header());
+    }
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status PacketThinnerCalculator::Close(CalculatorContext* cc) {
+  // Emit any saved packets before quitting.
+  if (!saved_packet_.IsEmpty()) {
+    // Only sync thinner should have saved packets.
+    CHECK_EQ(PacketThinnerCalculatorOptions::SYNC, thinner_type_);
+    if (sync_output_timestamps_) {
+      cc->Outputs().Index(0).AddPacket(
+          saved_packet_.At(NearestSyncTimestamp(saved_packet_.Timestamp())));
+    } else {
+      cc->Outputs().Index(0).AddPacket(saved_packet_);
+    }
+  }
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status PacketThinnerCalculator::AsyncThinnerProcess(
+    CalculatorContext* cc) {
+  if (cc->InputTimestamp() >= next_valid_timestamp_) {
+    cc->Outputs().Index(0).AddPacket(
+        cc->Inputs().Index(0).Value());  // Emit current packet.
+    next_valid_timestamp_ = cc->InputTimestamp() + period_;
+    // Guaranteed not to emit packets seen during refractory period.
+    cc->Outputs().Index(0).SetNextTimestampBound(next_valid_timestamp_);
+  }
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status PacketThinnerCalculator::SyncThinnerProcess(
+    CalculatorContext* cc) {
+  if (saved_packet_.IsEmpty()) {
+    // If no packet has been saved, store the current packet.
+    saved_packet_ = cc->Inputs().Index(0).Value();
+    cc->Outputs().Index(0).SetNextTimestampBound(
+        sync_output_timestamps_ ? NearestSyncTimestamp(cc->InputTimestamp())
+                                : cc->InputTimestamp());
+  } else {
+    // Saved packet exists -- update or emit.
+    const Timestamp saved = saved_packet_.Timestamp();
+    const Timestamp saved_sync = NearestSyncTimestamp(saved);
+    const Timestamp now = cc->InputTimestamp();
+    const Timestamp now_sync = NearestSyncTimestamp(now);
+    CHECK_LE(saved_sync, now_sync);
+    if (saved_sync == now_sync) {
+      // Saved Packet is in same interval as current packet.
+      // Replace saved packet with current if it is at least as
+      // central as the saved packet wrt temporal interval.
+      // [We break ties in favor of fresher packets]
+      if (abs(now - now_sync) <= abs(saved - saved_sync)) {
+        saved_packet_ = cc->Inputs().Index(0).Value();
+      }
+    } else {
+      // Saved packet is the best packet from earlier interval: emit!
+      if (sync_output_timestamps_) {
+        cc->Outputs().Index(0).AddPacket(saved_packet_.At(saved_sync));
+        cc->Outputs().Index(0).SetNextTimestampBound(now_sync);
+      } else {
+        cc->Outputs().Index(0).AddPacket(saved_packet_);
+        cc->Outputs().Index(0).SetNextTimestampBound(now);
+      }
+      // Current packet is the first one we've seen from new interval -- save!
+      saved_packet_ = cc->Inputs().Index(0).Value();
+    }
+  }
+  return ::mediapipe::OkStatus();
+}
+
+Timestamp PacketThinnerCalculator::NearestSyncTimestamp(Timestamp now) const {
+  CHECK_NE(start_time_, Timestamp::Unset())
+      << "Method only valid for sync thinner calculator.";
+
+  // Computation is done using int64 arithmetic.  No easy way to avoid
+  // since Timestamps don't support div and multiply.
+  const int64 now64 = now.Value();
+  const int64 start64 = start_time_.Value();
+  const int64 period64 = period_.Value();
+  CHECK_LE(0, period64);
+
+  // Round now64 to its closest interval (units of period64).
+  int64 sync64 =
+      (now64 - start64 + period64 / 2) / period64 * period64 + start64;
+  CHECK_LE(abs(now64 - sync64), period64 / 2)
+      << "start64: " << start64 << "; now64: " << now64
+      << "; sync64: " << sync64;
+
+  return Timestamp(sync64);
+}
+
+}  // namespace mediapipe

mediapipe/calculators/core/packet_thinner_calculator.proto

@@ -0,0 +1,66 @@
+// Copyright 2018 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+
+message PacketThinnerCalculatorOptions {
+  extend CalculatorOptions {
+    optional PacketThinnerCalculatorOptions ext = 288533508;
+  }
+
+  enum ThinnerType {
+    ASYNC = 1;  // Asynchronous thinner, described below [default].
+    SYNC = 2;   // Synchronous thinner, also described below.
+  }
+  optional ThinnerType thinner_type = 1 [default = ASYNC];
+
+  // The period (in microsecond) specifies the temporal interval during which
+  // only a single packet is emitted in the output stream.  Has subtly different
+  // semantics depending on the thinner type, as follows.
+  //
+  // Async thinner: this option is a refractory period -- once a packet is
+  // emitted, we guarantee that no packets will be emitted for period ticks.
+  //
+  // Sync thinner: the period specifies a temporal interval during which
+  // only one packet is emitted.  The emitted packet is guaranteed to be
+  // the one closest to the center of the temporal interval (no guarantee on
+  // how ties are broken).  More specifically,
+  //   intervals are centered at start_time + i * period
+  //   (for non-negative integers i).
+  // Thus, each interval extends period/2 ticks before and after its center.
+  // Additionally, in the sync thinner any packets earlier than start_time
+  // are discarded and the thinner calls Close() once timestamp equals or
+  // exceeds end_time.
+  optional int64 period = 2 [default = 1];
+
+  // Packets before start_time and at/after end_time are discarded.
+  // Additionally, for a sync thinner, start time specifies the center of
+  // time invervals as described above and therefore should be set explicitly.
+  optional int64 start_time = 3;  // If not specified, set to 0 for SYNC type,
+                                  // and set to Timestamp::Min() for ASYNC type.
+  optional int64 end_time = 4;    // Set to Timestamp::Max() if not specified.
+
+  // Whether the timestamps of packets emitted by sync thinner should
+  // correspond to the center of their corresponding temporal interval.
+  // If false, packets emitted using original timestamp (as in async thinner).
+  optional bool sync_output_timestamps = 5 [default = true];
+
+  // If true, update the frame rate in the header, if it's available, to an
+  // estimated frame rate due to the sampling.
+  optional bool update_frame_rate = 6 [default = false];
+}

mediapipe/calculators/core/packet_thinner_calculator_test.cc

@@ -0,0 +1,357 @@
+// Copyright 2019 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 <memory>
+#include <string>
+#include <vector>
+
+#include "absl/strings/str_cat.h"
+#include "mediapipe/calculators/core/packet_thinner_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/calculator_runner.h"
+#include "mediapipe/framework/formats/video_stream_header.h"
+#include "mediapipe/framework/port/gmock.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/status_matchers.h"
+
+namespace mediapipe {
+namespace {
+
+// A simple version of CalculatorRunner with built-in convenience methods for
+// setting inputs from a vector and checking outputs against a vector of
+// expected outputs.
+class SimpleRunner : public CalculatorRunner {
+ public:
+  explicit SimpleRunner(const CalculatorOptions& options)
+      : CalculatorRunner("PacketThinnerCalculator", options) {
+    SetNumInputs(1);
+    SetNumOutputs(1);
+    SetNumInputSidePackets(0);
+  }
+
+  explicit SimpleRunner(const CalculatorGraphConfig::Node& node)
+      : CalculatorRunner(node) {}
+
+  void SetInput(const std::vector<int>& timestamp_list) {
+    MutableInputs()->Index(0).packets.clear();
+    for (const int ts : timestamp_list) {
+      MutableInputs()->Index(0).packets.push_back(
+          MakePacket<std::string>(absl::StrCat("Frame #", ts))
+              .At(Timestamp(ts)));
+    }
+  }
+
+  void SetFrameRate(const double frame_rate) {
+    auto video_header = absl::make_unique<VideoHeader>();
+    video_header->frame_rate = frame_rate;
+    MutableInputs()->Index(0).header = Adopt(video_header.release());
+  }
+
+  std::vector<int64> GetOutputTimestamps() const {
+    std::vector<int64> timestamps;
+    for (const Packet& packet : Outputs().Index(0).packets) {
+      timestamps.emplace_back(packet.Timestamp().Value());
+    }
+    return timestamps;
+  }
+
+  double GetFrameRate() const {
+    CHECK(!Outputs().Index(0).header.IsEmpty());
+    return Outputs().Index(0).header.Get<VideoHeader>().frame_rate;
+  }
+};
+
+// Check that thinner respects start_time and end_time options.
+// We only test with one thinner because the logic for start & end time
+// handling is shared across both types of thinner in Process().
+TEST(PacketThinnerCalculatorTest, StartAndEndTimeTest) {
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_period(5);
+  extension->set_start_time(4);
+  extension->set_end_time(12);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 3, 5, 7, 11, 13, 17, 19, 23, 29});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {5, 11};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, AsyncUniformStreamThinningTest) {
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_period(5);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 8, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, ASyncUniformStreamThinningTestBySidePacket) {
+  // Note: sync runner but outputting *original* timestamps.
+  CalculatorGraphConfig::Node node;
+  node.set_calculator("PacketThinnerCalculator");
+  node.add_input_side_packet("PERIOD:period");
+  node.add_input_stream("input_stream");
+  node.add_output_stream("output_stream");
+  auto* extension = node.mutable_options()->MutableExtension(
+      PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_start_time(0);
+  extension->set_sync_output_timestamps(false);
+
+  SimpleRunner runner(node);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  runner.MutableSidePackets()->Tag("PERIOD") = MakePacket<int64>(5);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 8, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, SyncUniformStreamThinningTest1) {
+  // Note: sync runner but outputting *original* timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(false);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 6, 10, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, SyncUniformStreamThinningTestBySidePacket1) {
+  // Note: sync runner but outputting *original* timestamps.
+  CalculatorGraphConfig::Node node;
+  node.set_calculator("PacketThinnerCalculator");
+  node.add_input_side_packet("PERIOD:period");
+  node.add_input_stream("input_stream");
+  node.add_output_stream("output_stream");
+  auto* extension = node.mutable_options()->MutableExtension(
+      PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_sync_output_timestamps(false);
+
+  SimpleRunner runner(node);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  runner.MutableSidePackets()->Tag("PERIOD") = MakePacket<int64>(5);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 6, 10, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, SyncUniformStreamThinningTest2) {
+  // Same test but now with synced timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(true);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {0, 5, 10, 15};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+// Test: Given a stream with timestamps corresponding to first ten prime numbers
+// and period of 5, confirm whether timestamps of thinner stream matches
+// expectations.
+TEST(PacketThinnerCalculatorTest, PrimeStreamThinningTest1) {
+  // ASYNC thinner.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_period(5);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 3, 5, 7, 11, 13, 17, 19, 23, 29});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 7, 13, 19, 29};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, PrimeStreamThinningTest2) {
+  // SYNC with original timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(false);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 3, 5, 7, 11, 13, 17, 19, 23, 29});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 5, 11, 17, 19, 23, 29};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+// Confirm that Calculator correctly handles boundary cases.
+TEST(PacketThinnerCalculatorTest, BoundaryTimestampTest1) {
+  // Odd period, negative start_time
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(-10);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(true);
+  SimpleRunner runner(options);
+  // Two timestamps falling on either side of a period boundary.
+  runner.SetInput({2, 3});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {0, 5};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, BoundaryTimestampTest2) {
+  // Even period, negative start_time, negative packet timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(-144);
+  extension->set_period(6);
+  extension->set_sync_output_timestamps(true);
+  SimpleRunner runner(options);
+  // Two timestamps falling on either side of a period boundary.
+  runner.SetInput({-4, -3, 8, 9});
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {-6, 0, 6, 12};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+}
+
+TEST(PacketThinnerCalculatorTest, FrameRateTest1) {
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_period(5);
+  extension->set_update_frame_rate(true);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  runner.SetFrameRate(1000000.0 / 2);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 8, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+  // The true sampling period is 6.
+  EXPECT_DOUBLE_EQ(1000000.0 / 6, runner.GetFrameRate());
+}
+
+TEST(PacketThinnerCalculatorTest, FrameRateTest2) {
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::ASYNC);
+  extension->set_period(5);
+  extension->set_update_frame_rate(true);
+  SimpleRunner runner(options);
+  runner.SetInput({8, 16, 24, 32, 40, 48, 56});
+  runner.SetFrameRate(1000000.0 / 8);
+  MP_ASSERT_OK(runner.Run());
+  const std::vector<int64> expected_timestamps = {8, 16, 24, 32, 40, 48, 56};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+  // The true sampling period is still 8.
+  EXPECT_DOUBLE_EQ(1000000.0 / 8, runner.GetFrameRate());
+}
+
+TEST(PacketThinnerCalculatorTest, FrameRateTest3) {
+  // Note: sync runner but outputting *original* timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(false);
+  extension->set_update_frame_rate(true);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  runner.SetFrameRate(1000000.0 / 2);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {2, 6, 10, 14};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+  // The true (long-run) sampling period is 5.
+  EXPECT_DOUBLE_EQ(1000000.0 / 5, runner.GetFrameRate());
+}
+
+TEST(PacketThinnerCalculatorTest, FrameRateTest4) {
+  // Same test but now with synced timestamps.
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(true);
+  extension->set_update_frame_rate(true);
+  SimpleRunner runner(options);
+  runner.SetInput({2, 4, 6, 8, 10, 12, 14});
+  runner.SetFrameRate(1000000.0 / 2);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {0, 5, 10, 15};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+  // The true (long-run) sampling period is 5.
+  EXPECT_DOUBLE_EQ(1000000.0 / 5, runner.GetFrameRate());
+}
+
+TEST(PacketThinnerCalculatorTest, FrameRateTest5) {
+  CalculatorOptions options;
+  auto* extension =
+      options.MutableExtension(PacketThinnerCalculatorOptions::ext);
+  extension->set_thinner_type(PacketThinnerCalculatorOptions::SYNC);
+  extension->set_start_time(0);
+  extension->set_period(5);
+  extension->set_sync_output_timestamps(true);
+  extension->set_update_frame_rate(true);
+  SimpleRunner runner(options);
+  runner.SetInput({8, 16, 24, 32, 40, 48, 56});
+  runner.SetFrameRate(1000000.0 / 8);
+  MP_ASSERT_OK(runner.Run());
+
+  const std::vector<int64> expected_timestamps = {10, 15, 25, 30, 40, 50, 55};
+  EXPECT_EQ(expected_timestamps, runner.GetOutputTimestamps());
+  // The true (long-run) sampling period is 8.
+  EXPECT_DOUBLE_EQ(1000000.0 / 8, runner.GetFrameRate());
+}
+
+}  // namespace
+}  // namespace mediapipe

mediapipe/calculators/core/previous_loopback_calculator.cc

@@ -17,6 +17,7 @@
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/port/ret_check.h"
 #include "mediapipe/framework/port/status.h"
+#include "mediapipe/framework/timestamp.h"
 
 namespace mediapipe {
 
@@ -86,6 +87,7 @@ class PreviousLoopbackCalculator : public CalculatorBase {
         main_ts_.pop_front();
       }
     }
+    auto& loop_out = cc->Outputs().Get(loop_out_id_);
 
     while (!main_ts_.empty() && !loopback_packets_.empty()) {
       Timestamp main_timestamp = main_ts_.front();
@@ -95,18 +97,31 @@ class PreviousLoopbackCalculator : public CalculatorBase {
 
       if (previous_loopback.IsEmpty()) {
         // TODO: SetCompleteTimestampBound would be more useful.
-        cc->Outputs()
+        loop_out.SetNextTimestampBound(main_timestamp + 1);
-            .Get(loop_out_id_)
-            .SetNextTimestampBound(main_timestamp + 1);
       } else {
-        cc->Outputs().Get(loop_out_id_).AddPacket(std::move(previous_loopback));
+        loop_out.AddPacket(std::move(previous_loopback));
+      }
+    }
+
+    // In case of an empty loopback input, the next timestamp bound for
+    // loopback input is the loopback timestamp + 1.  The next timestamp bound
+    // for output is set and the main_ts_ vector is truncated accordingly.
+    if (loopback_packet.IsEmpty() &&
+        loopback_packet.Timestamp() != Timestamp::Unstarted()) {
+      Timestamp loopback_bound =
+          loopback_packet.Timestamp().NextAllowedInStream();
+      while (!main_ts_.empty() && main_ts_.front() <= loopback_bound) {
+        main_ts_.pop_front();
+      }
+      if (main_ts_.empty()) {
+        loop_out.SetNextTimestampBound(loopback_bound.NextAllowedInStream());
       }
     }
     if (!main_ts_.empty()) {
-      cc->Outputs().Get(loop_out_id_).SetNextTimestampBound(main_ts_.front());
+      loop_out.SetNextTimestampBound(main_ts_.front());
     }
     if (cc->Inputs().Get(main_id_).IsDone() && main_ts_.empty()) {
-      cc->Outputs().Get(loop_out_id_).Close();
+      loop_out.Close();
     }
     return ::mediapipe::OkStatus();
   }

mediapipe/calculators/core/previous_loopback_calculator_test.cc

@@ -93,14 +93,19 @@ TEST(PreviousLoopbackCalculator, CorrectTimestamps) {
   EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1}));
   EXPECT_EQ(pair_values(in_prev.back()), std::make_pair(1, -1));
 
+  send_packet("in", 2);
+  MP_EXPECT_OK(graph_.WaitUntilIdle());
+  EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1, 2}));
+  EXPECT_EQ(pair_values(in_prev.back()), std::make_pair(2, 1));
+
   send_packet("in", 5);
   MP_EXPECT_OK(graph_.WaitUntilIdle());
-  EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1, 5}));
+  EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1, 2, 5}));
-  EXPECT_EQ(pair_values(in_prev.back()), std::make_pair(5, 1));
+  EXPECT_EQ(pair_values(in_prev.back()), std::make_pair(5, 2));
 
   send_packet("in", 15);
   MP_EXPECT_OK(graph_.WaitUntilIdle());
-  EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1, 5, 15}));
+  EXPECT_EQ(TimestampValues(in_prev), (std::vector<int64>{1, 2, 5, 15}));
   EXPECT_EQ(pair_values(in_prev.back()), std::make_pair(15, 5));
 
   MP_EXPECT_OK(graph_.CloseAllInputStreams());
@@ -182,21 +187,84 @@ TEST(PreviousLoopbackCalculator, ClosesCorrectly) {
   MP_EXPECT_OK(graph_.WaitUntilIdle());
   EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1}));
 
+  send_packet("in", 2);
+  MP_EXPECT_OK(graph_.WaitUntilIdle());
+  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1, 2}));
+
   send_packet("in", 5);
   MP_EXPECT_OK(graph_.WaitUntilIdle());
-  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1, 5}));
+  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1, 2, 5}));
 
   send_packet("in", 15);
   MP_EXPECT_OK(graph_.WaitUntilIdle());
-  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1, 5, 15}));
+  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{1, 2, 5, 15}));
 
   MP_EXPECT_OK(graph_.CloseAllInputStreams());
   MP_EXPECT_OK(graph_.WaitUntilIdle());
   EXPECT_EQ(TimestampValues(outputs),
-            (std::vector<int64>{1, 5, 15, Timestamp::Max().Value()}));
+            (std::vector<int64>{1, 2, 5, 15, Timestamp::Max().Value()}));
 
   MP_EXPECT_OK(graph_.WaitUntilDone());
 }
 
+// Demonstrates that downstream calculators won't be blocked by
+// always-empty-LOOP-stream.
+TEST(PreviousLoopbackCalculator, EmptyLoopForever) {
+  std::vector<Packet> outputs;
+  CalculatorGraphConfig graph_config_ =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(R"(
+        input_stream: 'in'
+        node {
+          calculator: 'PreviousLoopbackCalculator'
+          input_stream: 'MAIN:in'
+          input_stream: 'LOOP:previous'
+          input_stream_info: { tag_index: 'LOOP' back_edge: true }
+          output_stream: 'PREV_LOOP:previous'
+        }
+        # This calculator synchronizes its inputs as normal, so it is used
+        # to check that both "in" and "previous" are ready.
+        node {
+          calculator: 'PassThroughCalculator'
+          input_stream: 'in'
+          input_stream: 'previous'
+          output_stream: 'out'
+          output_stream: 'previous2'
+        }
+        node {
+          calculator: 'PacketOnCloseCalculator'
+          input_stream: 'out'
+          output_stream: 'close_out'
+        }
+      )");
+  tool::AddVectorSink("close_out", &graph_config_, &outputs);
+
+  CalculatorGraph graph_;
+  MP_ASSERT_OK(graph_.Initialize(graph_config_, {}));
+  MP_ASSERT_OK(graph_.StartRun({}));
+
+  auto send_packet = [&graph_](const std::string& input_name, int n) {
+    MP_EXPECT_OK(graph_.AddPacketToInputStream(
+        input_name, MakePacket<int>(n).At(Timestamp(n))));
+  };
+
+  send_packet("in", 0);
+  MP_EXPECT_OK(graph_.WaitUntilIdle());
+  EXPECT_EQ(TimestampValues(outputs), (std::vector<int64>{0}));
+
+  for (int main_ts = 1; main_ts < 50; ++main_ts) {
+    send_packet("in", main_ts);
+    MP_EXPECT_OK(graph_.WaitUntilIdle());
+    std::vector<int64> ts_values = TimestampValues(outputs);
+    EXPECT_EQ(ts_values.size(), main_ts + 1);
+    for (int j = 0; j < main_ts; ++j) {
+      EXPECT_EQ(ts_values[j], j);
+    }
+  }
+
+  MP_EXPECT_OK(graph_.CloseAllInputStreams());
+  MP_EXPECT_OK(graph_.WaitUntilIdle());
+  MP_EXPECT_OK(graph_.WaitUntilDone());
+}
+
 }  // anonymous namespace
 }  // namespace mediapipe

mediapipe/calculators/core/side_packet_to_stream_calculator.cc

@@ -28,55 +28,133 @@ using mediapipe::PacketTypeSet;
 using mediapipe::Timestamp;
 
 namespace {
+
+constexpr char kTagAtPreStream[] = "AT_PRESTREAM";
+constexpr char kTagAtPostStream[] = "AT_POSTSTREAM";
+constexpr char kTagAtZero[] = "AT_ZERO";
+constexpr char kTagAtTick[] = "AT_TICK";
+constexpr char kTagTick[] = "TICK";
+
 static std::map<std::string, Timestamp>* kTimestampMap = []() {
   auto* res = new std::map<std::string, Timestamp>();
-  res->emplace("AT_PRESTREAM", Timestamp::PreStream());
+  res->emplace(kTagAtPreStream, Timestamp::PreStream());
-  res->emplace("AT_POSTSTREAM", Timestamp::PostStream());
+  res->emplace(kTagAtPostStream, Timestamp::PostStream());
-  res->emplace("AT_ZERO", Timestamp(0));
+  res->emplace(kTagAtZero, Timestamp(0));
+  res->emplace(kTagAtTick, Timestamp::Unset());
   return res;
 }();
 
+template <typename CC>
+std::string GetOutputTag(const CC& cc) {
+  // Single output tag only is required by contract.
+  return *cc.Outputs().GetTags().begin();
+}
+
 }  // namespace
 
-// Outputs the single input_side_packet at the timestamp specified in the
+// Outputs side packet(s) in corresponding output stream(s) with a particular
-// output_stream tag. Valid tags are AT_PRESTREAM, AT_POSTSTREAM and AT_ZERO.
+// timestamp, depending on the tag used to define output stream(s). (One tag can
+// be used only.)
+//
+// Valid tags are AT_PRESTREAM, AT_POSTSTREAM, AT_ZERO and AT_TICK and
+// corresponding timestamps are Timestamp::PreStream(), Timestamp::PostStream(),
+// Timestamp(0) and timestamp of a packet received in TICK input.
+//
+// Examples:
+// node {
+//   calculator: "SidePacketToStreamCalculator"
+//   input_side_packet: "side_packet"
+//   output_stream: "AT_PRESTREAM:packet"
+// }
+//
+// node {
+//   calculator: "SidePacketToStreamCalculator"
+//   input_stream: "TICK:tick"
+//   input_side_packet: "side_packet"
+//   output_stream: "AT_TICK:packet"
+// }
 class SidePacketToStreamCalculator : public CalculatorBase {
  public:
   SidePacketToStreamCalculator() = default;
   ~SidePacketToStreamCalculator() override = default;
 
   static ::mediapipe::Status GetContract(CalculatorContract* cc);
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
   ::mediapipe::Status Process(CalculatorContext* cc) override;
   ::mediapipe::Status Close(CalculatorContext* cc) override;
+
+ private:
+  bool is_tick_processing_ = false;
+  std::string output_tag_;
 };
 REGISTER_CALCULATOR(SidePacketToStreamCalculator);
 
 ::mediapipe::Status SidePacketToStreamCalculator::GetContract(
     CalculatorContract* cc) {
-  cc->InputSidePackets().Index(0).SetAny();
+  const auto& tags = cc->Outputs().GetTags();
+  RET_CHECK(tags.size() == 1 && kTimestampMap->count(*tags.begin()) == 1)
+      << "Only one of AT_PRESTREAM, AT_POSTSTREAM, AT_ZERO and AT_TICK tags is "
+         "allowed and required to specify output stream(s).";
+  RET_CHECK(
+      (cc->Outputs().HasTag(kTagAtTick) && cc->Inputs().HasTag(kTagTick)) ||
+      (!cc->Outputs().HasTag(kTagAtTick) && !cc->Inputs().HasTag(kTagTick)))
+      << "Either both of TICK and AT_TICK should be used or none of them.";
+  const std::string output_tag = GetOutputTag(*cc);
+  const int num_entries = cc->Outputs().NumEntries(output_tag);
+  RET_CHECK_EQ(num_entries, cc->InputSidePackets().NumEntries())
+      << "Same number of input side packets and output streams is required.";
+  for (int i = 0; i < num_entries; ++i) {
+    cc->InputSidePackets().Index(i).SetAny();
+    cc->Outputs()
+        .Get(output_tag, i)
+        .SetSameAs(cc->InputSidePackets().Index(i).GetSameAs());
+  }
 
-  std::set<std::string> tags = cc->Outputs().GetTags();
+  if (cc->Inputs().HasTag(kTagTick)) {
-  RET_CHECK_EQ(tags.size(), 1);
+    cc->Inputs().Tag(kTagTick).SetAny();
+  }
 
-  RET_CHECK_EQ(kTimestampMap->count(*tags.begin()), 1);
+  return ::mediapipe::OkStatus();
-  cc->Outputs().Tag(*tags.begin()).SetAny();
+}
 
+::mediapipe::Status SidePacketToStreamCalculator::Open(CalculatorContext* cc) {
+  output_tag_ = GetOutputTag(*cc);
+  if (cc->Inputs().HasTag(kTagTick)) {
+    is_tick_processing_ = true;
+    // Set offset, so output timestamp bounds are updated in response to TICK
+    // timestamp bound update.
+    cc->SetOffset(TimestampDiff(0));
+  }
   return ::mediapipe::OkStatus();
 }
 
 ::mediapipe::Status SidePacketToStreamCalculator::Process(
     CalculatorContext* cc) {
-  return mediapipe::tool::StatusStop();
+  if (is_tick_processing_) {
+    // TICK input is guaranteed to be non-empty, as it's the only input stream
+    // for this calculator.
+    const auto& timestamp = cc->Inputs().Tag(kTagTick).Value().Timestamp();
+    for (int i = 0; i < cc->Outputs().NumEntries(output_tag_); ++i) {
+      cc->Outputs()
+          .Get(output_tag_, i)
+          .AddPacket(cc->InputSidePackets().Index(i).At(timestamp));
+    }
+
+    return ::mediapipe::OkStatus();
+  }
+
+  return ::mediapipe::tool::StatusStop();
 }
 
 ::mediapipe::Status SidePacketToStreamCalculator::Close(CalculatorContext* cc) {
-  std::set<std::string> tags = cc->Outputs().GetTags();
+  if (!cc->Outputs().HasTag(kTagAtTick)) {
-  RET_CHECK_EQ(tags.size(), 1);
+    const auto& timestamp = kTimestampMap->at(output_tag_);
-  const std::string& tag = *tags.begin();
+    for (int i = 0; i < cc->Outputs().NumEntries(output_tag_); ++i) {
-  RET_CHECK_EQ(kTimestampMap->count(tag), 1);
+      cc->Outputs()
-  cc->Outputs().Tag(tag).AddPacket(
+          .Get(output_tag_, i)
-      cc->InputSidePackets().Index(0).At(kTimestampMap->at(tag)));
+          .AddPacket(cc->InputSidePackets().Index(i).At(timestamp));
-
+    }
+  }
   return ::mediapipe::OkStatus();
 }
 

mediapipe/calculators/core/side_packet_to_stream_calculator_test.cc

@@ -0,0 +1,275 @@
+// Copyright 2020 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 <string>
+#include <vector>
+
+#include "absl/memory/memory.h"
+#include "absl/strings/match.h"
+#include "absl/strings/str_replace.h"
+#include "absl/strings/string_view.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/framework/port/status_matchers.h"
+#include "mediapipe/framework/tool/options_util.h"
+
+namespace mediapipe {
+namespace {
+
+TEST(SidePacketToStreamCalculator, WrongConfig_MissingTick) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "tick"
+            input_side_packet: "side_packet"
+            output_stream: "packet"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet"
+              output_stream: "AT_TICK:packet"
+            }
+          )");
+  CalculatorGraph graph;
+  auto status = graph.Initialize(graph_config);
+  EXPECT_FALSE(status.ok());
+  EXPECT_PRED2(
+      absl::StrContains, status.message(),
+      "Either both of TICK and AT_TICK should be used or none of them.");
+}
+
+TEST(SidePacketToStreamCalculator, WrongConfig_NonExistentTag) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "tick"
+            input_side_packet: "side_packet"
+            output_stream: "packet"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet"
+              output_stream: "DOES_NOT_EXIST:packet"
+            }
+          )");
+  CalculatorGraph graph;
+  auto status = graph.Initialize(graph_config);
+  EXPECT_FALSE(status.ok());
+  EXPECT_PRED2(absl::StrContains, status.message(),
+               "Only one of AT_PRESTREAM, AT_POSTSTREAM, AT_ZERO and AT_TICK "
+               "tags is allowed and required to specify output stream(s).");
+}
+
+TEST(SidePacketToStreamCalculator, WrongConfig_MixedTags) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "tick"
+            input_side_packet: "side_packet0"
+            input_side_packet: "side_packet1"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet0"
+              input_side_packet: "side_packet1"
+              output_stream: "AT_TICK:packet0"
+              output_stream: "AT_PRE_STREAM:packet1"
+            }
+          )");
+  CalculatorGraph graph;
+  auto status = graph.Initialize(graph_config);
+  EXPECT_FALSE(status.ok());
+  EXPECT_PRED2(absl::StrContains, status.message(),
+               "Only one of AT_PRESTREAM, AT_POSTSTREAM, AT_ZERO and AT_TICK "
+               "tags is allowed and required to specify output stream(s).");
+}
+
+TEST(SidePacketToStreamCalculator, WrongConfig_NotEnoughSidePackets) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_side_packet: "side_packet0"
+            input_side_packet: "side_packet1"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet0"
+              output_stream: "AT_PRESTREAM:0:packet0"
+              output_stream: "AT_PRESTREAM:1:packet1"
+            }
+          )");
+  CalculatorGraph graph;
+  auto status = graph.Initialize(graph_config);
+  EXPECT_FALSE(status.ok());
+  EXPECT_PRED2(
+      absl::StrContains, status.message(),
+      "Same number of input side packets and output streams is required.");
+}
+
+TEST(SidePacketToStreamCalculator, WrongConfig_NotEnoughOutputStreams) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_side_packet: "side_packet0"
+            input_side_packet: "side_packet1"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet0"
+              input_side_packet: "side_packet1"
+              output_stream: "AT_PRESTREAM:packet0"
+            }
+          )");
+  CalculatorGraph graph;
+  auto status = graph.Initialize(graph_config);
+  EXPECT_FALSE(status.ok());
+  EXPECT_PRED2(
+      absl::StrContains, status.message(),
+      "Same number of input side packets and output streams is required.");
+}
+
+void DoTestNonAtTickOutputTag(absl::string_view tag,
+                              Timestamp expected_timestamp) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(absl::StrReplaceAll(
+          R"(
+            input_side_packet: "side_packet"
+            output_stream: "packet"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_side_packet: "side_packet"
+              output_stream: "$tag:packet"
+            }
+          )",
+          {{"$tag", tag}}));
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  const int expected_value = 10;
+  std::vector<Packet> output_packets;
+  MP_ASSERT_OK(graph.ObserveOutputStream(
+      "packet", [&output_packets](const Packet& packet) {
+        output_packets.push_back(packet);
+        return ::mediapipe::OkStatus();
+      }));
+  MP_ASSERT_OK(
+      graph.StartRun({{"side_packet", MakePacket<int>(expected_value)}}));
+  MP_ASSERT_OK(graph.WaitForObservedOutput());
+
+  ASSERT_FALSE(output_packets.empty());
+  EXPECT_EQ(expected_timestamp, output_packets.back().Timestamp());
+  EXPECT_EQ(expected_value, output_packets.back().Get<int>());
+}
+
+TEST(SidePacketToStreamCalculator, NoAtTickOutputTags) {
+  DoTestNonAtTickOutputTag("AT_PRESTREAM", Timestamp::PreStream());
+  DoTestNonAtTickOutputTag("AT_POSTSTREAM", Timestamp::PostStream());
+  DoTestNonAtTickOutputTag("AT_ZERO", Timestamp(0));
+}
+
+TEST(SidePacketToStreamCalculator, AtTick) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "tick"
+            input_side_packet: "side_packet"
+            output_stream: "packet"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_stream: "TICK:tick"
+              input_side_packet: "side_packet"
+              output_stream: "AT_TICK:packet"
+            }
+          )");
+  std::vector<Packet> output_packets;
+  tool::AddVectorSink("packet", &graph_config, &output_packets);
+  CalculatorGraph graph;
+
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  const int expected_value = 20;
+  MP_ASSERT_OK(
+      graph.StartRun({{"side_packet", MakePacket<int>(expected_value)}}));
+
+  auto tick_and_verify = [&graph, &output_packets,
+                          expected_value](int at_timestamp) {
+    MP_ASSERT_OK(graph.AddPacketToInputStream(
+        "tick",
+        MakePacket<int>(/*doesn't matter*/ 1).At(Timestamp(at_timestamp))));
+    MP_ASSERT_OK(graph.WaitUntilIdle());
+
+    ASSERT_FALSE(output_packets.empty());
+    EXPECT_EQ(Timestamp(at_timestamp), output_packets.back().Timestamp());
+    EXPECT_EQ(expected_value, output_packets.back().Get<int>());
+  };
+
+  tick_and_verify(/*at_timestamp=*/0);
+  tick_and_verify(/*at_timestamp=*/1);
+  tick_and_verify(/*at_timestamp=*/128);
+  tick_and_verify(/*at_timestamp=*/1024);
+  tick_and_verify(/*at_timestamp=*/1025);
+}
+
+TEST(SidePacketToStreamCalculator, AtTick_MultipleSidePackets) {
+  CalculatorGraphConfig graph_config =
+      ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "tick"
+            input_side_packet: "side_packet0"
+            input_side_packet: "side_packet1"
+            output_stream: "packet0"
+            output_stream: "packet1"
+            node {
+              calculator: "SidePacketToStreamCalculator"
+              input_stream: "TICK:tick"
+              input_side_packet: "side_packet0"
+              input_side_packet: "side_packet1"
+              output_stream: "AT_TICK:0:packet0"
+              output_stream: "AT_TICK:1:packet1"
+            }
+          )");
+  std::vector<Packet> output_packets0;
+  tool::AddVectorSink("packet0", &graph_config, &output_packets0);
+  std::vector<Packet> output_packets1;
+  tool::AddVectorSink("packet1", &graph_config, &output_packets1);
+  CalculatorGraph graph;
+
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  const int expected_value0 = 20;
+  const int expected_value1 = 128;
+  MP_ASSERT_OK(
+      graph.StartRun({{"side_packet0", MakePacket<int>(expected_value0)},
+                      {"side_packet1", MakePacket<int>(expected_value1)}}));
+
+  auto tick_and_verify = [&graph, &output_packets0, &output_packets1,
+                          expected_value0, expected_value1](int at_timestamp) {
+    MP_ASSERT_OK(graph.AddPacketToInputStream(
+        "tick",
+        MakePacket<int>(/*doesn't matter*/ 1).At(Timestamp(at_timestamp))));
+    MP_ASSERT_OK(graph.WaitUntilIdle());
+
+    ASSERT_FALSE(output_packets0.empty());
+    ASSERT_FALSE(output_packets1.empty());
+
+    EXPECT_EQ(Timestamp(at_timestamp), output_packets0.back().Timestamp());
+    EXPECT_EQ(expected_value0, output_packets0.back().Get<int>());
+    EXPECT_EQ(Timestamp(at_timestamp), output_packets1.back().Timestamp());
+    EXPECT_EQ(expected_value1, output_packets1.back().Get<int>());
+  };
+
+  tick_and_verify(/*at_timestamp=*/0);
+  tick_and_verify(/*at_timestamp=*/1);
+  tick_and_verify(/*at_timestamp=*/128);
+  tick_and_verify(/*at_timestamp=*/1024);
+  tick_and_verify(/*at_timestamp=*/1025);
+}
+
+}  // namespace
+}  // namespace mediapipe

mediapipe/calculators/core/split_vector_calculator.cc

@@ -17,8 +17,13 @@
 #include <vector>
 
 #include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/formats/rect.pb.h"
 #include "tensorflow/lite/interpreter.h"
 
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
+#include "tensorflow/lite/delegates/gpu/gl/gl_buffer.h"
+#endif  //  !MEDIAPIPE_DISABLE_GPU
+
 namespace mediapipe {
 
 // Example config:
@@ -35,10 +40,21 @@ namespace mediapipe {
 //     }
 //   }
 // }
-typedef SplitVectorCalculator<TfLiteTensor> SplitTfLiteTensorVectorCalculator;
+typedef SplitVectorCalculator<TfLiteTensor, false>
+    SplitTfLiteTensorVectorCalculator;
 REGISTER_CALCULATOR(SplitTfLiteTensorVectorCalculator);
 
-typedef SplitVectorCalculator<::mediapipe::NormalizedLandmark>
+typedef SplitVectorCalculator<::mediapipe::NormalizedLandmark, false>
     SplitLandmarkVectorCalculator;
 REGISTER_CALCULATOR(SplitLandmarkVectorCalculator);
+
+typedef SplitVectorCalculator<::mediapipe::NormalizedRect, false>
+    SplitNormalizedRectVectorCalculator;
+REGISTER_CALCULATOR(SplitNormalizedRectVectorCalculator);
+
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
+typedef SplitVectorCalculator<::tflite::gpu::gl::GlBuffer, true>
+    MovableSplitGlBufferVectorCalculator;
+REGISTER_CALCULATOR(MovableSplitGlBufferVectorCalculator);
+#endif
 }  // namespace mediapipe

mediapipe/calculators/core/split_vector_calculator.h

@@ -15,12 +15,14 @@
 #ifndef MEDIAPIPE_CALCULATORS_CORE_SPLIT_VECTOR_CALCULATOR_H_
 #define MEDIAPIPE_CALCULATORS_CORE_SPLIT_VECTOR_CALCULATOR_H_
 
+#include <type_traits>
 #include <vector>
 
 #include "mediapipe/calculators/core/split_vector_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/port/canonical_errors.h"
 #include "mediapipe/framework/port/ret_check.h"
+#include "mediapipe/framework/port/status.h"
 #include "mediapipe/util/resource_util.h"
 #include "tensorflow/lite/error_reporter.h"
 #include "tensorflow/lite/interpreter.h"
@@ -29,6 +31,20 @@
 
 namespace mediapipe {
 
+template <typename T>
+using IsCopyable = std::enable_if_t<std::is_copy_constructible<T>::value, bool>;
+
+template <typename T>
+using IsNotCopyable =
+    std::enable_if_t<!std::is_copy_constructible<T>::value, bool>;
+
+template <typename T>
+using IsMovable = std::enable_if_t<std::is_move_constructible<T>::value, bool>;
+
+template <typename T>
+using IsNotMovable =
+    std::enable_if_t<!std::is_move_constructible<T>::value, bool>;
+
 // Splits an input packet with std::vector<T> into multiple std::vector<T>
 // output packets using the [begin, end) ranges specified in
 // SplitVectorCalculatorOptions. If the option "element_only" is set to true,
@@ -39,7 +55,7 @@ namespace mediapipe {
 // combined into one vector.
 // To use this class for a particular type T, register a calculator using
 // SplitVectorCalculator<T>.
-template <typename T>
+template <typename T, bool move_elements>
 class SplitVectorCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
@@ -51,23 +67,16 @@ class SplitVectorCalculator : public CalculatorBase {
     const auto& options =
         cc->Options<::mediapipe::SplitVectorCalculatorOptions>();
 
+    if (!std::is_copy_constructible<T>::value || move_elements) {
+      // Ranges of elements shouldn't overlap when the vector contains
+      // non-copyable elements.
+      RET_CHECK_OK(checkRangesDontOverlap(options));
+    }
+
     if (options.combine_outputs()) {
       RET_CHECK_EQ(cc->Outputs().NumEntries(), 1);
       cc->Outputs().Index(0).Set<std::vector<T>>();
-      for (int i = 0; i < options.ranges_size() - 1; ++i) {
+      RET_CHECK_OK(checkRangesDontOverlap(options));
-        for (int j = i + 1; j < options.ranges_size(); ++j) {
-          const auto& range_0 = options.ranges(i);
-          const auto& range_1 = options.ranges(j);
-          if ((range_0.begin() >= range_1.begin() &&
-               range_0.begin() < range_1.end()) ||
-              (range_1.begin() >= range_0.begin() &&
-               range_1.begin() < range_0.end())) {
-            return ::mediapipe::InvalidArgumentError(
-                "Ranges must be non-overlapping when using combine_outputs "
-                "option.");
-          }
-        }
-      }
     } else {
       if (cc->Outputs().NumEntries() != options.ranges_size()) {
         return ::mediapipe::InvalidArgumentError(
@@ -117,14 +126,26 @@ class SplitVectorCalculator : public CalculatorBase {
   }
 
   ::mediapipe::Status Process(CalculatorContext* cc) override {
-    const auto& input = cc->Inputs().Index(0).Get<std::vector<T>>();
+    if (cc->Inputs().Index(0).IsEmpty()) return ::mediapipe::OkStatus();
-    RET_CHECK_GE(input.size(), max_range_end_);
 
+    if (move_elements) {
+      return ProcessMovableElements<T>(cc);
+    } else {
+      return ProcessCopyableElements<T>(cc);
+    }
+  }
+
+  template <typename U, IsCopyable<U> = true>
+  ::mediapipe::Status ProcessCopyableElements(CalculatorContext* cc) {
+    // static_assert(std::is_copy_constructible<U>::value,
+    //              "Cannot copy non-copyable elements");
+    const auto& input = cc->Inputs().Index(0).Get<std::vector<U>>();
+    RET_CHECK_GE(input.size(), max_range_end_);
     if (combine_outputs_) {
-      auto output = absl::make_unique<std::vector<T>>();
+      auto output = absl::make_unique<std::vector<U>>();
       output->reserve(total_elements_);
       for (int i = 0; i < ranges_.size(); ++i) {
-        auto elements = absl::make_unique<std::vector<T>>(
+        auto elements = absl::make_unique<std::vector<U>>(
             input.begin() + ranges_[i].first,
             input.begin() + ranges_[i].second);
         output->insert(output->end(), elements->begin(), elements->end());
@@ -134,7 +155,7 @@ class SplitVectorCalculator : public CalculatorBase {
       if (element_only_) {
         for (int i = 0; i < ranges_.size(); ++i) {
           cc->Outputs().Index(i).AddPacket(
-              MakePacket<T>(input[ranges_[i].first]).At(cc->InputTimestamp()));
+              MakePacket<U>(input[ranges_[i].first]).At(cc->InputTimestamp()));
         }
       } else {
         for (int i = 0; i < ranges_.size(); ++i) {
@@ -149,7 +170,78 @@ class SplitVectorCalculator : public CalculatorBase {
     return ::mediapipe::OkStatus();
   }
 
+  template <typename U, IsNotCopyable<U> = true>
+  ::mediapipe::Status ProcessCopyableElements(CalculatorContext* cc) {
+    return ::mediapipe::InternalError("Cannot copy non-copyable elements.");
+  }
+
+  template <typename U, IsMovable<U> = true>
+  ::mediapipe::Status ProcessMovableElements(CalculatorContext* cc) {
+    ::mediapipe::StatusOr<std::unique_ptr<std::vector<U>>> input_status =
+        cc->Inputs().Index(0).Value().Consume<std::vector<U>>();
+    if (!input_status.ok()) return input_status.status();
+    std::unique_ptr<std::vector<U>> input_vector =
+        std::move(input_status).ValueOrDie();
+    RET_CHECK_GE(input_vector->size(), max_range_end_);
+
+    if (combine_outputs_) {
+      auto output = absl::make_unique<std::vector<U>>();
+      output->reserve(total_elements_);
+      for (int i = 0; i < ranges_.size(); ++i) {
+        output->insert(
+            output->end(),
+            std::make_move_iterator(input_vector->begin() + ranges_[i].first),
+            std::make_move_iterator(input_vector->begin() + ranges_[i].second));
+      }
+      cc->Outputs().Index(0).Add(output.release(), cc->InputTimestamp());
+    } else {
+      if (element_only_) {
+        for (int i = 0; i < ranges_.size(); ++i) {
+          cc->Outputs().Index(i).AddPacket(
+              MakePacket<U>(std::move(input_vector->at(ranges_[i].first)))
+                  .At(cc->InputTimestamp()));
+        }
+      } else {
+        for (int i = 0; i < ranges_.size(); ++i) {
+          auto output = absl::make_unique<std::vector<T>>();
+          output->insert(
+              output->end(),
+              std::make_move_iterator(input_vector->begin() + ranges_[i].first),
+              std::make_move_iterator(input_vector->begin() +
+                                      ranges_[i].second));
+          cc->Outputs().Index(i).Add(output.release(), cc->InputTimestamp());
+        }
+      }
+    }
+
+    return ::mediapipe::OkStatus();
+  }
+
+  template <typename U, IsNotMovable<U> = true>
+  ::mediapipe::Status ProcessMovableElements(CalculatorContext* cc) {
+    return ::mediapipe::InternalError("Cannot move non-movable elements.");
+  }
+
  private:
+  static ::mediapipe::Status checkRangesDontOverlap(
+      const ::mediapipe::SplitVectorCalculatorOptions& options) {
+    for (int i = 0; i < options.ranges_size() - 1; ++i) {
+      for (int j = i + 1; j < options.ranges_size(); ++j) {
+        const auto& range_0 = options.ranges(i);
+        const auto& range_1 = options.ranges(j);
+        if ((range_0.begin() >= range_1.begin() &&
+             range_0.begin() < range_1.end()) ||
+            (range_1.begin() >= range_0.begin() &&
+             range_1.begin() < range_0.end())) {
+          return ::mediapipe::InvalidArgumentError(
+              "Ranges must be non-overlapping when using combine_outputs "
+              "option.");
+        }
+      }
+    }
+    return ::mediapipe::OkStatus();
+  }
+
   std::vector<std::pair<int32, int32>> ranges_;
   int32 max_range_end_ = -1;
   int32 total_elements_ = 0;

mediapipe/calculators/core/split_vector_calculator_test.cc

@@ -452,4 +452,243 @@ TEST_F(SplitTfLiteTensorVectorCalculatorTest,
   ASSERT_FALSE(graph.Initialize(graph_config).ok());
 }
 
+typedef SplitVectorCalculator<std::unique_ptr<int>, true>
+    MovableSplitUniqueIntPtrCalculator;
+REGISTER_CALCULATOR(MovableSplitUniqueIntPtrCalculator);
+
+class MovableSplitUniqueIntPtrCalculatorTest : public ::testing::Test {
+ protected:
+  void ValidateVectorOutput(std::vector<Packet>& output_packets,
+                            int expected_elements, int input_begin_index) {
+    ASSERT_EQ(1, output_packets.size());
+    const std::vector<std::unique_ptr<int>>& output_vec =
+        output_packets[0].Get<std::vector<std::unique_ptr<int>>>();
+    ASSERT_EQ(expected_elements, output_vec.size());
+
+    for (int i = 0; i < expected_elements; ++i) {
+      const int expected_value = input_begin_index + i;
+      const std::unique_ptr<int>& result = output_vec[i];
+      ASSERT_NE(result, nullptr);
+      ASSERT_EQ(expected_value, *result);
+    }
+  }
+
+  void ValidateElementOutput(std::vector<Packet>& output_packets,
+                             int expected_value) {
+    ASSERT_EQ(1, output_packets.size());
+    const std::unique_ptr<int>& result =
+        output_packets[0].Get<std::unique_ptr<int>>();
+    ASSERT_NE(result, nullptr);
+    ASSERT_EQ(expected_value, *result);
+  }
+
+  void ValidateCombinedVectorOutput(std::vector<Packet>& output_packets,
+                                    int expected_elements,
+                                    std::vector<int>& input_begin_indices,
+                                    std::vector<int>& input_end_indices) {
+    ASSERT_EQ(1, output_packets.size());
+    ASSERT_EQ(input_begin_indices.size(), input_end_indices.size());
+    const std::vector<std::unique_ptr<int>>& output_vector =
+        output_packets[0].Get<std::vector<std::unique_ptr<int>>>();
+    ASSERT_EQ(expected_elements, output_vector.size());
+    const int num_ranges = input_begin_indices.size();
+
+    int element_id = 0;
+    for (int range_id = 0; range_id < num_ranges; ++range_id) {
+      for (int i = input_begin_indices[range_id];
+           i < input_end_indices[range_id]; ++i) {
+        const int expected_value = i;
+        const std::unique_ptr<int>& result = output_vector[element_id];
+        ASSERT_NE(result, nullptr);
+        ASSERT_EQ(expected_value, *result);
+        ++element_id;
+      }
+    }
+  }
+};
+
+TEST_F(MovableSplitUniqueIntPtrCalculatorTest, InvalidOverlappingRangesTest) {
+  // Prepare a graph to use the TestMovableSplitUniqueIntPtrVectorCalculator.
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "input_vector"
+            node {
+              calculator: "MovableSplitUniqueIntPtrCalculator"
+              input_stream: "input_vector"
+              output_stream: "range_0"
+              options {
+                [mediapipe.SplitVectorCalculatorOptions.ext] {
+                  ranges: { begin: 0 end: 3 }
+                  ranges: { begin: 1 end: 4 }
+                }
+              }
+            }
+          )");
+
+  // Run the graph.
+  CalculatorGraph graph;
+  // The graph should fail running because there are overlapping ranges.
+  ASSERT_FALSE(graph.Initialize(graph_config).ok());
+}
+
+TEST_F(MovableSplitUniqueIntPtrCalculatorTest, SmokeTest) {
+  // Prepare a graph to use the TestMovableSplitUniqueIntPtrVectorCalculator.
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "input_vector"
+            node {
+              calculator: "MovableSplitUniqueIntPtrCalculator"
+              input_stream: "input_vector"
+              output_stream: "range_0"
+              output_stream: "range_1"
+              output_stream: "range_2"
+              options {
+                [mediapipe.SplitVectorCalculatorOptions.ext] {
+                  ranges: { begin: 0 end: 1 }
+                  ranges: { begin: 1 end: 4 }
+                  ranges: { begin: 4 end: 5 }
+                }
+              }
+            }
+          )");
+
+  std::vector<Packet> range_0_packets;
+  tool::AddVectorSink("range_0", &graph_config, &range_0_packets);
+  std::vector<Packet> range_1_packets;
+  tool::AddVectorSink("range_1", &graph_config, &range_1_packets);
+  std::vector<Packet> range_2_packets;
+  tool::AddVectorSink("range_2", &graph_config, &range_2_packets);
+
+  // Run the graph.
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+
+  // input_vector : {0, 1, 2, 3, 4, 5}
+  std::unique_ptr<std::vector<std::unique_ptr<int>>> input_vector =
+      absl::make_unique<std::vector<std::unique_ptr<int>>>(6);
+  for (int i = 0; i < 6; ++i) {
+    input_vector->at(i) = absl::make_unique<int>(i);
+  }
+
+  MP_ASSERT_OK(graph.AddPacketToInputStream(
+      "input_vector", Adopt(input_vector.release()).At(Timestamp(1))));
+
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+  MP_ASSERT_OK(graph.CloseAllPacketSources());
+  MP_ASSERT_OK(graph.WaitUntilDone());
+
+  ValidateVectorOutput(range_0_packets, /*expected_elements=*/1,
+                       /*input_begin_index=*/0);
+  ValidateVectorOutput(range_1_packets, /*expected_elements=*/3,
+                       /*input_begin_index=*/1);
+  ValidateVectorOutput(range_2_packets, /*expected_elements=*/1,
+                       /*input_begin_index=*/4);
+}
+
+TEST_F(MovableSplitUniqueIntPtrCalculatorTest, SmokeTestElementOnly) {
+  // Prepare a graph to use the TestMovableSplitUniqueIntPtrVectorCalculator.
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "input_vector"
+            node {
+              calculator: "MovableSplitUniqueIntPtrCalculator"
+              input_stream: "input_vector"
+              output_stream: "range_0"
+              output_stream: "range_1"
+              output_stream: "range_2"
+              options {
+                [mediapipe.SplitVectorCalculatorOptions.ext] {
+                  ranges: { begin: 0 end: 1 }
+                  ranges: { begin: 2 end: 3 }
+                  ranges: { begin: 4 end: 5 }
+                  element_only: true
+                }
+              }
+            }
+          )");
+
+  std::vector<Packet> range_0_packets;
+  tool::AddVectorSink("range_0", &graph_config, &range_0_packets);
+  std::vector<Packet> range_1_packets;
+  tool::AddVectorSink("range_1", &graph_config, &range_1_packets);
+  std::vector<Packet> range_2_packets;
+  tool::AddVectorSink("range_2", &graph_config, &range_2_packets);
+
+  // Run the graph.
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+
+  // input_vector : {0, 1, 2, 3, 4, 5}
+  std::unique_ptr<std::vector<std::unique_ptr<int>>> input_vector =
+      absl::make_unique<std::vector<std::unique_ptr<int>>>(6);
+  for (int i = 0; i < 6; ++i) {
+    input_vector->at(i) = absl::make_unique<int>(i);
+  }
+
+  MP_ASSERT_OK(graph.AddPacketToInputStream(
+      "input_vector", Adopt(input_vector.release()).At(Timestamp(1))));
+
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+  MP_ASSERT_OK(graph.CloseAllPacketSources());
+  MP_ASSERT_OK(graph.WaitUntilDone());
+
+  ValidateElementOutput(range_0_packets, /*expected_value=*/0);
+  ValidateElementOutput(range_1_packets, /*expected_value=*/2);
+  ValidateElementOutput(range_2_packets, /*expected_value=*/4);
+}
+
+TEST_F(MovableSplitUniqueIntPtrCalculatorTest, SmokeTestCombiningOutputs) {
+  // Prepare a graph to use the TestMovableSplitUniqueIntPtrVectorCalculator.
+  CalculatorGraphConfig graph_config =
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+          R"(
+            input_stream: "input_vector"
+            node {
+              calculator: "MovableSplitUniqueIntPtrCalculator"
+              input_stream: "input_vector"
+              output_stream: "range_0"
+              options {
+                [mediapipe.SplitVectorCalculatorOptions.ext] {
+                  ranges: { begin: 0 end: 1 }
+                  ranges: { begin: 2 end: 3 }
+                  ranges: { begin: 4 end: 5 }
+                  combine_outputs: true
+                }
+              }
+            }
+          )");
+
+  std::vector<Packet> range_0_packets;
+  tool::AddVectorSink("range_0", &graph_config, &range_0_packets);
+
+  // Run the graph.
+  CalculatorGraph graph;
+  MP_ASSERT_OK(graph.Initialize(graph_config));
+  MP_ASSERT_OK(graph.StartRun({}));
+
+  // input_vector : {0, 1, 2, 3, 4, 5}
+  std::unique_ptr<std::vector<std::unique_ptr<int>>> input_vector =
+      absl::make_unique<std::vector<std::unique_ptr<int>>>(6);
+  for (int i = 0; i < 6; ++i) {
+    input_vector->at(i) = absl::make_unique<int>(i);
+  }
+
+  MP_ASSERT_OK(graph.AddPacketToInputStream(
+      "input_vector", Adopt(input_vector.release()).At(Timestamp(1))));
+
+  MP_ASSERT_OK(graph.WaitUntilIdle());
+  MP_ASSERT_OK(graph.CloseAllPacketSources());
+  MP_ASSERT_OK(graph.WaitUntilDone());
+
+  std::vector<int> input_begin_indices = {0, 2, 4};
+  std::vector<int> input_end_indices = {1, 3, 5};
+  ValidateCombinedVectorOutput(range_0_packets, /*expected_elements=*/3,
+                               input_begin_indices, input_end_indices);
+}
+
 }  // namespace mediapipe

mediapipe/calculators/image/BUILD

@@ -80,7 +80,9 @@ mediapipe_cc_proto_library(
     name = "opencv_image_encoder_calculator_cc_proto",
     srcs = ["opencv_image_encoder_calculator.proto"],
     cc_deps = ["//mediapipe/framework:calculator_cc_proto"],
-    visibility = ["//visibility:public"],
+    visibility = [
+        "//visibility:public",
+    ],
     deps = [":opencv_image_encoder_calculator_proto"],
 )
 
@@ -330,6 +332,7 @@ cc_library(
 cc_library(
     name = "image_cropping_calculator",
     srcs = ["image_cropping_calculator.cc"],
+    hdrs = ["image_cropping_calculator.h"],
     copts = select({
         "//mediapipe:apple": [
             "-x objective-c++",
@@ -343,9 +346,7 @@ cc_library(
         ],
         "//conditions:default": [],
     }),
-    visibility = [
+    visibility = ["//visibility:public"],
-        "//visibility:public",
-    ],
     deps = [
         ":image_cropping_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
@@ -356,19 +357,35 @@ cc_library(
         "//mediapipe/framework/port:opencv_imgproc",
         "//mediapipe/framework/port:ret_check",
         "//mediapipe/framework/port:status",
-        "//mediapipe/gpu:gpu_buffer",
     ] + select({
         "//mediapipe/gpu:disable_gpu": [],
         "//conditions:default": [
             "//mediapipe/gpu:gl_calculator_helper",
             "//mediapipe/gpu:gl_simple_shaders",
             "//mediapipe/gpu:gl_quad_renderer",
+            "//mediapipe/gpu:gpu_buffer",
             "//mediapipe/gpu:shader_util",
         ],
     }),
     alwayslink = 1,
 )
 
+cc_test(
+    name = "image_cropping_calculator_test",
+    srcs = ["image_cropping_calculator_test.cc"],
+    deps = [
+        ":image_cropping_calculator",
+        ":image_cropping_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:rect_cc_proto",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/framework/tool:tag_map",
+        "//mediapipe/framework/tool:tag_map_helper",
+    ],
+)
+
 cc_library(
     name = "luminance_calculator",
     srcs = ["luminance_calculator.cc"],

mediapipe/calculators/image/color_convert_calculator.cc

@@ -75,6 +75,11 @@ class ColorConvertCalculator : public CalculatorBase {
   static ::mediapipe::Status GetContract(CalculatorContract* cc);
   ::mediapipe::Status Process(CalculatorContext* cc) override;
 
+  ::mediapipe::Status Open(CalculatorContext* cc) override {
+    cc->SetOffset(TimestampDiff(0));
+    return ::mediapipe::OkStatus();
+  }
+
  private:
   // Wrangles the appropriate inputs and outputs to perform the color
   // conversion. The ImageFrame on input_tag is converted using the

mediapipe/calculators/image/image_cropping_calculator.cc

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "mediapipe/calculators/image/image_cropping_calculator.h"
+
 #include <cmath>
 
-#include "mediapipe/calculators/image/image_cropping_calculator.pb.h"
-#include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/formats/image_frame.h"
 #include "mediapipe/framework/formats/image_frame_opencv.h"
 #include "mediapipe/framework/formats/rect.pb.h"
@@ -25,7 +25,6 @@
 #include "mediapipe/framework/port/status.h"
 
 #if !defined(MEDIAPIPE_DISABLE_GPU)
-#include "mediapipe/gpu/gl_calculator_helper.h"
 #include "mediapipe/gpu/gl_simple_shaders.h"
 #include "mediapipe/gpu/gpu_buffer.h"
 #include "mediapipe/gpu/shader_util.h"
@@ -52,62 +51,6 @@ constexpr char kWidthTag[] = "WIDTH";
 
 }  // namespace
 
-// Crops the input texture to the given rectangle region. The rectangle can
-// be at arbitrary location on the image with rotation. If there's rotation, the
-// output texture will have the size of the input rectangle. The rotation should
-// be in radian, see rect.proto for detail.
-//
-// Input:
-//   One of the following two tags:
-//   IMAGE - ImageFrame representing the input image.
-//   IMAGE_GPU - GpuBuffer representing the input image.
-//   One of the following two tags (optional if WIDTH/HEIGHT is specified):
-//   RECT - A Rect proto specifying the width/height and location of the
-//          cropping rectangle.
-//   NORM_RECT - A NormalizedRect proto specifying the width/height and location
-//               of the cropping rectangle in normalized coordinates.
-//   Alternative tags to RECT (optional if RECT/NORM_RECT is specified):
-//   WIDTH - The desired width of the output cropped image,
-//           based on image center
-//   HEIGHT - The desired height of the output cropped image,
-//            based on image center
-//
-// Output:
-//   One of the following two tags:
-//   IMAGE - Cropped ImageFrame
-//   IMAGE_GPU - Cropped GpuBuffer.
-//
-// Note: input_stream values take precedence over options defined in the graph.
-//
-class ImageCroppingCalculator : public CalculatorBase {
- public:
-  ImageCroppingCalculator() = default;
-  ~ImageCroppingCalculator() override = default;
-
-  static ::mediapipe::Status GetContract(CalculatorContract* cc);
-  ::mediapipe::Status Open(CalculatorContext* cc) override;
-  ::mediapipe::Status Process(CalculatorContext* cc) override;
-  ::mediapipe::Status Close(CalculatorContext* cc) override;
-
- private:
-  ::mediapipe::Status RenderCpu(CalculatorContext* cc);
-  ::mediapipe::Status RenderGpu(CalculatorContext* cc);
-  ::mediapipe::Status InitGpu(CalculatorContext* cc);
-  void GlRender();
-  void GetOutputDimensions(CalculatorContext* cc, int src_width, int src_height,
-                           int* dst_width, int* dst_height);
-
-  mediapipe::ImageCroppingCalculatorOptions options_;
-
-  bool use_gpu_ = false;
-  // Output texture corners (4) after transoformation in normalized coordinates.
-  float transformed_points_[8];
-#if !defined(MEDIAPIPE_DISABLE_GPU)
-  bool gpu_initialized_ = false;
-  mediapipe::GlCalculatorHelper gpu_helper_;
-  GLuint program_ = 0;
-#endif  //  !MEDIAPIPE_DISABLE_GPU
-};
 REGISTER_CALCULATOR(ImageCroppingCalculator);
 
 ::mediapipe::Status ImageCroppingCalculator::GetContract(
@@ -132,7 +75,28 @@ REGISTER_CALCULATOR(ImageCroppingCalculator);
   }
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
-  RET_CHECK(cc->Inputs().HasTag(kRectTag) ^ cc->Inputs().HasTag(kNormRectTag));
+  int flags = 0;
+  if (cc->Inputs().HasTag(kRectTag)) {
+    ++flags;
+  }
+  if (cc->Inputs().HasTag(kWidthTag) && cc->Inputs().HasTag(kHeightTag)) {
+    ++flags;
+  }
+  if (cc->Inputs().HasTag(kNormRectTag)) {
+    ++flags;
+  }
+  if (cc->Options<mediapipe::ImageCroppingCalculatorOptions>()
+          .has_norm_width() &&
+      cc->Options<mediapipe::ImageCroppingCalculatorOptions>()
+          .has_norm_height()) {
+    ++flags;
+  }
+  if (cc->Options<mediapipe::ImageCroppingCalculatorOptions>().has_width() &&
+      cc->Options<mediapipe::ImageCroppingCalculatorOptions>().has_height()) {
+    ++flags;
+  }
+  RET_CHECK(flags == 1) << "Illegal combination of input streams/options.";
+
   if (cc->Inputs().HasTag(kRectTag)) {
     cc->Inputs().Tag(kRectTag).Set<Rect>();
   }
@@ -172,6 +136,13 @@ REGISTER_CALCULATOR(ImageCroppingCalculator);
 #endif  //  !MEDIAPIPE_DISABLE_GPU
   }
 
+  // Validate border mode.
+  if (use_gpu_) {
+    MP_RETURN_IF_ERROR(ValidateBorderModeForGPU(cc));
+  } else {
+    MP_RETURN_IF_ERROR(ValidateBorderModeForCPU(cc));
+  }
+
   return ::mediapipe::OkStatus();
 }
 
@@ -215,6 +186,32 @@ REGISTER_CALCULATOR(ImageCroppingCalculator);
   return ::mediapipe::OkStatus();
 }
 
+::mediapipe::Status ImageCroppingCalculator::ValidateBorderModeForCPU(
+    CalculatorContext* cc) {
+  int border_mode;
+  return GetBorderModeForOpenCV(cc, &border_mode);
+}
+
+::mediapipe::Status ImageCroppingCalculator::ValidateBorderModeForGPU(
+    CalculatorContext* cc) {
+  mediapipe::ImageCroppingCalculatorOptions options =
+      cc->Options<mediapipe::ImageCroppingCalculatorOptions>();
+
+  switch (options.border_mode()) {
+    case mediapipe::ImageCroppingCalculatorOptions::BORDER_ZERO:
+      LOG(WARNING) << "BORDER_ZERO mode is not supported by GPU "
+                   << "implementation and will fall back into BORDER_REPLICATE";
+      break;
+    case mediapipe::ImageCroppingCalculatorOptions::BORDER_REPLICATE:
+      break;
+    default:
+      RET_CHECK_FAIL() << "Unsupported border mode for GPU: "
+                       << options.border_mode();
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
 ::mediapipe::Status ImageCroppingCalculator::RenderCpu(CalculatorContext* cc) {
   if (cc->Inputs().Tag(kImageTag).IsEmpty()) {
     return ::mediapipe::OkStatus();
@@ -222,41 +219,12 @@ REGISTER_CALCULATOR(ImageCroppingCalculator);
   const auto& input_img = cc->Inputs().Tag(kImageTag).Get<ImageFrame>();
   cv::Mat input_mat = formats::MatView(&input_img);
 
-  float rect_center_x = input_img.Width() / 2.0f;
+  auto [target_width, target_height, rect_center_x, rect_center_y, rotation] =
-  float rect_center_y = input_img.Height() / 2.0f;
+      GetCropSpecs(cc, input_img.Width(), input_img.Height());
-  float rotation = 0.0f;
+
-  int target_width = input_img.Width();
+  // Get border mode and value for OpenCV.
-  int target_height = input_img.Height();
+  int border_mode;
-  if (cc->Inputs().HasTag(kRectTag)) {
+  MP_RETURN_IF_ERROR(GetBorderModeForOpenCV(cc, &border_mode));
-    const auto& rect = cc->Inputs().Tag(kRectTag).Get<Rect>();
-    if (rect.width() > 0 && rect.height() > 0 && rect.x_center() >= 0 &&
-        rect.y_center() >= 0) {
-      rect_center_x = rect.x_center();
-      rect_center_y = rect.y_center();
-      target_width = rect.width();
-      target_height = rect.height();
-      rotation = rect.rotation();
-    }
-  } else if (cc->Inputs().HasTag(kNormRectTag)) {
-    const auto& rect = cc->Inputs().Tag(kNormRectTag).Get<NormalizedRect>();
-    if (rect.width() > 0.0 && rect.height() > 0.0 && rect.x_center() >= 0.0 &&
-        rect.y_center() >= 0.0) {
-      rect_center_x = std::round(rect.x_center() * input_img.Width());
-      rect_center_y = std::round(rect.y_center() * input_img.Height());
-      target_width = std::round(rect.width() * input_img.Width());
-      target_height = std::round(rect.height() * input_img.Height());
-      rotation = rect.rotation();
-    }
-  } else {
-    if (cc->Inputs().HasTag(kWidthTag) && cc->Inputs().HasTag(kHeightTag)) {
-      target_width = cc->Inputs().Tag(kWidthTag).Get<int>();
-      target_height = cc->Inputs().Tag(kHeightTag).Get<int>();
-    } else if (options_.has_width() && options_.has_height()) {
-      target_width = options_.width();
-      target_height = options_.height();
-    }
-    rotation = options_.rotation();
-  }
 
   const cv::RotatedRect min_rect(cv::Point2f(rect_center_x, rect_center_y),
                                  cv::Size2f(target_width, target_height),
@@ -277,7 +245,9 @@ REGISTER_CALCULATOR(ImageCroppingCalculator);
       cv::getPerspectiveTransform(src_points, dst_points);
   cv::Mat cropped_image;
   cv::warpPerspective(input_mat, cropped_image, projection_matrix,
-                      cv::Size(min_rect.size.width, min_rect.size.height));
+                      cv::Size(min_rect.size.width, min_rect.size.height),
+                      /* flags = */ 0,
+                      /* borderMode = */ border_mode);
 
   std::unique_ptr<ImageFrame> output_frame(new ImageFrame(
       input_img.Format(), cropped_image.cols, cropped_image.rows));
@@ -433,46 +403,8 @@ void ImageCroppingCalculator::GetOutputDimensions(CalculatorContext* cc,
                                                   int src_width, int src_height,
                                                   int* dst_width,
                                                   int* dst_height) {
-  // Get the size of the cropping box.
+  auto [crop_width, crop_height, x_center, y_center, rotation] =
-  int crop_width = src_width;
+      GetCropSpecs(cc, src_width, src_height);
-  int crop_height = src_height;
-  // Get the center of cropping box. Default is the at the center.
-  int x_center = src_width / 2;
-  int y_center = src_height / 2;
-  // Get the rotation of the cropping box.
-  float rotation = 0.0f;
-  if (cc->Inputs().HasTag(kRectTag)) {
-    const auto& rect = cc->Inputs().Tag(kRectTag).Get<Rect>();
-    // Only use the rect if it is valid.
-    if (rect.width() > 0 && rect.height() > 0 && rect.x_center() >= 0 &&
-        rect.y_center() >= 0) {
-      x_center = rect.x_center();
-      y_center = rect.y_center();
-      crop_width = rect.width();
-      crop_height = rect.height();
-      rotation = rect.rotation();
-    }
-  } else if (cc->Inputs().HasTag(kNormRectTag)) {
-    const auto& rect = cc->Inputs().Tag(kNormRectTag).Get<NormalizedRect>();
-    // Only use the rect if it is valid.
-    if (rect.width() > 0.0 && rect.height() > 0.0 && rect.x_center() >= 0.0 &&
-        rect.y_center() >= 0.0) {
-      x_center = std::round(rect.x_center() * src_width);
-      y_center = std::round(rect.y_center() * src_height);
-      crop_width = std::round(rect.width() * src_width);
-      crop_height = std::round(rect.height() * src_height);
-      rotation = rect.rotation();
-    }
-  } else {
-    if (cc->Inputs().HasTag(kWidthTag) && cc->Inputs().HasTag(kHeightTag)) {
-      crop_width = cc->Inputs().Tag(kWidthTag).Get<int>();
-      crop_height = cc->Inputs().Tag(kHeightTag).Get<int>();
-    } else if (options_.has_width() && options_.has_height()) {
-      crop_width = options_.width();
-      crop_height = options_.height();
-    }
-    rotation = options_.rotation();
-  }
 
   const float half_width = crop_width / 2.0f;
   const float half_height = crop_height / 2.0f;
@@ -501,8 +433,110 @@ void ImageCroppingCalculator::GetOutputDimensions(CalculatorContext* cc,
     row_max = std::max(row_max, transformed_points_[i * 2 + 1]);
   }
 
-  *dst_width = std::round((col_max - col_min) * src_width);
+  int width = static_cast<int>(std::round((col_max - col_min) * src_width));
-  *dst_height = std::round((row_max - row_min) * src_height);
+  int height = static_cast<int>(std::round((row_max - row_min) * src_height));
+  // Minimum output dimension 1x1 prevents creation of textures with 0x0.
+  *dst_width = std::max(1, width);
+  *dst_height = std::max(1, height);
+}
+
+RectSpec ImageCroppingCalculator::GetCropSpecs(const CalculatorContext* cc,
+                                               int src_width, int src_height) {
+  // Get the size of the cropping box.
+  int crop_width = src_width;
+  int crop_height = src_height;
+  // Get the center of cropping box. Default is the at the center.
+  int x_center = src_width / 2;
+  int y_center = src_height / 2;
+  // Get the rotation of the cropping box.
+  float rotation = 0.0f;
+  // Get the normalized width and height if specified by the inputs or options.
+  float normalized_width = 0.0f;
+  float normalized_height = 0.0f;
+
+  mediapipe::ImageCroppingCalculatorOptions options =
+      cc->Options<mediapipe::ImageCroppingCalculatorOptions>();
+
+  // width/height, norm_width/norm_height from input streams take precednece.
+  if (cc->Inputs().HasTag(kRectTag)) {
+    const auto& rect = cc->Inputs().Tag(kRectTag).Get<Rect>();
+    // Only use the rect if it is valid.
+    if (rect.width() > 0 && rect.height() > 0 && rect.x_center() >= 0 &&
+        rect.y_center() >= 0) {
+      x_center = rect.x_center();
+      y_center = rect.y_center();
+      crop_width = rect.width();
+      crop_height = rect.height();
+      rotation = rect.rotation();
+    }
+  } else if (cc->Inputs().HasTag(kNormRectTag)) {
+    const auto& norm_rect =
+        cc->Inputs().Tag(kNormRectTag).Get<NormalizedRect>();
+    if (norm_rect.width() > 0.0 && norm_rect.height() > 0.0) {
+      normalized_width = norm_rect.width();
+      normalized_height = norm_rect.height();
+      x_center = std::round(norm_rect.x_center() * src_width);
+      y_center = std::round(norm_rect.y_center() * src_height);
+      rotation = norm_rect.rotation();
+    }
+  } else if (cc->Inputs().HasTag(kWidthTag) &&
+             cc->Inputs().HasTag(kHeightTag)) {
+    crop_width = cc->Inputs().Tag(kWidthTag).Get<int>();
+    crop_height = cc->Inputs().Tag(kHeightTag).Get<int>();
+  } else if (options.has_width() && options.has_height()) {
+    crop_width = options.width();
+    crop_height = options.height();
+  } else if (options.has_norm_width() && options.has_norm_height()) {
+    normalized_width = options.norm_width();
+    normalized_height = options.norm_height();
+  }
+
+  // Get the crop width and height from the normalized width and height.
+  if (normalized_width > 0 && normalized_height > 0) {
+    crop_width = std::round(normalized_width * src_width);
+    crop_height = std::round(normalized_height * src_height);
+  }
+
+  // Rotation and center values from input streams take precedence, so only
+  // look at those values in the options if kRectTag and kNormRectTag are not
+  // present from the inputs.
+  if (!cc->Inputs().HasTag(kRectTag) && !cc->Inputs().HasTag(kNormRectTag)) {
+    if (options.has_norm_center_x() && options.has_norm_center_y()) {
+      x_center = std::round(options.norm_center_x() * src_width);
+      y_center = std::round(options.norm_center_y() * src_height);
+    }
+    if (options.has_rotation()) {
+      rotation = options.rotation();
+    }
+  }
+
+  return {
+      .width = crop_width,
+      .height = crop_height,
+      .center_x = x_center,
+      .center_y = y_center,
+      .rotation = rotation,
+  };
+}
+
+::mediapipe::Status ImageCroppingCalculator::GetBorderModeForOpenCV(
+    CalculatorContext* cc, int* border_mode) {
+  mediapipe::ImageCroppingCalculatorOptions options =
+      cc->Options<mediapipe::ImageCroppingCalculatorOptions>();
+
+  switch (options.border_mode()) {
+    case mediapipe::ImageCroppingCalculatorOptions::BORDER_ZERO:
+      *border_mode = cv::BORDER_CONSTANT;
+      break;
+    case mediapipe::ImageCroppingCalculatorOptions::BORDER_REPLICATE:
+      *border_mode = cv::BORDER_REPLICATE;
+      break;
+    default:
+      RET_CHECK_FAIL() << "Unsupported border mode for CPU: "
+                       << options.border_mode();
+  }
+
+  return ::mediapipe::OkStatus();
 }
 
 }  // namespace mediapipe

mediapipe/calculators/image/image_cropping_calculator.h

@@ -0,0 +1,91 @@
+#ifndef MEDIAPIPE_CALCULATORS_IMAGE_IMAGE_CROPPING_CALCULATOR_H_
+#define MEDIAPIPE_CALCULATORS_IMAGE_IMAGE_CROPPING_CALCULATOR_H_
+
+#include "mediapipe/calculators/image/image_cropping_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+
+#if !defined(MEDIAPIPE_DISABLE_GPU)
+#include "mediapipe/gpu/gl_calculator_helper.h"
+#endif  //  !MEDIAPIPE_DISABLE_GPU
+
+// Crops the input texture to the given rectangle region. The rectangle can
+// be at arbitrary location on the image with rotation. If there's rotation, the
+// output texture will have the size of the input rectangle. The rotation should
+// be in radian, see rect.proto for detail.
+//
+// Input:
+//   One of the following two tags:
+//   IMAGE - ImageFrame representing the input image.
+//   IMAGE_GPU - GpuBuffer representing the input image.
+//   One of the following two tags (optional if WIDTH/HEIGHT is specified):
+//   RECT - A Rect proto specifying the width/height and location of the
+//          cropping rectangle.
+//   NORM_RECT - A NormalizedRect proto specifying the width/height and location
+//               of the cropping rectangle in normalized coordinates.
+//   Alternative tags to RECT (optional if RECT/NORM_RECT is specified):
+//   WIDTH - The desired width of the output cropped image,
+//           based on image center
+//   HEIGHT - The desired height of the output cropped image,
+//            based on image center
+//
+// Output:
+//   One of the following two tags:
+//   IMAGE - Cropped ImageFrame
+//   IMAGE_GPU - Cropped GpuBuffer.
+//
+// Note: input_stream values take precedence over options defined in the graph.
+//
+namespace mediapipe {
+
+struct RectSpec {
+  int width;
+  int height;
+  int center_x;
+  int center_y;
+  float rotation;
+
+  bool operator==(const RectSpec& rect) const {
+    return (width == rect.width && height == rect.height &&
+            center_x == rect.center_x && center_y == rect.center_y &&
+            rotation == rect.rotation);
+  }
+};
+
+class ImageCroppingCalculator : public CalculatorBase {
+ public:
+  ImageCroppingCalculator() = default;
+  ~ImageCroppingCalculator() override = default;
+
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+  ::mediapipe::Status Close(CalculatorContext* cc) override;
+  static RectSpec GetCropSpecs(const CalculatorContext* cc, int src_width,
+                               int src_height);
+
+ private:
+  ::mediapipe::Status ValidateBorderModeForCPU(CalculatorContext* cc);
+  ::mediapipe::Status ValidateBorderModeForGPU(CalculatorContext* cc);
+  ::mediapipe::Status RenderCpu(CalculatorContext* cc);
+  ::mediapipe::Status RenderGpu(CalculatorContext* cc);
+  ::mediapipe::Status InitGpu(CalculatorContext* cc);
+  void GlRender();
+  void GetOutputDimensions(CalculatorContext* cc, int src_width, int src_height,
+                           int* dst_width, int* dst_height);
+  ::mediapipe::Status GetBorderModeForOpenCV(CalculatorContext* cc,
+                                             int* border_mode);
+
+  mediapipe::ImageCroppingCalculatorOptions options_;
+
+  bool use_gpu_ = false;
+  // Output texture corners (4) after transoformation in normalized coordinates.
+  float transformed_points_[8];
+#if !defined(MEDIAPIPE_DISABLE_GPU)
+  bool gpu_initialized_ = false;
+  mediapipe::GlCalculatorHelper gpu_helper_;
+  GLuint program_ = 0;
+#endif  //  !MEDIAPIPE_DISABLE_GPU
+};
+
+}  // namespace mediapipe
+#endif  // MEDIAPIPE_CALCULATORS_IMAGE_IMAGE_CROPPING_CALCULATOR_H_

mediapipe/calculators/image/image_cropping_calculator.proto

@@ -30,4 +30,25 @@ message ImageCroppingCalculatorOptions {
 
   // Rotation angle is counter-clockwise in radian.
   optional float rotation = 3 [default = 0.0];
+
+  // Normalized width and height of the output rect. Value is within [0, 1].
+  optional float norm_width = 4;
+  optional float norm_height = 5;
+
+  // Normalized location of the center of the output
+  // rectangle in image coordinates. Value is within [0, 1].
+  // The (0, 0) point is at the (top, left) corner.
+  optional float norm_center_x = 6 [default = 0];
+  optional float norm_center_y = 7 [default = 0];
+
+  enum BorderMode {
+    // First unspecified value is required by the guideline. See details here:
+    // https://developers.google.com/protocol-buffers/docs/style#enums
+    BORDER_UNSPECIFIED = 0;
+    BORDER_ZERO = 1;
+    BORDER_REPLICATE = 2;
+  }
+
+  // Specifies behaviour for crops that go beyond image borders.
+  optional BorderMode border_mode = 8 [default = BORDER_ZERO];
 }

mediapipe/calculators/image/image_cropping_calculator_test.cc

@@ -0,0 +1,216 @@
+// Copyright 2020 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/image/image_cropping_calculator.h"
+
+#include <cmath>
+#include <memory>
+
+#include "mediapipe/calculators/image/image_cropping_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/rect.pb.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status_matchers.h"
+#include "mediapipe/framework/tool/tag_map.h"
+#include "mediapipe/framework/tool/tag_map_helper.h"
+
+namespace mediapipe {
+
+namespace {
+
+constexpr int input_width = 100;
+constexpr int input_height = 100;
+
+constexpr char kRectTag[] = "RECT";
+constexpr char kHeightTag[] = "HEIGHT";
+constexpr char kWidthTag[] = "WIDTH";
+
+// Test normal case, where norm_width and norm_height in options are set.
+TEST(ImageCroppingCalculatorTest, GetCroppingDimensionsNormal) {
+  auto calculator_node =
+      ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig::Node>(
+          R"(
+            calculator: "ImageCroppingCalculator"
+            input_stream: "IMAGE_GPU:input_frames"
+            output_stream: "IMAGE_GPU:cropped_output_frames"
+            options: {
+              [mediapipe.ImageCroppingCalculatorOptions.ext] {
+                norm_width: 0.6
+                norm_height: 0.6
+                norm_center_x: 0.5
+                norm_center_y: 0.5
+                rotation: 0.3
+              }
+            }
+          )");
+
+  auto calculator_state = absl::make_unique<CalculatorState>(
+      "Node", 0, "Calculator", calculator_node, nullptr);
+  auto cc = absl::make_unique<CalculatorContext>(
+      calculator_state.get(), tool::CreateTagMap({}).ValueOrDie(),
+      tool::CreateTagMap({}).ValueOrDie());
+
+  RectSpec expectRect = {
+      .width = 60,
+      .height = 60,
+      .center_x = 50,
+      .center_y = 50,
+      .rotation = 0.3,
+  };
+  EXPECT_EQ(ImageCroppingCalculator::GetCropSpecs(cc.get(), input_width,
+                                                  input_height),
+            expectRect);
+}  // TEST
+
+// Test when (width height) + (norm_width norm_height) are set in options.
+// width and height should take precedence.
+TEST(ImageCroppingCalculatorTest, RedundantSpecInOptions) {
+  auto calculator_node =
+      ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig::Node>(
+          R"(
+            calculator: "ImageCroppingCalculator"
+            input_stream: "IMAGE_GPU:input_frames"
+            output_stream: "IMAGE_GPU:cropped_output_frames"
+            options: {
+              [mediapipe.ImageCroppingCalculatorOptions.ext] {
+                width: 50
+                height: 50
+                norm_width: 0.6
+                norm_height: 0.6
+                norm_center_x: 0.5
+                norm_center_y: 0.5
+                rotation: 0.3
+              }
+            }
+          )");
+
+  auto calculator_state = absl::make_unique<CalculatorState>(
+      "Node", 0, "Calculator", calculator_node, nullptr);
+  auto cc = absl::make_unique<CalculatorContext>(
+      calculator_state.get(), tool::CreateTagMap({}).ValueOrDie(),
+      tool::CreateTagMap({}).ValueOrDie());
+  RectSpec expectRect = {
+      .width = 50,
+      .height = 50,
+      .center_x = 50,
+      .center_y = 50,
+      .rotation = 0.3,
+  };
+  EXPECT_EQ(ImageCroppingCalculator::GetCropSpecs(cc.get(), input_width,
+                                                  input_height),
+            expectRect);
+}  // TEST
+
+// Test when WIDTH HEIGHT are set from input stream,
+// and options has norm_width/height set.
+// WIDTH HEIGHT from input stream should take precedence.
+TEST(ImageCroppingCalculatorTest, RedundantSpectWithInputStream) {
+  auto calculator_node =
+      ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig::Node>(
+          R"(
+            calculator: "ImageCroppingCalculator"
+            input_stream: "IMAGE_GPU:input_frames"
+            input_stream: "WIDTH:crop_width"
+            input_stream: "HEIGHT:crop_height"
+            output_stream: "IMAGE_GPU:cropped_output_frames"
+            options: {
+              [mediapipe.ImageCroppingCalculatorOptions.ext] {
+                width: 50
+                height: 50
+                norm_width: 0.6
+                norm_height: 0.6
+                norm_center_x: 0.5
+                norm_center_y: 0.5
+                rotation: 0.3
+              }
+            }
+          )");
+
+  auto calculator_state = absl::make_unique<CalculatorState>(
+      "Node", 0, "Calculator", calculator_node, nullptr);
+  auto inputTags = tool::CreateTagMap({
+                                          "HEIGHT:0:crop_height",
+                                          "WIDTH:0:crop_width",
+                                      })
+                       .ValueOrDie();
+  auto cc = absl::make_unique<CalculatorContext>(
+      calculator_state.get(), inputTags, tool::CreateTagMap({}).ValueOrDie());
+  auto& inputs = cc->Inputs();
+  inputs.Tag(kHeightTag).Value() = MakePacket<int>(1);
+  inputs.Tag(kWidthTag).Value() = MakePacket<int>(1);
+  RectSpec expectRect = {
+      .width = 1,
+      .height = 1,
+      .center_x = 50,
+      .center_y = 50,
+      .rotation = 0.3,
+  };
+  EXPECT_EQ(ImageCroppingCalculator::GetCropSpecs(cc.get(), input_width,
+                                                  input_height),
+            expectRect);
+}  // TEST
+
+// Test when RECT is set from input stream,
+// and options has norm_width/height set.
+// RECT from input stream should take precedence.
+TEST(ImageCroppingCalculatorTest, RedundantSpecWithInputStream) {
+  auto calculator_node =
+      ParseTextProtoOrDie<mediapipe::CalculatorGraphConfig::Node>(
+          R"(
+            calculator: "ImageCroppingCalculator"
+            input_stream: "IMAGE_GPU:input_frames"
+            input_stream: "RECT:rect"
+            output_stream: "IMAGE_GPU:cropped_output_frames"
+            options: {
+              [mediapipe.ImageCroppingCalculatorOptions.ext] {
+                width: 50
+                height: 50
+                norm_width: 0.6
+                norm_height: 0.6
+                norm_center_x: 0.5
+                norm_center_y: 0.5
+                rotation: 0.3
+              }
+            }
+          )");
+
+  auto calculator_state = absl::make_unique<CalculatorState>(
+      "Node", 0, "Calculator", calculator_node, nullptr);
+  auto inputTags = tool::CreateTagMap({
+                                          "RECT:0:rect",
+                                      })
+                       .ValueOrDie();
+  auto cc = absl::make_unique<CalculatorContext>(
+      calculator_state.get(), inputTags, tool::CreateTagMap({}).ValueOrDie());
+  auto& inputs = cc->Inputs();
+  mediapipe::Rect rect = ParseTextProtoOrDie<mediapipe::Rect>(
+      R"(
+        width: 1 height: 1 x_center: 40 y_center: 40 rotation: 0.5
+      )");
+  inputs.Tag(kRectTag).Value() = MakePacket<mediapipe::Rect>(rect);
+  RectSpec expectRect = {
+      .width = 1,
+      .height = 1,
+      .center_x = 40,
+      .center_y = 40,
+      .rotation = 0.5,
+  };
+  EXPECT_EQ(ImageCroppingCalculator::GetCropSpecs(cc.get(), input_width,
+                                                  input_height),
+            expectRect);
+}  // TEST
+
+}  // namespace
+}  // namespace mediapipe

mediapipe/calculators/image/image_transformation_calculator.cc

@@ -104,6 +104,14 @@ mediapipe::ScaleMode_Mode ParseScaleMode(
 //   to be a multiple of 90 degrees. If provided, it overrides the
 //   ROTATION_DEGREES input side packet.
 //
+//   FLIP_HORIZONTALLY (optional): Whether to flip image horizontally or not. If
+//   provided, it overrides the FLIP_HORIZONTALLY input side packet and/or
+//   corresponding field in the calculator options.
+//
+//   FLIP_VERTICALLY (optional): Whether to flip image vertically or not. If
+//   provided, it overrides the FLIP_VERTICALLY input side packet and/or
+//   corresponding field in the calculator options.
+//
 // Output:
 //   One of the following two tags:
 //   IMAGE - ImageFrame representing the output image.
@@ -129,6 +137,12 @@ mediapipe::ScaleMode_Mode ParseScaleMode(
 //   degrees. It has to be a multiple of 90 degrees. It overrides the
 //   corresponding field in the calculator options.
 //
+//   FLIP_HORIZONTALLY (optional): Whether to flip image horizontally or not.
+//   It overrides the corresponding field in the calculator options.
+//
+//   FLIP_VERTICALLY (optional): Whether to flip image vertically or not.
+//   It overrides the corresponding field in the calculator options.
+//
 // Calculator options (see image_transformation_calculator.proto):
 //   output_width, output_height - (optional) Desired scaled image size.
 //   rotation_mode - (optional) Rotation in multiples of 90 degrees.
@@ -138,8 +152,7 @@ mediapipe::ScaleMode_Mode ParseScaleMode(
 // Note: To enable horizontal or vertical flipping, specify them in the
 // calculator options. Flipping is applied after rotation.
 //
-// Note: Only scale mode STRETCH is currently supported on CPU,
+// Note: Only scale mode STRETCH is currently supported on CPU.
-// and flipping is not yet supported either.
 //
 class ImageTransformationCalculator : public CalculatorBase {
  public:
@@ -168,6 +181,8 @@ class ImageTransformationCalculator : public CalculatorBase {
   int output_height_ = 0;
   mediapipe::RotationMode_Mode rotation_;
   mediapipe::ScaleMode_Mode scale_mode_;
+  bool flip_horizontally_ = false;
+  bool flip_vertically_ = false;
 
   bool use_gpu_ = false;
 #if !defined(MEDIAPIPE_DISABLE_GPU)
@@ -204,6 +219,12 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
   if (cc->Inputs().HasTag("ROTATION_DEGREES")) {
     cc->Inputs().Tag("ROTATION_DEGREES").Set<int>();
   }
+  if (cc->Inputs().HasTag("FLIP_HORIZONTALLY")) {
+    cc->Inputs().Tag("FLIP_HORIZONTALLY").Set<bool>();
+  }
+  if (cc->Inputs().HasTag("FLIP_VERTICALLY")) {
+    cc->Inputs().Tag("FLIP_VERTICALLY").Set<bool>();
+  }
 
   if (cc->InputSidePackets().HasTag("OUTPUT_DIMENSIONS")) {
     cc->InputSidePackets().Tag("OUTPUT_DIMENSIONS").Set<DimensionsPacketType>();
@@ -211,6 +232,12 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
   if (cc->InputSidePackets().HasTag("ROTATION_DEGREES")) {
     cc->InputSidePackets().Tag("ROTATION_DEGREES").Set<int>();
   }
+  if (cc->InputSidePackets().HasTag("FLIP_HORIZONTALLY")) {
+    cc->InputSidePackets().Tag("FLIP_HORIZONTALLY").Set<bool>();
+  }
+  if (cc->InputSidePackets().HasTag("FLIP_VERTICALLY")) {
+    cc->InputSidePackets().Tag("FLIP_VERTICALLY").Set<bool>();
+  }
 
   if (cc->Outputs().HasTag("LETTERBOX_PADDING")) {
     cc->Outputs().Tag("LETTERBOX_PADDING").Set<std::array<float, 4>>();
@@ -246,6 +273,7 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
     output_width_ = options_.output_width();
     output_height_ = options_.output_height();
   }
+
   if (cc->InputSidePackets().HasTag("ROTATION_DEGREES")) {
     rotation_ = DegreesToRotationMode(
         cc->InputSidePackets().Tag("ROTATION_DEGREES").Get<int>());
@@ -253,6 +281,20 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
     rotation_ = options_.rotation_mode();
   }
 
+  if (cc->InputSidePackets().HasTag("FLIP_HORIZONTALLY")) {
+    flip_horizontally_ =
+        cc->InputSidePackets().Tag("FLIP_HORIZONTALLY").Get<bool>();
+  } else {
+    flip_horizontally_ = options_.flip_horizontally();
+  }
+
+  if (cc->InputSidePackets().HasTag("FLIP_VERTICALLY")) {
+    flip_vertically_ =
+        cc->InputSidePackets().Tag("FLIP_VERTICALLY").Get<bool>();
+  } else {
+    flip_vertically_ = options_.flip_vertically();
+  }
+
   scale_mode_ = ParseScaleMode(options_.scale_mode(), DEFAULT_SCALE_MODE);
 
   if (use_gpu_) {
@@ -269,12 +311,37 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
 
 ::mediapipe::Status ImageTransformationCalculator::Process(
     CalculatorContext* cc) {
+  // Override values if specified so.
+  if (cc->Inputs().HasTag("ROTATION_DEGREES") &&
+      !cc->Inputs().Tag("ROTATION_DEGREES").IsEmpty()) {
+    rotation_ =
+        DegreesToRotationMode(cc->Inputs().Tag("ROTATION_DEGREES").Get<int>());
+  }
+  if (cc->Inputs().HasTag("FLIP_HORIZONTALLY") &&
+      !cc->Inputs().Tag("FLIP_HORIZONTALLY").IsEmpty()) {
+    flip_horizontally_ = cc->Inputs().Tag("FLIP_HORIZONTALLY").Get<bool>();
+  }
+  if (cc->Inputs().HasTag("FLIP_VERTICALLY") &&
+      !cc->Inputs().Tag("FLIP_VERTICALLY").IsEmpty()) {
+    flip_vertically_ = cc->Inputs().Tag("FLIP_VERTICALLY").Get<bool>();
+  }
+
   if (use_gpu_) {
 #if !defined(MEDIAPIPE_DISABLE_GPU)
+    if (cc->Inputs().Tag("IMAGE_GPU").IsEmpty()) {
+      // Image is missing, hence no way to produce output image. (Timestamp
+      // bound will be updated automatically.)
+      return ::mediapipe::OkStatus();
+    }
     return helper_.RunInGlContext(
         [this, cc]() -> ::mediapipe::Status { return RenderGpu(cc); });
 #endif  //  !MEDIAPIPE_DISABLE_GPU
   } else {
+    if (cc->Inputs().Tag("IMAGE").IsEmpty()) {
+      // Image is missing, hence no way to produce output image. (Timestamp
+      // bound will be updated automatically.)
+      return ::mediapipe::OkStatus();
+    }
     return RenderCpu(cc);
   }
   return ::mediapipe::OkStatus();
@@ -316,6 +383,11 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
   cv::Mat input_mat = formats::MatView(&input_img);
   cv::Mat scaled_mat;
 
+  if (!output_height_ || !output_width_) {
+    output_height_ = input_height;
+    output_width_ = input_width;
+  }
+
   if (scale_mode_ == mediapipe::ScaleMode_Mode_STRETCH) {
     cv::resize(input_mat, scaled_mat, cv::Size(output_width_, output_height_));
   } else {
@@ -356,21 +428,25 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
         .Add(padding.release(), cc->InputTimestamp());
   }
 
-  if (cc->InputSidePackets().HasTag("ROTATION_DEGREES")) {
-    rotation_ = DegreesToRotationMode(
-        cc->InputSidePackets().Tag("ROTATION_DEGREES").Get<int>());
-  }
-
   cv::Mat rotated_mat;
   const int angle = RotationModeToDegrees(rotation_);
   cv::Point2f src_center(scaled_mat.cols / 2.0, scaled_mat.rows / 2.0);
   cv::Mat rotation_mat = cv::getRotationMatrix2D(src_center, angle, 1.0);
   cv::warpAffine(scaled_mat, rotated_mat, rotation_mat, scaled_mat.size());
 
+  cv::Mat flipped_mat;
+  if (flip_horizontally_ || flip_vertically_) {
+    const int flip_code =
+        flip_horizontally_ && flip_vertically_ ? -1 : flip_horizontally_;
+    cv::flip(rotated_mat, flipped_mat, flip_code);
+  } else {
+    flipped_mat = rotated_mat;
+  }
+
   std::unique_ptr<ImageFrame> output_frame(
       new ImageFrame(input_img.Format(), output_width, output_height));
   cv::Mat output_mat = formats::MatView(output_frame.get());
-  rotated_mat.copyTo(output_mat);
+  flipped_mat.copyTo(output_mat);
   cc->Outputs().Tag("IMAGE").Add(output_frame.release(), cc->InputTimestamp());
 
   return ::mediapipe::OkStatus();
@@ -400,7 +476,7 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
   QuadRenderer* renderer = nullptr;
   GlTexture src1;
 
-#if defined(__APPLE__) && !TARGET_OS_OSX
+#if defined(MEDIAPIPE_IOS)
   if (input.format() == GpuBufferFormat::kBiPlanar420YpCbCr8VideoRange ||
       input.format() == GpuBufferFormat::kBiPlanar420YpCbCr8FullRange) {
     if (!yuv_renderer_) {
@@ -435,14 +511,8 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
   }
   RET_CHECK(renderer) << "Unsupported input texture type";
 
-  if (cc->InputSidePackets().HasTag("ROTATION_DEGREES")) {
+  mediapipe::FrameScaleMode scale_mode = mediapipe::FrameScaleModeFromProto(
-    rotation_ = DegreesToRotationMode(
+      scale_mode_, mediapipe::FrameScaleMode::kStretch);
-        cc->InputSidePackets().Tag("ROTATION_DEGREES").Get<int>());
-  }
-
-  static mediapipe::FrameScaleMode scale_mode =
-      mediapipe::FrameScaleModeFromProto(scale_mode_,
-                                         mediapipe::FrameScaleMode::kStretch);
   mediapipe::FrameRotation rotation =
       mediapipe::FrameRotationFromDegrees(RotationModeToDegrees(rotation_));
 
@@ -455,7 +525,7 @@ REGISTER_CALCULATOR(ImageTransformationCalculator);
 
   MP_RETURN_IF_ERROR(renderer->GlRender(
       src1.width(), src1.height(), dst.width(), dst.height(), scale_mode,
-      rotation, options_.flip_horizontally(), options_.flip_vertically(),
+      rotation, flip_horizontally_, flip_vertically_,
       /*flip_texture=*/false));
 
   glActiveTexture(GL_TEXTURE1);

mediapipe/calculators/image/scale_image_calculator.cc

@@ -260,11 +260,11 @@ ScaleImageCalculator::~ScaleImageCalculator() {}
                                       &crop_width_, &crop_height_,  //
                                       &col_start_, &row_start_));
   MP_RETURN_IF_ERROR(
-      scale_image::FindOutputDimensions(crop_width_, crop_height_,            //
+      scale_image::FindOutputDimensions(crop_width_, crop_height_,         //
-                                        options_.target_width(),              //
+                                        options_.target_width(),           //
-                                        options_.target_height(),             //
+                                        options_.target_height(),          //
-                                        options_.preserve_aspect_ratio(),     //
+                                        options_.preserve_aspect_ratio(),  //
-                                        options_.scale_to_multiple_of_two(),  //
+                                        options_.scale_to_multiple_of(),   //
                                         &output_width_, &output_height_));
   MP_RETURN_IF_ERROR(FindInterpolationAlgorithm(options_.algorithm(),
                                                 &interpolation_algorithm_));
@@ -361,17 +361,21 @@ ScaleImageCalculator::~ScaleImageCalculator() {}
       output_format_ = input_format_;
     }
 
+    const bool is_positive_and_even =
+        (options_.scale_to_multiple_of() >= 1) &&
+        (options_.scale_to_multiple_of() % 2 == 0);
+
     if (output_format_ == ImageFormat::YCBCR420P) {
-      RET_CHECK(options_.scale_to_multiple_of_two())
+      RET_CHECK(is_positive_and_even)
           << "ScaleImageCalculator always outputs width and height that are "
              "divisible by 2 when output format is YCbCr420P. To scale to "
              "width and height of odd numbers, the output format must be SRGB.";
     } else if (options_.preserve_aspect_ratio()) {
-      RET_CHECK(options_.scale_to_multiple_of_two())
+      RET_CHECK(options_.scale_to_multiple_of() == 2)
           << "ScaleImageCalculator always outputs width and height that are "
-             "divisible by 2 when perserving aspect ratio. To scale to width "
+             "divisible by 2 when preserving aspect ratio. If you'd like to "
-             "and height of odd numbers, please set "
+             "set scale_to_multiple_of to something other than 2, please "
-             "preserve_aspect_ratio to false.";
+             "set preserve_aspect_ratio to false.";
     }
 
     if (input_width_ > 0 && input_height_ > 0 &&
@@ -474,13 +478,20 @@ ScaleImageCalculator::~ScaleImageCalculator() {}
           input_width_, "x", input_height_));
     }
     if (input_format_ != image_frame.Format()) {
+      std::string image_frame_format_desc, input_format_desc;
+#ifdef MEDIAPIPE_MOBILE
+      image_frame_format_desc = std::to_string(image_frame.Format());
+      input_format_desc = std::to_string(input_format_);
+#else
       const proto_ns::EnumDescriptor* desc = ImageFormat::Format_descriptor();
+      image_frame_format_desc =
+          desc->FindValueByNumber(image_frame.Format())->DebugString();
+      input_format_desc = desc->FindValueByNumber(input_format_)->DebugString();
+#endif  // MEDIAPIPE_MOBILE
       return tool::StatusFail(absl::StrCat(
           "If a header specifies a format, then image frames on "
           "the stream must have that format.  Actual format ",
-          desc->FindValueByNumber(image_frame.Format())->DebugString(),
+          image_frame_format_desc, " but expected ", input_format_desc));
-          " but expected ",
-          desc->FindValueByNumber(input_format_)->DebugString()));
     }
   }
   return ::mediapipe::OkStatus();

mediapipe/calculators/image/scale_image_calculator.proto

@@ -11,9 +11,10 @@ import "mediapipe/framework/formats/image_format.proto";
 // 2) Scale and convert the image to fit inside target_width x target_height
 //    using the specified scaling algorithm.  (maintaining the aspect
 //    ratio if preserve_aspect_ratio is true).
-// The output width and height will be divisible by 2. It is possible to output
+// The output width and height will be divisible by 2, by default. It is
-// width and height that are odd number when the output format is SRGB and not
+// possible to output width and height that are odd numbers when the output
-// perserving the aspect ratio. See scale_to_multiple_of_two option for details.
+// format is SRGB and the aspect ratio is left unpreserved. See
+// scale_to_multiple_of for details.
 message ScaleImageCalculatorOptions {
   extend CalculatorOptions {
     optional ScaleImageCalculatorOptions ext = 66237115;
@@ -23,7 +24,7 @@ message ScaleImageCalculatorOptions {
   // depending on the other options below.  If unset, use the same width
   // or height as the input.  If only one is set then determine the other
   // from the aspect ratio (after cropping).  The output width and height
-  // will be divisible by 2.
+  // will be divisible by 2, by default.
   optional int32 target_width = 1;
   optional int32 target_height = 2;
 
@@ -31,12 +32,14 @@ message ScaleImageCalculatorOptions {
   // fits inside the box represented by target_width and target_height.
   // Otherwise it is scaled to fit target_width and target_height
   // completely.  In any case, the aspect ratio that is preserved is
-  // that after cropping to the minimum/maximum aspect ratio.
+  // that after cropping to the minimum/maximum aspect ratio. Additionally, if
+  // true, the output width and height will be divisible by 2.
   optional bool preserve_aspect_ratio = 3 [default = true];
 
   // If ratio is positive, crop the image to this minimum and maximum
   // aspect ratio (preserving the center of the frame).  This is done
-  // before scaling.
+  // before scaling.  The string must contain "/", so to disable cropping,
+  // set both to "0/1".
   //   For example, for a min_aspect_ratio of "9/16" and max of "16/9" the
   //   following cropping will occur:
   //       1920x1080 (which is 16:9) is not cropped
@@ -94,11 +97,13 @@ message ScaleImageCalculatorOptions {
   // SRGB or YCBCR420P.
   optional ImageFormat.Format input_format = 12;
 
-  // If true, the output width and height will be divisible by 2. Otherwise it
+  // If set to 2, the target width and height will be rounded-down
-  // will use the exact specified output width and height, which is only
+  // to the nearest even number. If set to any positive value other than 2,
-  // supported when the output format is SRGB and preserve_aspect_ratio option
+  // preserve_aspect_ratio must be false and the target width and height will be
-  // is set to false.
+  // rounded-down to multiples of the given value. If set to any value less than
-  optional bool scale_to_multiple_of_two = 13 [default = true];
+  // 1, it will be treated like 1.
+  // NOTE: If set to an odd number, the output format must be SRGB.
+  optional int32 scale_to_multiple_of = 13 [default = 2];
 
   // If true, assume the input YUV is BT.709 (this is the HDTV standard, so most
   // content is likely using it). If false use the previous assumption of BT.601

mediapipe/calculators/image/scale_image_utils.cc

@@ -88,17 +88,27 @@ double ParseRational(const std::string& rational) {
   return ::mediapipe::OkStatus();
 }
 
-::mediapipe::Status FindOutputDimensions(int input_width,                //
+::mediapipe::Status FindOutputDimensions(int input_width,             //
-                                         int input_height,               //
+                                         int input_height,            //
-                                         int target_width,               //
+                                         int target_width,            //
-                                         int target_height,              //
+                                         int target_height,           //
-                                         bool preserve_aspect_ratio,     //
+                                         bool preserve_aspect_ratio,  //
-                                         bool scale_to_multiple_of_two,  //
+                                         int scale_to_multiple_of,    //
                                          int* output_width,
                                          int* output_height) {
   CHECK(output_width);
   CHECK(output_height);
 
+  if (preserve_aspect_ratio) {
+    RET_CHECK(scale_to_multiple_of == 2)
+        << "FindOutputDimensions always outputs width and height that are "
+           "divisible by 2 when preserving aspect ratio. If you'd like to "
+           "set scale_to_multiple_of to something other than 2, please "
+           "set preserve_aspect_ratio to false.";
+  }
+
+  if (scale_to_multiple_of < 1) scale_to_multiple_of = 1;
+
   if (!preserve_aspect_ratio || (target_width <= 0 && target_height <= 0)) {
     if (target_width <= 0) {
       target_width = input_width;
@@ -106,13 +116,13 @@ double ParseRational(const std::string& rational) {
     if (target_height <= 0) {
       target_height = input_height;
     }
-    if (scale_to_multiple_of_two) {
+
-      *output_width = (target_width / 2) * 2;
+    target_width -= target_width % scale_to_multiple_of;
-      *output_height = (target_height / 2) * 2;
+    target_height -= target_height % scale_to_multiple_of;
-    } else {
+
-      *output_width = target_width;
+    *output_width = target_width;
-      *output_height = target_height;
+    *output_height = target_height;
-    }
+
     return ::mediapipe::OkStatus();
   }
 

mediapipe/calculators/image/scale_image_utils.h

@@ -35,17 +35,19 @@ namespace scale_image {
                                        int* col_start, int* row_start);
 
 // Given an input width and height, a target width and height, whether to
-// preserve the aspect ratio, and whether to round down to a multiple of 2,
+// preserve the aspect ratio, and whether to round-down to the multiple of a
-// determine the output width and height. If target_width or target_height is
+// given number nearest to the targets, determine the output width and height.
-// non-positive, then they will be set to the input_width and input_height
+// If target_width or target_height is non-positive, then they will be set to
-// respectively. The output_width and output_height will be reduced as necessary
+// the input_width and input_height respectively. If scale_to_multiple_of is
-// to preserve_aspect_ratio and to scale_to_multipe_of_two if these options are
+// less than 1, it will be treated like 1. The output_width and
-// specified.
+// output_height will be reduced as necessary to preserve_aspect_ratio if the
+// option is specified. If preserving the aspect ratio is desired, you must set
+// scale_to_multiple_of to 2.
 ::mediapipe::Status FindOutputDimensions(int input_width, int input_height,  //
                                          int target_width,
-                                         int target_height,              //
+                                         int target_height,           //
-                                         bool preserve_aspect_ratio,     //
+                                         bool preserve_aspect_ratio,  //
-                                         bool scale_to_multiple_of_two,  //
+                                         int scale_to_multiple_of,    //
                                          int* output_width, int* output_height);
 
 }  // namespace scale_image

mediapipe/calculators/image/scale_image_utils_test.cc

@@ -79,49 +79,49 @@ TEST(ScaleImageUtilsTest, FindOutputDimensionsPreserveRatio) {
   int output_width;
   int output_height;
   // Not scale.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, -1, true, true, &output_width,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, -1, true, 2, &output_width,
                                     &output_height));
   EXPECT_EQ(200, output_width);
   EXPECT_EQ(100, output_height);
   // Not scale with odd input size.
-  MP_ASSERT_OK(FindOutputDimensions(201, 101, -1, -1, false, false,
+  MP_ASSERT_OK(FindOutputDimensions(201, 101, -1, -1, false, 1, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(201, output_width);
   EXPECT_EQ(101, output_height);
   // Scale down by 1/2.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 100, -1, true, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 100, -1, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(100, output_width);
   EXPECT_EQ(50, output_height);
   // Scale up, doubling dimensions.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, 200, true, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, 200, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(400, output_width);
   EXPECT_EQ(200, output_height);
   // Fits a 2:1 image into a 150 x 150 box. Output dimensions are always
   // visible by 2.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 150, 150, true, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 150, 150, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(150, output_width);
   EXPECT_EQ(74, output_height);
   // Fits a 2:1 image into a 400 x 50 box.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 400, 50, true, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 400, 50, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(100, output_width);
   EXPECT_EQ(50, output_height);
   // Scale to multiple number with odd targe size.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 101, -1, true, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 101, -1, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(100, output_width);
   EXPECT_EQ(50, output_height);
   // Scale to multiple number with odd targe size.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 101, -1, true, false,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 101, -1, true, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(100, output_width);
   EXPECT_EQ(50, output_height);
   // Scale to odd size.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 151, 101, false, false,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 151, 101, false, 1, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(151, output_width);
   EXPECT_EQ(101, output_height);
 }
@@ -131,22 +131,62 @@ TEST(ScaleImageUtilsTest, FindOutputDimensionsNoAspectRatio) {
   int output_width;
   int output_height;
   // Scale width only.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 100, -1, false, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 100, -1, false, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(100, output_width);
   EXPECT_EQ(100, output_height);
   // Scale height only.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, 200, false, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, -1, 200, false, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(200, output_width);
   EXPECT_EQ(200, output_height);
   // Scale both dimensions.
-  MP_ASSERT_OK(FindOutputDimensions(200, 100, 150, 200, false, true,
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 150, 200, false, 2, &output_width,
-                                    &output_width, &output_height));
+                                    &output_height));
   EXPECT_EQ(150, output_width);
   EXPECT_EQ(200, output_height);
 }
 
+// Tests scale_to_multiple_of.
+TEST(ScaleImageUtilsTest, FindOutputDimensionsDownScaleToMultipleOf) {
+  int output_width;
+  int output_height;
+  // Set no targets, downscale to a multiple of 8.
+  MP_ASSERT_OK(FindOutputDimensions(100, 100, -1, -1, false, 8, &output_width,
+                                    &output_height));
+  EXPECT_EQ(96, output_width);
+  EXPECT_EQ(96, output_height);
+  // Set width target, downscale to a multiple of 8.
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 100, -1, false, 8, &output_width,
+                                    &output_height));
+  EXPECT_EQ(96, output_width);
+  EXPECT_EQ(96, output_height);
+  // Set height target, downscale to a multiple of 8.
+  MP_ASSERT_OK(FindOutputDimensions(201, 101, -1, 201, false, 8, &output_width,
+                                    &output_height));
+  EXPECT_EQ(200, output_width);
+  EXPECT_EQ(200, output_height);
+  // Set both targets, downscale to a multiple of 8.
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 150, 200, false, 8, &output_width,
+                                    &output_height));
+  EXPECT_EQ(144, output_width);
+  EXPECT_EQ(200, output_height);
+  // Doesn't throw error if keep aspect is true and downscale multiple is 2.
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 400, 200, true, 2, &output_width,
+                                    &output_height));
+  EXPECT_EQ(400, output_width);
+  EXPECT_EQ(200, output_height);
+  // Throws error if keep aspect is true, but downscale multiple is not 2.
+  ASSERT_THAT(FindOutputDimensions(200, 100, 400, 200, true, 4, &output_width,
+                                   &output_height),
+              testing::Not(testing::status::IsOk()));
+  // Downscaling to multiple ignored if multiple is less than 2.
+  MP_ASSERT_OK(FindOutputDimensions(200, 100, 401, 201, false, 1, &output_width,
+                                    &output_height));
+  EXPECT_EQ(401, output_width);
+  EXPECT_EQ(201, output_height);
+}
+
 }  // namespace
 }  // namespace scale_image
 }  // namespace mediapipe

mediapipe/calculators/image/testdata/BUILD

@@ -21,6 +21,7 @@ filegroup(
         "dino.jpg",
         "dino_quality_50.jpg",
         "dino_quality_80.jpg",
+        "front_camera_pixel2.jpg",
     ],
     visibility = ["//visibility:public"],
 )

mediapipe/calculators/tensorflow/BUILD

@@ -138,7 +138,7 @@ mediapipe_cc_proto_library(
     srcs = ["image_frame_to_tensor_calculator.proto"],
     cc_deps = [
         "//mediapipe/framework:calculator_cc_proto",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     visibility = ["//visibility:public"],
     deps = [":image_frame_to_tensor_calculator_proto"],
@@ -173,7 +173,7 @@ mediapipe_cc_proto_library(
     srcs = ["pack_media_sequence_calculator.proto"],
     cc_deps = [
         "//mediapipe/framework:calculator_cc_proto",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     visibility = ["//visibility:public"],
     deps = [":pack_media_sequence_calculator_proto"],
@@ -192,7 +192,7 @@ mediapipe_cc_proto_library(
     srcs = ["tensorflow_session_from_frozen_graph_generator.proto"],
     cc_deps = [
         "//mediapipe/framework:packet_generator_cc_proto",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     visibility = ["//visibility:public"],
     deps = [":tensorflow_session_from_frozen_graph_generator_proto"],
@@ -203,7 +203,7 @@ mediapipe_cc_proto_library(
     srcs = ["tensorflow_session_from_frozen_graph_calculator.proto"],
     cc_deps = [
         "//mediapipe/framework:calculator_cc_proto",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     visibility = ["//visibility:public"],
     deps = [":tensorflow_session_from_frozen_graph_calculator_proto"],
@@ -277,7 +277,7 @@ mediapipe_cc_proto_library(
     srcs = ["vector_int_to_tensor_calculator_options.proto"],
     cc_deps = [
         "//mediapipe/framework:calculator_cc_proto",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     visibility = ["//visibility:public"],
     deps = [":vector_int_to_tensor_calculator_options_proto"],
@@ -408,7 +408,7 @@ cc_library(
         "//mediapipe/util/sequence:media_sequence",
         "//mediapipe/util/sequence:media_sequence_util",
         "@com_google_absl//absl/strings",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     alwayslink = 1,
 )
@@ -423,7 +423,7 @@ cc_library(
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework/port:ret_check",
         "//mediapipe/framework/port:status",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     alwayslink = 1,
 )
@@ -654,7 +654,7 @@ cc_library(
         "//mediapipe/framework/port:ret_check",
         "//mediapipe/framework/port:status",
         "@org_tensorflow//tensorflow/core:lib",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     alwayslink = 1,
 )
@@ -695,7 +695,7 @@ cc_library(
         "//mediapipe/util:audio_decoder_cc_proto",
         "//mediapipe/util/sequence:media_sequence",
         "@com_google_absl//absl/strings",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     alwayslink = 1,
 )
@@ -737,7 +737,7 @@ cc_library(
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework:packet",
         "//mediapipe/framework/port:status",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
     alwayslink = 1,
 )
@@ -745,6 +745,7 @@ cc_library(
 cc_test(
     name = "graph_tensors_packet_generator_test",
     srcs = ["graph_tensors_packet_generator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":graph_tensors_packet_generator",
         ":graph_tensors_packet_generator_cc_proto",
@@ -761,6 +762,7 @@ cc_test(
     name = "image_frame_to_tensor_calculator_test",
     size = "small",
     srcs = ["image_frame_to_tensor_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":image_frame_to_tensor_calculator",
         "//mediapipe/framework:calculator_framework",
@@ -777,6 +779,7 @@ cc_test(
     name = "matrix_to_tensor_calculator_test",
     size = "small",
     srcs = ["matrix_to_tensor_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":matrix_to_tensor_calculator",
         ":matrix_to_tensor_calculator_options_cc_proto",
@@ -793,6 +796,7 @@ cc_test(
     name = "lapped_tensor_buffer_calculator_test",
     size = "small",
     srcs = ["lapped_tensor_buffer_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":lapped_tensor_buffer_calculator",
         ":lapped_tensor_buffer_calculator_cc_proto",
@@ -801,7 +805,7 @@ cc_test(
         "//mediapipe/framework/port:gtest_main",
         "@com_google_absl//absl/memory",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
@@ -840,7 +844,7 @@ cc_test(
         "//mediapipe/util/sequence:media_sequence",
         "@com_google_absl//absl/memory",
         "@com_google_absl//absl/strings",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
@@ -867,7 +871,7 @@ cc_test(
         "@com_google_absl//absl/strings",
         "@org_tensorflow//tensorflow/core:direct_session",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
         "@org_tensorflow//tensorflow/core:testlib",
         "@org_tensorflow//tensorflow/core/kernels:conv_ops",
         "@org_tensorflow//tensorflow/core/kernels:math",
@@ -897,7 +901,7 @@ cc_test(
         "@com_google_absl//absl/strings",
         "@org_tensorflow//tensorflow/core:direct_session",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
         "@org_tensorflow//tensorflow/core:testlib",
         "@org_tensorflow//tensorflow/core/kernels:conv_ops",
         "@org_tensorflow//tensorflow/core/kernels:math",
@@ -956,6 +960,7 @@ cc_test(
 cc_test(
     name = "tensor_squeeze_dimensions_calculator_test",
     srcs = ["tensor_squeeze_dimensions_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":tensor_squeeze_dimensions_calculator",
         ":tensor_squeeze_dimensions_calculator_cc_proto",
@@ -963,7 +968,7 @@ cc_test(
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
@@ -971,6 +976,7 @@ cc_test(
     name = "tensor_to_image_frame_calculator_test",
     size = "small",
     srcs = ["tensor_to_image_frame_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":tensor_to_image_frame_calculator",
         ":tensor_to_image_frame_calculator_cc_proto",
@@ -979,7 +985,7 @@ cc_test(
         "//mediapipe/framework/formats:image_frame",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
@@ -987,6 +993,7 @@ cc_test(
     name = "tensor_to_matrix_calculator_test",
     size = "small",
     srcs = ["tensor_to_matrix_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":tensor_to_matrix_calculator",
         ":tensor_to_matrix_calculator_cc_proto",
@@ -996,13 +1003,14 @@ cc_test(
         "//mediapipe/framework/formats:time_series_header_cc_proto",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
 cc_test(
     name = "tensor_to_vector_float_calculator_test",
     srcs = ["tensor_to_vector_float_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":tensor_to_vector_float_calculator",
         ":tensor_to_vector_float_calculator_options_cc_proto",
@@ -1010,7 +1018,7 @@ cc_test(
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
@@ -1030,13 +1038,14 @@ cc_test(
         "//mediapipe/util/sequence:media_sequence",
         "@com_google_absl//absl/memory",
         "@com_google_absl//absl/strings",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
 cc_test(
     name = "vector_int_to_tensor_calculator_test",
     srcs = ["vector_int_to_tensor_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":vector_int_to_tensor_calculator",
         ":vector_int_to_tensor_calculator_options_cc_proto",
@@ -1044,13 +1053,14 @@ cc_test(
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 
 cc_test(
     name = "vector_float_to_tensor_calculator_test",
     srcs = ["vector_float_to_tensor_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":vector_float_to_tensor_calculator",
         ":vector_float_to_tensor_calculator_options_cc_proto",
@@ -1058,7 +1068,7 @@ cc_test(
         "//mediapipe/framework:calculator_runner",
         "//mediapipe/framework/port:gtest_main",
         "@org_tensorflow//tensorflow/core:framework",
-        "@org_tensorflow//tensorflow/core:protos_all",
+        "@org_tensorflow//tensorflow/core:protos_all_cc",
     ],
 )
 

mediapipe/calculators/tensorflow/pack_media_sequence_calculator.cc

@@ -34,6 +34,7 @@ namespace mediapipe {
 
 const char kSequenceExampleTag[] = "SEQUENCE_EXAMPLE";
 const char kImageTag[] = "IMAGE";
+const char kFloatContextFeaturePrefixTag[] = "FLOAT_CONTEXT_FEATURE_";
 const char kFloatFeaturePrefixTag[] = "FLOAT_FEATURE_";
 const char kForwardFlowEncodedTag[] = "FORWARD_FLOW_ENCODED";
 const char kBBoxTag[] = "BBOX";
@@ -145,6 +146,9 @@ class PackMediaSequenceCalculator : public CalculatorBase {
         }
         cc->Inputs().Tag(tag).Set<std::vector<Detection>>();
       }
+      if (absl::StartsWith(tag, kFloatContextFeaturePrefixTag)) {
+        cc->Inputs().Tag(tag).Set<std::vector<float>>();
+      }
       if (absl::StartsWith(tag, kFloatFeaturePrefixTag)) {
         cc->Inputs().Tag(tag).Set<std::vector<float>>();
       }
@@ -264,7 +268,7 @@ class PackMediaSequenceCalculator : public CalculatorBase {
     if (options.output_only_if_all_present()) {
       ::mediapipe::Status status = VerifySequence();
       if (!status.ok()) {
-        cc->GetCounter(status.error_message())->Increment();
+        cc->GetCounter(status.ToString())->Increment();
         return status;
       }
     }
@@ -344,6 +348,17 @@ class PackMediaSequenceCalculator : public CalculatorBase {
                              sequence_.get());
         }
       }
+      if (absl::StartsWith(tag, kFloatContextFeaturePrefixTag) &&
+          !cc->Inputs().Tag(tag).IsEmpty()) {
+        std::string key =
+            tag.substr(sizeof(kFloatContextFeaturePrefixTag) /
+                           sizeof(*kFloatContextFeaturePrefixTag) -
+                       1);
+        RET_CHECK_EQ(cc->InputTimestamp(), Timestamp::PostStream());
+        mpms::SetContextFeatureFloats(
+            key, cc->Inputs().Tag(tag).Get<std::vector<float>>(),
+            sequence_.get());
+      }
       if (absl::StartsWith(tag, kFloatFeaturePrefixTag) &&
           !cc->Inputs().Tag(tag).IsEmpty()) {
         std::string key = tag.substr(sizeof(kFloatFeaturePrefixTag) /

mediapipe/calculators/tensorflow/pack_media_sequence_calculator_test.cc

@@ -194,6 +194,38 @@ TEST_F(PackMediaSequenceCalculatorTest, PacksTwoFloatLists) {
   }
 }
 
+TEST_F(PackMediaSequenceCalculatorTest, PacksTwoContextFloatLists) {
+  SetUpCalculator(
+      {"FLOAT_CONTEXT_FEATURE_TEST:test", "FLOAT_CONTEXT_FEATURE_OTHER:test2"},
+      {}, false, true);
+  auto input_sequence = absl::make_unique<tf::SequenceExample>();
+
+  auto vf_ptr = absl::make_unique<std::vector<float>>(2, 3);
+  runner_->MutableInputs()
+      ->Tag("FLOAT_CONTEXT_FEATURE_TEST")
+      .packets.push_back(Adopt(vf_ptr.release()).At(Timestamp::PostStream()));
+  vf_ptr = absl::make_unique<std::vector<float>>(2, 4);
+  runner_->MutableInputs()
+      ->Tag("FLOAT_CONTEXT_FEATURE_OTHER")
+      .packets.push_back(Adopt(vf_ptr.release()).At(Timestamp::PostStream()));
+
+  runner_->MutableSidePackets()->Tag("SEQUENCE_EXAMPLE") =
+      Adopt(input_sequence.release());
+
+  MP_ASSERT_OK(runner_->Run());
+
+  const std::vector<Packet>& output_packets =
+      runner_->Outputs().Tag("SEQUENCE_EXAMPLE").packets;
+  ASSERT_EQ(1, output_packets.size());
+  const tf::SequenceExample& output_sequence =
+      output_packets[0].Get<tf::SequenceExample>();
+
+  ASSERT_THAT(mpms::GetContextFeatureFloats("TEST", output_sequence),
+              testing::ElementsAre(3, 3));
+  ASSERT_THAT(mpms::GetContextFeatureFloats("OTHER", output_sequence),
+              testing::ElementsAre(4, 4));
+}
+
 TEST_F(PackMediaSequenceCalculatorTest, PacksAdditionalContext) {
   tf::Features context;
   (*context.mutable_feature())["TEST"].mutable_bytes_list()->add_value("YES");

mediapipe/calculators/tensorflow/tensorflow_inference_calculator.cc

@@ -34,7 +34,7 @@
 #include "tensorflow/core/framework/tensor_shape.h"
 #include "tensorflow/core/framework/tensor_util.h"
 
-#if !defined(__ANDROID__) && !defined(__APPLE__)
+#if !defined(MEDIAPIPE_MOBILE) && !defined(__APPLE__)
 #include "tensorflow/core/profiler/lib/traceme.h"
 #endif
 
@@ -441,7 +441,7 @@ class TensorFlowInferenceCalculator : public CalculatorBase {
     const int64 run_start_time = absl::ToUnixMicros(clock_->TimeNow());
     tf::Status tf_status;
     {
-#if !defined(__ANDROID__) && !defined(__APPLE__)
+#if !defined(MEDIAPIPE_MOBILE) && !defined(__APPLE__)
       tensorflow::profiler::TraceMe trace(absl::string_view(cc->NodeName()));
 #endif
       tf_status = session_->Run(input_tensors, output_tensor_names,
@@ -454,7 +454,7 @@ class TensorFlowInferenceCalculator : public CalculatorBase {
 
     // RET_CHECK on the tf::Status object itself in order to print an
     // informative error message.
-    RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.error_message();
+    RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.ToString();
 
     const int64 run_end_time = absl::ToUnixMicros(clock_->TimeNow());
     cc->GetCounter(kTotalSessionRunsTimeUsecsCounterSuffix)

mediapipe/calculators/tensorflow/tensorflow_session_from_frozen_graph_calculator.cc

@@ -31,8 +31,7 @@
 #include "mediapipe/framework/tool/status_util.h"
 #include "tensorflow/core/public/session_options.h"
 
-#if defined(MEDIAPIPE_LITE) || defined(__ANDROID__) || \
+#if defined(MEDIAPIPE_MOBILE)
-    defined(__APPLE__) && !TARGET_OS_OSX
 #include "mediapipe/util/android/file/base/helpers.h"
 #else
 #include "mediapipe/framework/port/file_helpers.h"
@@ -110,7 +109,7 @@ class TensorFlowSessionFromFrozenGraphCalculator : public CalculatorBase {
 
     RET_CHECK(graph_def.ParseFromString(graph_def_serialized));
     const tf::Status tf_status = session->session->Create(graph_def);
-    RET_CHECK(tf_status.ok()) << "Create failed: " << tf_status.error_message();
+    RET_CHECK(tf_status.ok()) << "Create failed: " << tf_status.ToString();
 
     for (const auto& key_value : options.tag_to_tensor_names()) {
       session->tag_to_tensor_map[key_value.first] = key_value.second;
@@ -120,7 +119,7 @@ class TensorFlowSessionFromFrozenGraphCalculator : public CalculatorBase {
           session->session->Run({}, {}, initialization_op_names, {});
       // RET_CHECK on the tf::Status object itself in order to print an
       // informative error message.
-      RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.error_message();
+      RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.ToString();
     }
 
     cc->OutputSidePackets().Tag("SESSION").Set(Adopt(session.release()));

mediapipe/calculators/tensorflow/tensorflow_session_from_frozen_graph_generator.cc

@@ -109,7 +109,7 @@ class TensorFlowSessionFromFrozenGraphGenerator : public PacketGenerator {
 
     RET_CHECK(graph_def.ParseFromString(graph_def_serialized));
     const tf::Status tf_status = session->session->Create(graph_def);
-    RET_CHECK(tf_status.ok()) << "Create failed: " << tf_status.error_message();
+    RET_CHECK(tf_status.ok()) << "Create failed: " << tf_status.ToString();
 
     for (const auto& key_value : options.tag_to_tensor_names()) {
       session->tag_to_tensor_map[key_value.first] = key_value.second;
@@ -119,7 +119,7 @@ class TensorFlowSessionFromFrozenGraphGenerator : public PacketGenerator {
           session->session->Run({}, {}, initialization_op_names, {});
       // RET_CHECK on the tf::Status object itself in order to print an
       // informative error message.
-      RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.error_message();
+      RET_CHECK(tf_status.ok()) << "Run failed: " << tf_status.ToString();
     }
 
     output_side_packets->Tag("SESSION") = Adopt(session.release());

mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_calculator.cc

@@ -17,7 +17,7 @@
 #if !defined(__ANDROID__)
 #include "mediapipe/framework/port/file_helpers.h"
 #endif
-#include "absl/strings/substitute.h"
+#include "absl/strings/str_replace.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
@@ -63,7 +63,7 @@ const std::string MaybeConvertSignatureToTag(
     output.resize(name.length());
     std::transform(name.begin(), name.end(), output.begin(),
                    [](unsigned char c) { return std::toupper(c); });
-    output = absl::Substitute(output, "/", "_");
+    output = absl::StrReplaceAll(output, {{"/", "_"}});
     return output;
   } else {
     return name;
@@ -140,7 +140,7 @@ class TensorFlowSessionFromSavedModelCalculator : public CalculatorBase {
     if (!status.ok()) {
       return ::mediapipe::Status(
           static_cast<::mediapipe::StatusCode>(status.code()),
-          status.error_message());
+          status.ToString());
     }
 
     auto session = absl::make_unique<TensorFlowSession>();

mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_calculator_test.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "absl/strings/substitute.h"
+#include "absl/strings/str_replace.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_calculator.pb.h"
 #include "mediapipe/framework/calculator.pb.h"

mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_generator.cc

@@ -17,7 +17,7 @@
 #if !defined(__ANDROID__)
 #include "mediapipe/framework/port/file_helpers.h"
 #endif
-#include "absl/strings/substitute.h"
+#include "absl/strings/str_replace.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_generator.pb.h"
 #include "mediapipe/framework/deps/file_path.h"
@@ -65,7 +65,7 @@ const std::string MaybeConvertSignatureToTag(
     output.resize(name.length());
     std::transform(name.begin(), name.end(), output.begin(),
                    [](unsigned char c) { return std::toupper(c); });
-    output = absl::Substitute(output, "/", "_");
+    output = absl::StrReplaceAll(output, {{"/", "_"}});
     return output;
   } else {
     return name;
@@ -135,7 +135,7 @@ class TensorFlowSessionFromSavedModelGenerator : public PacketGenerator {
     if (!status.ok()) {
       return ::mediapipe::Status(
           static_cast<::mediapipe::StatusCode>(status.code()),
-          status.error_message());
+          status.ToString());
     }
 
     auto session = absl::make_unique<TensorFlowSession>();

mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_generator_test.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "absl/strings/substitute.h"
+#include "absl/strings/str_replace.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session.h"
 #include "mediapipe/calculators/tensorflow/tensorflow_session_from_saved_model_generator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"

mediapipe/calculators/tensorflow/tfrecord_reader_calculator.cc

@@ -81,11 +81,11 @@ class TFRecordReaderCalculator : public CalculatorBase {
   auto tf_status = tensorflow::Env::Default()->NewRandomAccessFile(
       cc->InputSidePackets().Tag(kTFRecordPath).Get<std::string>(), &file);
   RET_CHECK(tf_status.ok())
-      << "Failed to open tfrecord file: " << tf_status.error_message();
+      << "Failed to open tfrecord file: " << tf_status.ToString();
   tensorflow::io::RecordReader reader(file.get(),
                                       tensorflow::io::RecordReaderOptions());
   tensorflow::uint64 offset = 0;
-  std::string example_str;
+  tensorflow::tstring example_str;
   const int target_idx =
       cc->InputSidePackets().HasTag(kRecordIndex)
           ? cc->InputSidePackets().Tag(kRecordIndex).Get<int>()
@@ -94,11 +94,11 @@ class TFRecordReaderCalculator : public CalculatorBase {
   while (current_idx <= target_idx) {
     tf_status = reader.ReadRecord(&offset, &example_str);
     RET_CHECK(tf_status.ok())
-        << "Failed to read tfrecord: " << tf_status.error_message();
+        << "Failed to read tfrecord: " << tf_status.ToString();
     if (current_idx == target_idx) {
       if (cc->OutputSidePackets().HasTag(kExampleTag)) {
         tensorflow::Example tf_example;
-        tf_example.ParseFromString(example_str);
+        tf_example.ParseFromArray(example_str.data(), example_str.size());
         cc->OutputSidePackets()
             .Tag(kExampleTag)
             .Set(MakePacket<tensorflow::Example>(std::move(tf_example)));

mediapipe/calculators/tflite/BUILD

@@ -13,12 +13,12 @@
 # limitations under the License.
 #
 
+load("//mediapipe/framework/port:build_config.bzl", "mediapipe_cc_proto_library")
+
 licenses(["notice"])  # Apache 2.0
 
 package(default_visibility = ["//visibility:private"])
 
-load("//mediapipe/framework/port:build_config.bzl", "mediapipe_cc_proto_library")
-
 proto_library(
     name = "ssd_anchors_calculator_proto",
     srcs = ["ssd_anchors_calculator.proto"],
@@ -249,6 +249,11 @@ cc_library(
             "@org_tensorflow//tensorflow/lite/delegates/gpu/gl:gl_program",
             "@org_tensorflow//tensorflow/lite/delegates/gpu/gl:gl_shader",
         ],
+    }) + select({
+        "//conditions:default": [],
+        "//mediapipe:android": [
+            "@org_tensorflow//tensorflow/lite/delegates/nnapi:nnapi_delegate",
+        ],
     }),
     alwayslink = 1,
 )
@@ -480,6 +485,7 @@ cc_test(
         "//mediapipe/framework/port:integral_types",
         "//mediapipe/framework/port:parse_text_proto",
         "//mediapipe/framework/tool:validate_type",
+        "@com_google_absl//absl/strings",
         "@org_tensorflow//tensorflow/lite:framework",
         "@org_tensorflow//tensorflow/lite/kernels:builtin_ops",
     ],

mediapipe/calculators/tflite/tflite_converter_calculator.cc

@@ -25,8 +25,7 @@
 #include "tensorflow/lite/error_reporter.h"
 #include "tensorflow/lite/interpreter.h"
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 #include "mediapipe/gpu/gl_calculator_helper.h"
 #include "mediapipe/gpu/gpu_buffer.h"
 #include "tensorflow/lite/delegates/gpu/gl/gl_buffer.h"
@@ -35,7 +34,7 @@
 #include "tensorflow/lite/delegates/gpu/gl_delegate.h"
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
 #import <CoreVideo/CoreVideo.h>
 #import <Metal/Metal.h>
 #import <MetalKit/MetalKit.h>
@@ -46,10 +45,9 @@
 #include "tensorflow/lite/delegates/gpu/metal_delegate.h"
 #endif  // iOS
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 typedef ::tflite::gpu::gl::GlBuffer GpuTensor;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
 typedef id<MTLBuffer> GpuTensor;
 #endif
 
@@ -69,8 +67,7 @@ typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor>
 
 namespace mediapipe {
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 using ::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer;
 using ::tflite::gpu::gl::GlProgram;
 using ::tflite::gpu::gl::GlShader;
@@ -80,7 +77,7 @@ struct GPUData {
   GlShader shader;
   GlProgram program;
 };
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
 struct GPUData {
   int elements = 1;
   GpuTensor buffer;
@@ -149,11 +146,10 @@ class TfLiteConverterCalculator : public CalculatorBase {
 
   std::unique_ptr<tflite::Interpreter> interpreter_ = nullptr;
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   mediapipe::GlCalculatorHelper gpu_helper_;
   std::unique_ptr<GPUData> gpu_data_out_;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
   MPPMetalHelper* gpu_helper_ = nullptr;
   std::unique_ptr<GPUData> gpu_data_out_;
 #endif
@@ -202,10 +198,9 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
   if (use_gpu) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     MP_RETURN_IF_ERROR([MPPMetalHelper updateContract:cc]);
 #endif
   }
@@ -236,10 +231,9 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
               cc->Outputs().HasTag("TENSORS_GPU"));
     // Cannot use quantization.
     use_quantized_tensors_ = false;
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     gpu_helper_ = [[MPPMetalHelper alloc] initWithCalculatorContext:cc];
     RET_CHECK(gpu_helper_);
 #endif
@@ -270,11 +264,10 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
 }
 
 ::mediapipe::Status TfLiteConverterCalculator::Close(CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   gpu_helper_.RunInGlContext([this] { gpu_data_out_.reset(); });
 #endif
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
   gpu_data_out_.reset();
 #endif
   return ::mediapipe::OkStatus();
@@ -301,11 +294,15 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
       if (use_quantized_tensors_) {
         RET_CHECK(image_frame.Format() != mediapipe::ImageFormat::VEC32F1)
             << "Only 8-bit input images are supported for quantization.";
+        quant.type = kTfLiteAffineQuantization;
+        quant.params = nullptr;
         // Optional: Set 'quant' quantization params here if needed.
         interpreter_->SetTensorParametersReadWrite(0, kTfLiteUInt8, "",
                                                    {channels_preserved}, quant);
       } else {
-        // Default TfLiteQuantization used for no quantization.
+        // Initialize structure for no quantization.
+        quant.type = kTfLiteNoQuantization;
+        quant.params = nullptr;
         interpreter_->SetTensorParametersReadWrite(0, kTfLiteFloat32, "",
                                                    {channels_preserved}, quant);
       }
@@ -390,8 +387,7 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
 
 ::mediapipe::Status TfLiteConverterCalculator::ProcessGPU(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   // GpuBuffer to tflite::gpu::GlBuffer conversion.
   const auto& input = cc->Inputs().Tag("IMAGE_GPU").Get<mediapipe::GpuBuffer>();
   MP_RETURN_IF_ERROR(
@@ -427,43 +423,38 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
   cc->Outputs()
       .Tag("TENSORS_GPU")
       .Add(output_tensors.release(), cc->InputTimestamp());
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
   // GpuBuffer to id<MTLBuffer> conversion.
   const auto& input = cc->Inputs().Tag("IMAGE_GPU").Get<mediapipe::GpuBuffer>();
-  {
+  id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
-    id<MTLTexture> src_texture = [gpu_helper_ metalTextureWithGpuBuffer:input];
+
-    id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
+  id<MTLTexture> src_texture = [gpu_helper_ metalTextureWithGpuBuffer:input];
-    command_buffer.label = @"TfLiteConverterCalculatorConvert";
+  command_buffer.label = @"TfLiteConverterCalculatorConvertAndBlit";
-    id<MTLComputeCommandEncoder> compute_encoder =
+  id<MTLComputeCommandEncoder> compute_encoder =
-        [command_buffer computeCommandEncoder];
+      [command_buffer computeCommandEncoder];
-    [compute_encoder setComputePipelineState:gpu_data_out_->pipeline_state];
+  [compute_encoder setComputePipelineState:gpu_data_out_->pipeline_state];
-    [compute_encoder setTexture:src_texture atIndex:0];
+  [compute_encoder setTexture:src_texture atIndex:0];
-    [compute_encoder setBuffer:gpu_data_out_->buffer offset:0 atIndex:1];
+  [compute_encoder setBuffer:gpu_data_out_->buffer offset:0 atIndex:1];
-    MTLSize threads_per_group = MTLSizeMake(kWorkgroupSize, kWorkgroupSize, 1);
+  MTLSize threads_per_group = MTLSizeMake(kWorkgroupSize, kWorkgroupSize, 1);
-    MTLSize threadgroups =
+  MTLSize threadgroups =
-        MTLSizeMake(NumGroups(input.width(), kWorkgroupSize),
+      MTLSizeMake(NumGroups(input.width(), kWorkgroupSize),
-                    NumGroups(input.height(), kWorkgroupSize), 1);
+                  NumGroups(input.height(), kWorkgroupSize), 1);
-    [compute_encoder dispatchThreadgroups:threadgroups
+  [compute_encoder dispatchThreadgroups:threadgroups
-                    threadsPerThreadgroup:threads_per_group];
+                  threadsPerThreadgroup:threads_per_group];
-    [compute_encoder endEncoding];
+  [compute_encoder endEncoding];
-    [command_buffer commit];
-    [command_buffer waitUntilCompleted];
-  }
 
   // Copy into outputs.
   // TODO Avoid this copy.
   auto output_tensors = absl::make_unique<std::vector<GpuTensor>>();
   output_tensors->resize(1);
-  {
+  id<MTLDevice> device = gpu_helper_.mtlDevice;
-    id<MTLDevice> device = gpu_helper_.mtlDevice;
+  output_tensors->at(0) =
-    output_tensors->at(0) =
+      [device newBufferWithLength:gpu_data_out_->elements * sizeof(float)
-        [device newBufferWithLength:gpu_data_out_->elements * sizeof(float)
+                          options:MTLResourceStorageModeShared];
-                            options:MTLResourceStorageModeShared];
+  [MPPMetalUtil blitMetalBufferTo:output_tensors->at(0)
-    [MPPMetalUtil blitMetalBufferTo:output_tensors->at(0)
+                             from:gpu_data_out_->buffer
-                               from:gpu_data_out_->buffer
+                         blocking:false
-                           blocking:true
+                    commandBuffer:command_buffer];
-                      commandBuffer:[gpu_helper_ commandBuffer]];
-  }
 
   cc->Outputs()
       .Tag("TENSORS_GPU")
@@ -493,8 +484,7 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
     RET_CHECK_FAIL() << "Num input channels is less than desired output.";
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext(
       [this, &include_alpha, &input, &single_channel]() -> ::mediapipe::Status {
         // Device memory.
@@ -538,7 +528,9 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
                                                    &gpu_data_out_->program));
         return ::mediapipe::OkStatus();
       }));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+
+#elif defined(MEDIAPIPE_IOS)
+
   RET_CHECK(include_alpha)
       << "iOS GPU inference currently accepts only RGBA input.";
 
@@ -619,7 +611,7 @@ REGISTER_CALCULATOR(TfLiteConverterCalculator);
   CHECK_GE(max_num_channels_, 1);
   CHECK_LE(max_num_channels_, 4);
   CHECK_NE(max_num_channels_, 2);
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
   if (cc->Inputs().HasTag("IMAGE_GPU"))
     // Currently on iOS, tflite gpu input tensor must be 4 channels,
     // so input image must be 4 channels also (checked in InitGpu).

mediapipe/calculators/tflite/tflite_inference_calculator.cc

@@ -27,7 +27,7 @@
 #include "tensorflow/lite/kernels/register.h"
 #include "tensorflow/lite/model.h"
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 #include "mediapipe/gpu/gl_calculator_helper.h"
 #include "mediapipe/gpu/gpu_buffer.h"
 #include "tensorflow/lite/delegates/gpu/common/shape.h"
@@ -35,9 +35,9 @@
 #include "tensorflow/lite/delegates/gpu/gl/gl_program.h"
 #include "tensorflow/lite/delegates/gpu/gl/gl_shader.h"
 #include "tensorflow/lite/delegates/gpu/gl_delegate.h"
-#endif  //  !MEDIAPIPE_DISABLE_GPU
+#endif  //  !MEDIAPIPE_DISABLE_GL_COMPUTE
 
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
 #import <CoreVideo/CoreVideo.h>
 #import <Metal/Metal.h>
 #import <MetalKit/MetalKit.h>
@@ -51,12 +51,19 @@
 #include "tensorflow/lite/delegates/gpu/metal_delegate_internal.h"
 #endif  // iOS
 
-namespace {
+#if defined(MEDIAPIPE_ANDROID)
+#include "tensorflow/lite/delegates/nnapi/nnapi_delegate.h"
+#endif  // ANDROID
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+namespace {
-    !defined(__APPLE__)
+// Commonly used to compute the number of blocks to launch in a kernel.
+int NumGroups(const int size, const int group_size) {  // NOLINT
+  return (size + group_size - 1) / group_size;
+}
+
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 typedef ::tflite::gpu::gl::GlBuffer GpuTensor;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
 typedef id<MTLBuffer> GpuTensor;
 #endif
 
@@ -64,14 +71,35 @@ typedef id<MTLBuffer> GpuTensor;
 size_t RoundUp(size_t n, size_t m) { return ((n + m - 1) / m) * m; }  // NOLINT
 }  // namespace
 
+#if defined(MEDIAPIPE_EDGE_TPU)
+#include "edgetpu.h"
+
+// Creates and returns an Edge TPU interpreter to run the given edgetpu model.
+std::unique_ptr<tflite::Interpreter> BuildEdgeTpuInterpreter(
+    const tflite::FlatBufferModel& model,
+    tflite::ops::builtin::BuiltinOpResolver* resolver,
+    edgetpu::EdgeTpuContext* edgetpu_context) {
+  resolver->AddCustom(edgetpu::kCustomOp, edgetpu::RegisterCustomOp());
+  std::unique_ptr<tflite::Interpreter> interpreter;
+  if (tflite::InterpreterBuilder(model, *resolver)(&interpreter) != kTfLiteOk) {
+    std::cerr << "Failed to build edge TPU interpreter." << std::endl;
+  }
+  interpreter->SetExternalContext(kTfLiteEdgeTpuContext, edgetpu_context);
+  interpreter->SetNumThreads(1);
+  if (interpreter->AllocateTensors() != kTfLiteOk) {
+    std::cerr << "Failed to allocate edge TPU tensors." << std::endl;
+  }
+  return interpreter;
+}
+#endif  // MEDIAPIPE_EDGE_TPU
+
 // TfLiteInferenceCalculator File Layout:
 //  * Header
 //  * Core
 //  * Aux
 namespace mediapipe {
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 using ::tflite::gpu::gl::CopyBuffer;
 using ::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer;
 using ::tflite::gpu::gl::GlBuffer;
@@ -120,7 +148,7 @@ struct GPUData {
 //   options: {
 //     [mediapipe.TfLiteInferenceCalculatorOptions.ext] {
 //       model_path: "modelname.tflite"
-//       use_gpu: true
+//       delegate { gpu {} }
 //     }
 //   }
 // }
@@ -135,6 +163,9 @@ struct GPUData {
 //
 class TfLiteInferenceCalculator : public CalculatorBase {
  public:
+  using TfLiteDelegatePtr =
+      std::unique_ptr<TfLiteDelegate, std::function<void(TfLiteDelegate*)>>;
+
   static ::mediapipe::Status GetContract(CalculatorContract* cc);
 
   ::mediapipe::Status Open(CalculatorContext* cc) override;
@@ -148,20 +179,25 @@ class TfLiteInferenceCalculator : public CalculatorBase {
 
   std::unique_ptr<tflite::Interpreter> interpreter_;
   std::unique_ptr<tflite::FlatBufferModel> model_;
-  TfLiteDelegate* delegate_ = nullptr;
+  TfLiteDelegatePtr delegate_;
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   mediapipe::GlCalculatorHelper gpu_helper_;
-  std::unique_ptr<GPUData> gpu_data_in_;
+  std::vector<std::unique_ptr<GPUData>> gpu_data_in_;
   std::vector<std::unique_ptr<GPUData>> gpu_data_out_;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
   MPPMetalHelper* gpu_helper_ = nullptr;
-  std::unique_ptr<GPUData> gpu_data_in_;
+  std::vector<std::unique_ptr<GPUData>> gpu_data_in_;
   std::vector<std::unique_ptr<GPUData>> gpu_data_out_;
+  id<MTLComputePipelineState> fp32_to_fp16_program_;
   TFLBufferConvert* converter_from_BPHWC4_ = nil;
 #endif
 
+#if defined(MEDIAPIPE_EDGE_TPU)
+  std::shared_ptr<edgetpu::EdgeTpuContext> edgetpu_context_ =
+      edgetpu::EdgeTpuManager::GetSingleton()->OpenDevice();
+#endif
+
   std::string model_path_ = "";
   bool gpu_inference_ = false;
   bool gpu_input_ = false;
@@ -179,12 +215,18 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
   RET_CHECK(cc->Outputs().HasTag("TENSORS") ^
             cc->Outputs().HasTag("TENSORS_GPU"));
 
-  bool use_gpu = false;
+  const auto& options =
+      cc->Options<::mediapipe::TfLiteInferenceCalculatorOptions>();
+  bool use_gpu =
+      options.has_delegate() ? options.delegate().has_gpu() : options.use_gpu();
 
   if (cc->Inputs().HasTag("TENSORS"))
     cc->Inputs().Tag("TENSORS").Set<std::vector<TfLiteTensor>>();
 #if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__)
   if (cc->Inputs().HasTag("TENSORS_GPU")) {
+    RET_CHECK(!options.has_delegate() || options.delegate().has_gpu())
+        << "GPU input is compatible with GPU delegate only.";
+
     cc->Inputs().Tag("TENSORS_GPU").Set<std::vector<GpuTensor>>();
     use_gpu |= true;
   }
@@ -194,6 +236,9 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
     cc->Outputs().Tag("TENSORS").Set<std::vector<TfLiteTensor>>();
 #if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__)
   if (cc->Outputs().HasTag("TENSORS_GPU")) {
+    RET_CHECK(!options.has_delegate() || options.delegate().has_gpu())
+        << "GPU output is compatible with GPU delegate only.";
+
     cc->Outputs().Tag("TENSORS_GPU").Set<std::vector<GpuTensor>>();
     use_gpu |= true;
   }
@@ -205,15 +250,10 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
         .Set<tflite::ops::builtin::BuiltinOpResolver>();
   }
 
-  const auto& options =
-      cc->Options<::mediapipe::TfLiteInferenceCalculatorOptions>();
-  use_gpu |= options.use_gpu();
-
   if (use_gpu) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     MP_RETURN_IF_ERROR([MPPMetalHelper updateContract:cc]);
 #endif
   }
@@ -253,26 +293,24 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
   MP_RETURN_IF_ERROR(LoadModel(cc));
 
   if (gpu_inference_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     gpu_helper_ = [[MPPMetalHelper alloc] initWithCalculatorContext:cc];
     RET_CHECK(gpu_helper_);
 #endif
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+
-    !defined(__APPLE__)
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
     MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext(
         [this, &cc]() -> ::mediapipe::Status { return LoadDelegate(cc); }));
 #else
     MP_RETURN_IF_ERROR(LoadDelegate(cc));
 #endif
+  } else {
+#if defined(__EMSCRIPTEN__) || defined(MEDIAPIPE_ANDROID)
+    MP_RETURN_IF_ERROR(LoadDelegate(cc));
+#endif  // __EMSCRIPTEN__ || ANDROID
   }
-
-#if defined(__EMSCRIPTEN__)
-  MP_RETURN_IF_ERROR(LoadDelegate(cc));
-#endif  // __EMSCRIPTEN__
-
   return ::mediapipe::OkStatus();
 }
 
@@ -280,26 +318,44 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
   // 1. Receive pre-processed tensor inputs.
   if (gpu_input_) {
     // Read GPU input into SSBO.
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     const auto& input_tensors =
         cc->Inputs().Tag("TENSORS_GPU").Get<std::vector<GpuTensor>>();
-    RET_CHECK_EQ(input_tensors.size(), 1);
+    RET_CHECK_GT(input_tensors.size(), 0);
     MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext(
         [this, &input_tensors]() -> ::mediapipe::Status {
           // Explicit copy input.
-          RET_CHECK_CALL(CopyBuffer(input_tensors[0], gpu_data_in_->buffer));
+          gpu_data_in_.resize(input_tensors.size());
+          for (int i = 0; i < input_tensors.size(); ++i) {
+            RET_CHECK_CALL(
+                CopyBuffer(input_tensors[i], gpu_data_in_[i]->buffer));
+          }
+
           return ::mediapipe::OkStatus();
         }));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     const auto& input_tensors =
         cc->Inputs().Tag("TENSORS_GPU").Get<std::vector<GpuTensor>>();
-    RET_CHECK_EQ(input_tensors.size(), 1);
+    RET_CHECK_GT(input_tensors.size(), 0);
-    // Explicit copy input.
+    // Explicit copy input with conversion float 32 bits to 16 bits.
-    [MPPMetalUtil blitMetalBufferTo:gpu_data_in_->buffer
+    gpu_data_in_.resize(input_tensors.size());
-                               from:input_tensors[0]
+    id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
-                           blocking:true
+    command_buffer.label = @"TfLiteInferenceCalculatorConvert";
-                      commandBuffer:[gpu_helper_ commandBuffer]];
+    id<MTLComputeCommandEncoder> compute_encoder =
+        [command_buffer computeCommandEncoder];
+    [compute_encoder setComputePipelineState:fp32_to_fp16_program_];
+    for (int i = 0; i < input_tensors.size(); ++i) {
+      [compute_encoder setBuffer:input_tensors[i] offset:0 atIndex:0];
+      [compute_encoder setBuffer:gpu_data_in_[i]->buffer offset:0 atIndex:1];
+      constexpr int kWorkgroupSize = 64;  // Block size for GPU shader.
+      MTLSize threads_per_group = MTLSizeMake(kWorkgroupSize, 1, 1);
+      const int threadgroups =
+          NumGroups(gpu_data_in_[i]->elements, kWorkgroupSize);
+      [compute_encoder dispatchThreadgroups:MTLSizeMake(threadgroups, 1, 1)
+                      threadsPerThreadgroup:threads_per_group];
+    }
+    [compute_encoder endEncoding];
+    [command_buffer commit];
 #else
     RET_CHECK_FAIL() << "GPU processing not enabled.";
 #endif
@@ -327,14 +383,13 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
 
   // 2. Run inference.
   if (gpu_inference_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(
         gpu_helper_.RunInGlContext([this]() -> ::mediapipe::Status {
           RET_CHECK_EQ(interpreter_->Invoke(), kTfLiteOk);
           return ::mediapipe::OkStatus();
         }));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     RET_CHECK_EQ(interpreter_->Invoke(), kTfLiteOk);
 #endif
   } else {
@@ -343,8 +398,7 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
 
   // 3. Output processed tensors.
   if (gpu_output_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     // Output result tensors (GPU).
     auto output_tensors = absl::make_unique<std::vector<GpuTensor>>();
     MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext(
@@ -361,7 +415,7 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
     cc->Outputs()
         .Tag("TENSORS_GPU")
         .Add(output_tensors.release(), cc->InputTimestamp());
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     // Output result tensors (GPU).
     auto output_tensors = absl::make_unique<std::vector<GpuTensor>>();
     output_tensors->resize(gpu_data_out_.size());
@@ -382,7 +436,6 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
     }
     [convert_command endEncoding];
     [command_buffer commit];
-    [command_buffer waitUntilCompleted];
     cc->Outputs()
         .Tag("TENSORS_GPU")
         .Add(output_tensors.release(), cc->InputTimestamp());
@@ -406,25 +459,34 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
 
 ::mediapipe::Status TfLiteInferenceCalculator::Close(CalculatorContext* cc) {
   if (delegate_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+    if (gpu_inference_) {
-    !defined(__APPLE__)
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this]() -> Status {
+      MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this]() -> Status {
-      TfLiteGpuDelegateDelete(delegate_);
+        delegate_ = nullptr;
-      gpu_data_in_.reset();
+        for (int i = 0; i < gpu_data_in_.size(); ++i) {
+          gpu_data_in_[i].reset();
+        }
+        for (int i = 0; i < gpu_data_out_.size(); ++i) {
+          gpu_data_out_[i].reset();
+        }
+        return ::mediapipe::OkStatus();
+      }));
+#elif defined(MEDIAPIPE_IOS)
+      delegate_ = nullptr;
+      for (int i = 0; i < gpu_data_in_.size(); ++i) {
+        gpu_data_in_[i].reset();
+      }
       for (int i = 0; i < gpu_data_out_.size(); ++i) {
         gpu_data_out_[i].reset();
       }
-      return ::mediapipe::OkStatus();
-    }));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
-    TFLGpuDelegateDelete(delegate_);
-    gpu_data_in_.reset();
-    for (int i = 0; i < gpu_data_out_.size(); ++i) {
-      gpu_data_out_[i].reset();
-    }
 #endif
-    delegate_ = nullptr;
+    } else {
+      delegate_ = nullptr;
+    }
   }
+#if defined(MEDIAPIPE_EDGE_TPU)
+  edgetpu_context_.reset();
+#endif
   return ::mediapipe::OkStatus();
 }
 
@@ -438,7 +500,7 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
 
   // Get model name.
   if (!options.model_path().empty()) {
-    auto model_path = options.model_path();
+    std::string model_path = options.model_path();
 
     ASSIGN_OR_RETURN(model_path_, mediapipe::PathToResourceAsFile(model_path));
   } else {
@@ -448,7 +510,8 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
   }
 
   // Get execution modes.
-  gpu_inference_ = options.use_gpu();
+  gpu_inference_ =
+      options.has_delegate() ? options.delegate().has_gpu() : options.use_gpu();
 
   return ::mediapipe::OkStatus();
 }
@@ -458,21 +521,27 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
   model_ = tflite::FlatBufferModel::BuildFromFile(model_path_.c_str());
   RET_CHECK(model_);
 
+  tflite::ops::builtin::BuiltinOpResolver op_resolver;
   if (cc->InputSidePackets().HasTag("CUSTOM_OP_RESOLVER")) {
-    const auto& op_resolver =
+    op_resolver = cc->InputSidePackets()
-        cc->InputSidePackets()
+                      .Tag("CUSTOM_OP_RESOLVER")
-            .Tag("CUSTOM_OP_RESOLVER")
+                      .Get<tflite::ops::builtin::BuiltinOpResolver>();
-            .Get<tflite::ops::builtin::BuiltinOpResolver>();
-    tflite::InterpreterBuilder(*model_, op_resolver)(&interpreter_);
-  } else {
-    const tflite::ops::builtin::BuiltinOpResolver op_resolver;
-    tflite::InterpreterBuilder(*model_, op_resolver)(&interpreter_);
   }
+#if defined(MEDIAPIPE_EDGE_TPU)
+  interpreter_ =
+      BuildEdgeTpuInterpreter(*model_, &op_resolver, edgetpu_context_.get());
+#else
+  tflite::InterpreterBuilder(*model_, op_resolver)(&interpreter_);
+#endif  // MEDIAPIPE_EDGE_TPU
 
   RET_CHECK(interpreter_);
 
-#if defined(__EMSCRIPTEN__)
+#if defined(__EMSCRIPTEN__) || defined(MEDIAPIPE_EDGE_TPU)
   interpreter_->SetNumThreads(1);
+#else
+  interpreter_->SetNumThreads(
+      cc->Options<mediapipe::TfLiteInferenceCalculatorOptions>()
+          .cpu_num_thread());
 #endif  // __EMSCRIPTEN__
 
   if (gpu_output_) {
@@ -490,8 +559,39 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
 
 ::mediapipe::Status TfLiteInferenceCalculator::LoadDelegate(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+  const auto& calculator_opts =
-    !defined(__APPLE__)
+      cc->Options<mediapipe::TfLiteInferenceCalculatorOptions>();
+  if (calculator_opts.has_delegate() &&
+      calculator_opts.delegate().has_tflite()) {
+    // Default tflite inference requeqsted - no need to modify graph.
+    return ::mediapipe::OkStatus();
+  }
+
+  if (!gpu_inference_) {
+#if defined(MEDIAPIPE_ANDROID)
+    const bool nnapi_requested = calculator_opts.has_delegate()
+                                     ? calculator_opts.delegate().has_nnapi()
+                                     : calculator_opts.use_nnapi();
+    if (nnapi_requested) {
+      // Attempt to use NNAPI.
+      // If not supported, the default CPU delegate will be created and used.
+      interpreter_->SetAllowFp16PrecisionForFp32(1);
+      delegate_ =
+          TfLiteDelegatePtr(tflite::NnApiDelegate(), [](TfLiteDelegate*) {
+            // No need to free according to tflite::NnApiDelegate()
+            // documentation.
+          });
+      RET_CHECK_EQ(interpreter_->ModifyGraphWithDelegate(delegate_.get()),
+                   kTfLiteOk);
+      return ::mediapipe::OkStatus();
+    }
+#endif  // MEDIAPIPE_ANDROID
+
+    // Return, no need for GPU delegate below.
+    return ::mediapipe::OkStatus();
+  }
+
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
   // Configure and create the delegate.
   TfLiteGpuDelegateOptions options = TfLiteGpuDelegateOptionsDefault();
   options.compile_options.precision_loss_allowed = 1;
@@ -499,28 +599,30 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
       TFLITE_GL_OBJECT_TYPE_FASTEST;
   options.compile_options.dynamic_batch_enabled = 0;
   options.compile_options.inline_parameters = 1;
-  if (!delegate_) delegate_ = TfLiteGpuDelegateCreate(&options);
+  if (!delegate_)
+    delegate_ = TfLiteDelegatePtr(TfLiteGpuDelegateCreate(&options),
+                                  &TfLiteGpuDelegateDelete);
 
   if (gpu_input_) {
     // Get input image sizes.
-    gpu_data_in_ = absl::make_unique<GPUData>();
     const auto& input_indices = interpreter_->inputs();
-    RET_CHECK_EQ(input_indices.size(), 1);  // TODO accept > 1.
+    gpu_data_in_.resize(input_indices.size());
-    const TfLiteTensor* tensor = interpreter_->tensor(input_indices[0]);
+    for (int i = 0; i < input_indices.size(); ++i) {
-    gpu_data_in_->elements = 1;
+      const TfLiteTensor* tensor = interpreter_->tensor(input_indices[0]);
-    for (int d = 0; d < tensor->dims->size; ++d) {
+      gpu_data_in_[i] = absl::make_unique<GPUData>();
-      gpu_data_in_->elements *= tensor->dims->data[d];
+      gpu_data_in_[i]->elements = 1;
+      for (int d = 0; d < tensor->dims->size; ++d) {
+        gpu_data_in_[i]->elements *= tensor->dims->data[d];
+      }
+      // Create and bind input buffer.
+      RET_CHECK_CALL(
+          ::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer<float>(
+              gpu_data_in_[i]->elements, &gpu_data_in_[i]->buffer));
+      RET_CHECK_EQ(TfLiteGpuDelegateBindBufferToTensor(
+                       delegate_.get(), gpu_data_in_[i]->buffer.id(),
+                       interpreter_->inputs()[i]),
+                   kTfLiteOk);
     }
-    CHECK_GE(tensor->dims->data[3], 1);
-    CHECK_LE(tensor->dims->data[3], 4);
-    CHECK_NE(tensor->dims->data[3], 2);
-    // Create and bind input buffer.
-    RET_CHECK_CALL(::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer<float>(
-        gpu_data_in_->elements, &gpu_data_in_->buffer));
-    RET_CHECK_EQ(TfLiteGpuDelegateBindBufferToTensor(
-                     delegate_, gpu_data_in_->buffer.id(),
-                     interpreter_->inputs()[0]),  // First tensor only
-                 kTfLiteOk);
   }
   if (gpu_output_) {
     // Get output image sizes.
@@ -540,53 +642,85 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
     for (int i = 0; i < gpu_data_out_.size(); ++i) {
       RET_CHECK_CALL(CreateReadWriteShaderStorageBuffer<float>(
           gpu_data_out_[i]->elements, &gpu_data_out_[i]->buffer));
-      RET_CHECK_EQ(
+      RET_CHECK_EQ(TfLiteGpuDelegateBindBufferToTensor(
-          TfLiteGpuDelegateBindBufferToTensor(
+                       delegate_.get(), gpu_data_out_[i]->buffer.id(),
-              delegate_, gpu_data_out_[i]->buffer.id(), output_indices[i]),
+                       output_indices[i]),
-          kTfLiteOk);
+                   kTfLiteOk);
     }
   }
 
   // Must call this last.
-  RET_CHECK_EQ(interpreter_->ModifyGraphWithDelegate(delegate_), kTfLiteOk);
+  RET_CHECK_EQ(interpreter_->ModifyGraphWithDelegate(delegate_.get()),
+               kTfLiteOk);
 #endif  // OpenGL
 
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
+  const int kHalfSize = 2;  // sizeof(half)
   // Configure and create the delegate.
   TFLGpuDelegateOptions options;
-  options.allow_precision_loss = false;  // Must match converter, F=float/T=half
+  options.allow_precision_loss = true;
   options.wait_type = TFLGpuDelegateWaitType::TFLGpuDelegateWaitTypePassive;
-  if (!delegate_) delegate_ = TFLGpuDelegateCreate(&options);
+  if (!delegate_)
+    delegate_ = TfLiteDelegatePtr(TFLGpuDelegateCreate(&options),
+                                  &TFLGpuDelegateDelete);
   id<MTLDevice> device = gpu_helper_.mtlDevice;
 
   if (gpu_input_) {
     // Get input image sizes.
-    gpu_data_in_ = absl::make_unique<GPUData>();
     const auto& input_indices = interpreter_->inputs();
-    RET_CHECK_EQ(input_indices.size(), 1);
+    gpu_data_in_.resize(input_indices.size());
-    const TfLiteTensor* tensor = interpreter_->tensor(input_indices[0]);
+    for (int i = 0; i < input_indices.size(); ++i) {
-    gpu_data_in_->elements = 1;
+      const TfLiteTensor* tensor = interpreter_->tensor(input_indices[i]);
-    // On iOS GPU, input must be 4 channels, regardless of what model expects.
+      gpu_data_in_[i] = absl::make_unique<GPUData>();
-    {
+      gpu_data_in_[i]->shape.b = tensor->dims->data[0];
-      gpu_data_in_->elements *= tensor->dims->data[0];  // batch
+      gpu_data_in_[i]->shape.h = tensor->dims->data[1];
-      gpu_data_in_->elements *= tensor->dims->data[1];  // height
+      gpu_data_in_[i]->shape.w = tensor->dims->data[2];
-      gpu_data_in_->elements *= tensor->dims->data[2];  // width
+      // On iOS GPU, input must be 4 channels, regardless of what model expects.
-      gpu_data_in_->elements *= 4;                      // channels
+      gpu_data_in_[i]->shape.c = 4;
+      gpu_data_in_[i]->elements =
+          gpu_data_in_[i]->shape.b * gpu_data_in_[i]->shape.h *
+          gpu_data_in_[i]->shape.w * gpu_data_in_[i]->shape.c;
+      // Input to model can be RGBA only.
+      if (tensor->dims->data[3] != 4) {
+        LOG(WARNING) << "Please ensure input GPU tensor is 4 channels.";
+      }
+      const std::string shader_source =
+          absl::Substitute(R"(#include <metal_stdlib>
+        using namespace metal;
+        kernel void convertKernel(device float4* const input_buffer [[buffer(0)]],
+                                  device half4* output_buffer [[buffer(1)]],
+                                  uint gid [[thread_position_in_grid]]) {
+          if (gid >= $0) return;
+          output_buffer[gid] = half4(input_buffer[gid]);
+        })",
+                           gpu_data_in_[i]->elements / 4);
+      NSString* library_source =
+          [NSString stringWithUTF8String:shader_source.c_str()];
+      NSError* error = nil;
+      id<MTLLibrary> library =
+          [device newLibraryWithSource:library_source options:nil error:&error];
+      RET_CHECK(library != nil) << "Couldn't create shader library "
+                                << [[error localizedDescription] UTF8String];
+      id<MTLFunction> kernel_func = nil;
+      kernel_func = [library newFunctionWithName:@"convertKernel"];
+      RET_CHECK(kernel_func != nil) << "Couldn't create kernel function.";
+      fp32_to_fp16_program_ =
+          [device newComputePipelineStateWithFunction:kernel_func error:&error];
+      RET_CHECK(fp32_to_fp16_program_ != nil)
+          << "Couldn't create pipeline state "
+          << [[error localizedDescription] UTF8String];
+
+      // Create and bind input buffer.
+      gpu_data_in_[i]->buffer =
+          [device newBufferWithLength:gpu_data_in_[i]->elements * kHalfSize
+                              options:MTLResourceStorageModeShared];
+      RET_CHECK_EQ(interpreter_->ModifyGraphWithDelegate(delegate_.get()),
+                   kTfLiteOk);
+      RET_CHECK_EQ(
+          TFLGpuDelegateBindMetalBufferToTensor(
+              delegate_.get(), input_indices[i], gpu_data_in_[i]->buffer),
+          true);
     }
-    // Input to model can be RGBA only.
-    if (tensor->dims->data[3] != 4) {
-      LOG(WARNING) << "Please ensure input GPU tensor is 4 channels.";
-    }
-    // Create and bind input buffer.
-    gpu_data_in_->buffer =
-        [device newBufferWithLength:gpu_data_in_->elements * sizeof(float)
-                            options:MTLResourceStorageModeShared];
-    RET_CHECK_EQ(interpreter_->ModifyGraphWithDelegate(delegate_), kTfLiteOk);
-    RET_CHECK_EQ(TFLGpuDelegateBindMetalBufferToTensor(
-                     delegate_,
-                     input_indices[0],  // First tensor only
-                     gpu_data_in_->buffer),
-                 true);
   }
   if (gpu_output_) {
     // Get output image sizes.
@@ -627,15 +761,17 @@ REGISTER_CALCULATOR(TfLiteInferenceCalculator);
     interpreter_->SetAllowBufferHandleOutput(true);
     for (int i = 0; i < gpu_data_out_.size(); ++i) {
       gpu_data_out_[i]->buffer =
-          [device newBufferWithLength:gpu_data_out_[i]->elements * sizeof(float)
+          [device newBufferWithLength:gpu_data_out_[i]->elements * kHalfSize
                               options:MTLResourceStorageModeShared];
-      RET_CHECK_EQ(TFLGpuDelegateBindMetalBufferToTensor(
+      RET_CHECK_EQ(
-                       delegate_, output_indices[i], gpu_data_out_[i]->buffer),
+          TFLGpuDelegateBindMetalBufferToTensor(
-                   true);
+              delegate_.get(), output_indices[i], gpu_data_out_[i]->buffer),
+          true);
     }
+
     // Create converter for GPU output.
     converter_from_BPHWC4_ = [[TFLBufferConvert alloc] initWithDevice:device
-                                                            isFloat16:false
+                                                            isFloat16:true
                                                       convertToPBHWC4:false];
     if (converter_from_BPHWC4_ == nil) {
       return mediapipe::InternalError(

mediapipe/calculators/tflite/tflite_inference_calculator.proto

@@ -27,7 +27,7 @@ import "mediapipe/framework/calculator.proto";
 //   options {
 //     [mediapipe.TfLiteInferenceCalculatorOptions.ext] {
 //       model_path: "model.tflite"
-//       use_gpu: true
+//       delegate { gpu {} }
 //     }
 //   }
 // }
@@ -37,6 +37,22 @@ message TfLiteInferenceCalculatorOptions {
     optional TfLiteInferenceCalculatorOptions ext = 233867213;
   }
 
+  message Delegate {
+    // Default inference provided by tflite.
+    message TfLite {}
+    // Delegate to run GPU inference depending on the device.
+    // (Can use OpenGl, OpenCl, Metal depending on the device.)
+    message Gpu {}
+    // Android only.
+    message Nnapi {}
+
+    oneof delegate {
+      TfLite tflite = 1;
+      Gpu gpu = 2;
+      Nnapi nnapi = 3;
+    }
+  }
+
   // Path to the TF Lite model (ex: /path/to/modelname.tflite).
   // On mobile, this is generally just modelname.tflite.
   optional string model_path = 1;
@@ -44,5 +60,22 @@ message TfLiteInferenceCalculatorOptions {
   // Whether the TF Lite GPU or CPU backend should be used. Effective only when
   // input tensors are on CPU. For input tensors on GPU, GPU backend is always
   // used.
-  optional bool use_gpu = 2 [default = false];
+  // DEPRECATED: configure "delegate" instead.
+  optional bool use_gpu = 2 [deprecated = true, default = false];
+
+  // Android only. When true, an NNAPI delegate will be used for inference.
+  // If NNAPI is not available, then the default CPU delegate will be used
+  // automatically.
+  // DEPRECATED: configure "delegate" instead.
+  optional bool use_nnapi = 3 [deprecated = true, default = false];
+
+  // The number of threads available to the interpreter. Effective only when
+  // input tensors are on CPU and 'use_gpu' is false.
+  optional int32 cpu_num_thread = 4 [default = -1];
+
+  // TfLite delegate to run inference.
+  // NOTE: calculator is free to choose delegate if not specified explicitly.
+  // NOTE: use_gpu/use_nnapi are ignored if specified. (Delegate takes
+  // precedence over use_* deprecated options.)
+  optional Delegate delegate = 5;
 }

mediapipe/calculators/tflite/tflite_inference_calculator_test.cc

@@ -16,6 +16,8 @@
 #include <string>
 #include <vector>
 
+#include "absl/strings/str_replace.h"
+#include "absl/strings/string_view.h"
 #include "mediapipe/calculators/tflite/tflite_inference_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/calculator_runner.h"
@@ -39,13 +41,7 @@ namespace mediapipe {
 
 using ::tflite::Interpreter;
 
-class TfLiteInferenceCalculatorTest : public ::testing::Test {
+void DoSmokeTest(absl::string_view delegate) {
- protected:
-  std::unique_ptr<CalculatorRunner> runner_ = nullptr;
-};
-
-// Tests a simple add model that adds an input tensor to itself.
-TEST_F(TfLiteInferenceCalculatorTest, SmokeTest) {
   const int width = 8;
   const int height = 8;
   const int channels = 3;
@@ -73,23 +69,24 @@ TEST_F(TfLiteInferenceCalculatorTest, SmokeTest) {
   auto input_vec = absl::make_unique<std::vector<TfLiteTensor>>();
   input_vec->emplace_back(*tensor);
 
+  std::string graph_proto = R"(
+    input_stream: "tensor_in"
+    node {
+      calculator: "TfLiteInferenceCalculator"
+      input_stream: "TENSORS:tensor_in"
+      output_stream: "TENSORS:tensor_out"
+      options {
+        [mediapipe.TfLiteInferenceCalculatorOptions.ext] {
+          model_path: "mediapipe/calculators/tflite/testdata/add.bin"
+          $delegate
+        }
+      }
+    }
+  )";
+  ASSERT_EQ(absl::StrReplaceAll({{"$delegate", delegate}}, &graph_proto), 1);
   // Prepare single calculator graph to and wait for packets.
   CalculatorGraphConfig graph_config =
-      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(
+      ::mediapipe::ParseTextProtoOrDie<CalculatorGraphConfig>(graph_proto);
-          R"(
-            input_stream: "tensor_in"
-            node {
-              calculator: "TfLiteInferenceCalculator"
-              input_stream: "TENSORS:tensor_in"
-              output_stream: "TENSORS:tensor_out"
-              options {
-                [mediapipe.TfLiteInferenceCalculatorOptions.ext] {
-                  use_gpu: false
-                  model_path: "mediapipe/calculators/tflite/testdata/add.bin"
-                }
-              }
-            }
-          )");
   std::vector<Packet> output_packets;
   tool::AddVectorSink("tensor_out", &graph_config, &output_packets);
   CalculatorGraph graph(graph_config);
@@ -120,4 +117,10 @@ TEST_F(TfLiteInferenceCalculatorTest, SmokeTest) {
   MP_ASSERT_OK(graph.WaitUntilDone());
 }
 
+// Tests a simple add model that adds an input tensor to itself.
+TEST(TfLiteInferenceCalculatorTest, SmokeTest) {
+  DoSmokeTest(/*delegate=*/"");
+  DoSmokeTest(/*delegate=*/"delegate { tflite {} }");
+}
+
 }  // namespace mediapipe

mediapipe/calculators/tflite/tflite_tensors_to_classification_calculator.cc

@@ -24,8 +24,7 @@
 #include "mediapipe/framework/port/ret_check.h"
 #include "mediapipe/util/resource_util.h"
 #include "tensorflow/lite/interpreter.h"
-#if defined(__EMSCRIPTEN__) || defined(__ANDROID__) || \
+#if defined(MEDIAPIPE_MOBILE)
-    (defined(__APPLE__) && !TARGET_OS_OSX)
 #include "mediapipe/util/android/file/base/file.h"
 #include "mediapipe/util/android/file/base/helpers.h"
 #else

mediapipe/calculators/tflite/tflite_tensors_to_detections_calculator.cc

@@ -27,8 +27,7 @@
 #include "mediapipe/framework/port/ret_check.h"
 #include "tensorflow/lite/interpreter.h"
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 #include "mediapipe/gpu/gl_calculator_helper.h"
 #include "tensorflow/lite/delegates/gpu/gl/gl_buffer.h"
 #include "tensorflow/lite/delegates/gpu/gl/gl_program.h"
@@ -36,7 +35,7 @@
 #include "tensorflow/lite/delegates/gpu/gl_delegate.h"
 #endif  // !MEDIAPIPE_DISABLE_GPU
 
-#if defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#if defined(MEDIAPIPE_IOS)
 #import <CoreVideo/CoreVideo.h>
 #import <Metal/Metal.h>
 #import <MetalKit/MetalKit.h>
@@ -56,17 +55,15 @@ constexpr int kNumCoordsPerBox = 4;
 
 namespace mediapipe {
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 using ::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer;
 using ::tflite::gpu::gl::GlShader;
 #endif
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 typedef ::tflite::gpu::gl::GlBuffer GpuTensor;
 typedef ::tflite::gpu::gl::GlProgram GpuProgram;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
 typedef id<MTLBuffer> GpuTensor;
 typedef id<MTLComputePipelineState> GpuProgram;
 #endif
@@ -183,11 +180,10 @@ class TfLiteTensorsToDetectionsCalculator : public CalculatorBase {
   std::vector<Anchor> anchors_;
   bool side_packet_anchors_{};
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   mediapipe::GlCalculatorHelper gpu_helper_;
   std::unique_ptr<GPUData> gpu_data_;
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
   MPPMetalHelper* gpu_helper_ = nullptr;
   std::unique_ptr<GPUData> gpu_data_;
 #endif
@@ -226,10 +222,9 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
   }
 
   if (use_gpu) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     MP_RETURN_IF_ERROR([MPPMetalHelper updateContract:cc]);
 #endif
   }
@@ -243,10 +238,9 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
 
   if (cc->Inputs().HasTag("TENSORS_GPU")) {
     gpu_input_ = true;
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
     gpu_helper_ = [[MPPMetalHelper alloc] initWithCalculatorContext:cc];
     RET_CHECK(gpu_helper_);
 #endif
@@ -406,8 +400,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
 }
 ::mediapipe::Status TfLiteTensorsToDetectionsCalculator::ProcessGPU(
     CalculatorContext* cc, std::vector<Detection>* output_detections) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   const auto& input_tensors =
       cc->Inputs().Tag("TENSORS_GPU").Get<std::vector<GpuTensor>>();
   RET_CHECK_GE(input_tensors.size(), 2);
@@ -470,7 +463,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
 
     return ::mediapipe::OkStatus();
   }));
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
 
   const auto& input_tensors =
       cc->Inputs().Tag("TENSORS_GPU").Get<std::vector<GpuTensor>>();
@@ -479,11 +472,11 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
   // Copy inputs.
   [MPPMetalUtil blitMetalBufferTo:gpu_data_->raw_boxes_buffer
                              from:input_tensors[0]
-                         blocking:true
+                         blocking:false
                     commandBuffer:[gpu_helper_ commandBuffer]];
   [MPPMetalUtil blitMetalBufferTo:gpu_data_->raw_scores_buffer
                              from:input_tensors[1]
-                         blocking:true
+                         blocking:false
                     commandBuffer:[gpu_helper_ commandBuffer]];
   if (!anchors_init_) {
     if (side_packet_anchors_) {
@@ -498,48 +491,37 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
       RET_CHECK_EQ(input_tensors.size(), kNumInputTensorsWithAnchors);
       [MPPMetalUtil blitMetalBufferTo:gpu_data_->raw_anchors_buffer
                                  from:input_tensors[2]
-                             blocking:true
+                             blocking:false
                         commandBuffer:[gpu_helper_ commandBuffer]];
     }
     anchors_init_ = true;
   }
 
   // Run shaders.
-  {
+  id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
-    id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
+  command_buffer.label = @"TfLiteDecodeAndScoreBoxes";
-    command_buffer.label = @"TfLiteDecodeBoxes";
+  id<MTLComputeCommandEncoder> command_encoder =
-    id<MTLComputeCommandEncoder> decode_command =
+      [command_buffer computeCommandEncoder];
-        [command_buffer computeCommandEncoder];
+  [command_encoder setComputePipelineState:gpu_data_->decode_program];
-    [decode_command setComputePipelineState:gpu_data_->decode_program];
+  [command_encoder setBuffer:gpu_data_->decoded_boxes_buffer
-    [decode_command setBuffer:gpu_data_->decoded_boxes_buffer
+                      offset:0
-                       offset:0
+                     atIndex:0];
-                      atIndex:0];
+  [command_encoder setBuffer:gpu_data_->raw_boxes_buffer offset:0 atIndex:1];
-    [decode_command setBuffer:gpu_data_->raw_boxes_buffer offset:0 atIndex:1];
+  [command_encoder setBuffer:gpu_data_->raw_anchors_buffer offset:0 atIndex:2];
-    [decode_command setBuffer:gpu_data_->raw_anchors_buffer offset:0 atIndex:2];
+  MTLSize decode_threads_per_group = MTLSizeMake(1, 1, 1);
-    MTLSize decode_threads_per_group = MTLSizeMake(1, 1, 1);
+  MTLSize decode_threadgroups = MTLSizeMake(num_boxes_, 1, 1);
-    MTLSize decode_threadgroups = MTLSizeMake(num_boxes_, 1, 1);
+  [command_encoder dispatchThreadgroups:decode_threadgroups
-    [decode_command dispatchThreadgroups:decode_threadgroups
+                  threadsPerThreadgroup:decode_threads_per_group];
-                   threadsPerThreadgroup:decode_threads_per_group];
+
-    [decode_command endEncoding];
+  [command_encoder setComputePipelineState:gpu_data_->score_program];
-    [command_buffer commit];
+  [command_encoder setBuffer:gpu_data_->scored_boxes_buffer offset:0 atIndex:0];
-    [command_buffer waitUntilCompleted];
+  [command_encoder setBuffer:gpu_data_->raw_scores_buffer offset:0 atIndex:1];
-  }
+  MTLSize score_threads_per_group = MTLSizeMake(1, num_classes_, 1);
-  {
+  MTLSize score_threadgroups = MTLSizeMake(num_boxes_, 1, 1);
-    id<MTLCommandBuffer> command_buffer = [gpu_helper_ commandBuffer];
+  [command_encoder dispatchThreadgroups:score_threadgroups
-    command_buffer.label = @"TfLiteScoreBoxes";
-    id<MTLComputeCommandEncoder> score_command =
-        [command_buffer computeCommandEncoder];
-    [score_command setComputePipelineState:gpu_data_->score_program];
-    [score_command setBuffer:gpu_data_->scored_boxes_buffer offset:0 atIndex:0];
-    [score_command setBuffer:gpu_data_->raw_scores_buffer offset:0 atIndex:1];
-    MTLSize score_threads_per_group = MTLSizeMake(1, num_classes_, 1);
-    MTLSize score_threadgroups = MTLSizeMake(num_boxes_, 1, 1);
-    [score_command dispatchThreadgroups:score_threadgroups
                   threadsPerThreadgroup:score_threads_per_group];
-    [score_command endEncoding];
+  [command_encoder endEncoding];
-    [command_buffer commit];
+  [MPPMetalUtil commitCommandBufferAndWait:command_buffer];
-    [command_buffer waitUntilCompleted];
-  }
 
   // Copy decoded boxes from GPU to CPU.
   std::vector<float> boxes(num_boxes_ * num_coords_);
@@ -569,12 +551,11 @@ REGISTER_CALCULATOR(TfLiteTensorsToDetectionsCalculator);
 
 ::mediapipe::Status TfLiteTensorsToDetectionsCalculator::Close(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   gpu_helper_.RunInGlContext([this] { gpu_data_.reset(); });
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
   gpu_data_.reset();
-#endif                                      //  !MEDIAPIPE_DISABLE_GPU
+#endif
 
   return ::mediapipe::OkStatus();
 }
@@ -723,8 +704,7 @@ Detection TfLiteTensorsToDetectionsCalculator::ConvertToDetection(
 
 ::mediapipe::Status TfLiteTensorsToDetectionsCalculator::GpuInit(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this]()
                                                     -> ::mediapipe::Status {
     gpu_data_ = absl::make_unique<GPUData>();
@@ -937,8 +917,7 @@ void main() {
     return ::mediapipe::OkStatus();
   }));
 
-#elif defined(__APPLE__) && !TARGET_OS_OSX  // iOS
+#elif defined(MEDIAPIPE_IOS)
-  // TODO consolidate Metal and OpenGL shaders via vulkan.
 
   gpu_data_ = absl::make_unique<GPUData>();
   id<MTLDevice> device = gpu_helper_.mtlDevice;
@@ -1168,7 +1147,7 @@ kernel void scoreKernel(
     CHECK_LT(num_classes_, max_wg_size) << "# classes must be <" << max_wg_size;
   }
 
-#endif  // __ANDROID__ or iOS
+#endif  // !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
 
   return ::mediapipe::OkStatus();
 }

mediapipe/calculators/tflite/tflite_tensors_to_landmarks_calculator.cc

@@ -28,6 +28,21 @@ namespace mediapipe {
 //  TENSORS - Vector of TfLiteTensor of type kTfLiteFloat32. Only the first
 //            tensor will be used. The size of the values must be
 //            (num_dimension x num_landmarks).
+//
+//  FLIP_HORIZONTALLY (optional): Whether to flip landmarks horizontally or
+//  not. Overrides corresponding side packet and/or field in the calculator
+//  options.
+//
+//  FLIP_VERTICALLY (optional): Whether to flip landmarks vertically or not.
+//  Overrides corresponding side packet and/or field in the calculator options.
+//
+// Input side packet:
+//   FLIP_HORIZONTALLY (optional): Whether to flip landmarks horizontally or
+//   not. Overrides the corresponding field in the calculator options.
+//
+//   FLIP_VERTICALLY (optional): Whether to flip landmarks vertically or not.
+//   Overrides the corresponding field in the calculator options.
+//
 // Output:
 //  LANDMARKS(optional) - Result MediaPipe landmarks.
 //  NORM_LANDMARKS(optional) - Result MediaPipe normalized landmarks.
@@ -61,6 +76,8 @@ class TfLiteTensorsToLandmarksCalculator : public CalculatorBase {
  private:
   ::mediapipe::Status LoadOptions(CalculatorContext* cc);
   int num_landmarks_ = 0;
+  bool flip_vertically_ = false;
+  bool flip_horizontally_ = false;
 
   ::mediapipe::TfLiteTensorsToLandmarksCalculatorOptions options_;
 };
@@ -75,12 +92,28 @@ REGISTER_CALCULATOR(TfLiteTensorsToLandmarksCalculator);
     cc->Inputs().Tag("TENSORS").Set<std::vector<TfLiteTensor>>();
   }
 
+  if (cc->Inputs().HasTag("FLIP_HORIZONTALLY")) {
+    cc->Inputs().Tag("FLIP_HORIZONTALLY").Set<bool>();
+  }
+
+  if (cc->Inputs().HasTag("FLIP_VERTICALLY")) {
+    cc->Inputs().Tag("FLIP_VERTICALLY").Set<bool>();
+  }
+
+  if (cc->InputSidePackets().HasTag("FLIP_HORIZONTALLY")) {
+    cc->InputSidePackets().Tag("FLIP_HORIZONTALLY").Set<bool>();
+  }
+
+  if (cc->InputSidePackets().HasTag("FLIP_VERTICALLY")) {
+    cc->InputSidePackets().Tag("FLIP_VERTICALLY").Set<bool>();
+  }
+
   if (cc->Outputs().HasTag("LANDMARKS")) {
-    cc->Outputs().Tag("LANDMARKS").Set<std::vector<Landmark>>();
+    cc->Outputs().Tag("LANDMARKS").Set<LandmarkList>();
   }
 
   if (cc->Outputs().HasTag("NORM_LANDMARKS")) {
-    cc->Outputs().Tag("NORM_LANDMARKS").Set<std::vector<NormalizedLandmark>>();
+    cc->Outputs().Tag("NORM_LANDMARKS").Set<NormalizedLandmarkList>();
   }
 
   return ::mediapipe::OkStatus();
@@ -98,17 +131,40 @@ REGISTER_CALCULATOR(TfLiteTensorsToLandmarksCalculator);
         << "Must provide input with/height for getting normalized landmarks.";
   }
   if (cc->Outputs().HasTag("LANDMARKS") &&
-      (options_.flip_vertically() || options_.flip_horizontally())) {
+      (options_.flip_vertically() || options_.flip_horizontally() ||
+       cc->InputSidePackets().HasTag("FLIP_HORIZONTALLY") ||
+       cc->InputSidePackets().HasTag("FLIP_VERTICALLY"))) {
     RET_CHECK(options_.has_input_image_height() &&
               options_.has_input_image_width())
         << "Must provide input with/height for using flip_vertically option "
            "when outputing landmarks in absolute coordinates.";
   }
+
+  flip_horizontally_ =
+      cc->InputSidePackets().HasTag("FLIP_HORIZONTALLY")
+          ? cc->InputSidePackets().Tag("FLIP_HORIZONTALLY").Get<bool>()
+          : options_.flip_horizontally();
+
+  flip_horizontally_ =
+      cc->InputSidePackets().HasTag("FLIP_VERTICALLY")
+          ? cc->InputSidePackets().Tag("FLIP_VERTICALLY").Get<bool>()
+          : options_.flip_vertically();
+
   return ::mediapipe::OkStatus();
 }
 
 ::mediapipe::Status TfLiteTensorsToLandmarksCalculator::Process(
     CalculatorContext* cc) {
+  // Override values if specified so.
+  if (cc->Inputs().HasTag("FLIP_HORIZONTALLY") &&
+      !cc->Inputs().Tag("FLIP_HORIZONTALLY").IsEmpty()) {
+    flip_horizontally_ = cc->Inputs().Tag("FLIP_HORIZONTALLY").Get<bool>();
+  }
+  if (cc->Inputs().HasTag("FLIP_VERTICALLY") &&
+      !cc->Inputs().Tag("FLIP_VERTICALLY").IsEmpty()) {
+    flip_vertically_ = cc->Inputs().Tag("FLIP_VERTICALLY").Get<bool>();
+  }
+
   if (cc->Inputs().Tag("TENSORS").IsEmpty()) {
     return ::mediapipe::OkStatus();
   }
@@ -127,54 +183,55 @@ REGISTER_CALCULATOR(TfLiteTensorsToLandmarksCalculator);
 
   const float* raw_landmarks = raw_tensor->data.f;
 
-  auto output_landmarks = absl::make_unique<std::vector<Landmark>>();
+  LandmarkList output_landmarks;
 
   for (int ld = 0; ld < num_landmarks_; ++ld) {
     const int offset = ld * num_dimensions;
-    Landmark landmark;
+    Landmark* landmark = output_landmarks.add_landmark();
 
-    if (options_.flip_horizontally()) {
+    if (flip_horizontally_) {
-      landmark.set_x(options_.input_image_width() - raw_landmarks[offset]);
+      landmark->set_x(options_.input_image_width() - raw_landmarks[offset]);
     } else {
-      landmark.set_x(raw_landmarks[offset]);
+      landmark->set_x(raw_landmarks[offset]);
     }
     if (num_dimensions > 1) {
-      if (options_.flip_vertically()) {
+      if (flip_vertically_) {
-        landmark.set_y(options_.input_image_height() -
+        landmark->set_y(options_.input_image_height() -
-                       raw_landmarks[offset + 1]);
+                        raw_landmarks[offset + 1]);
       } else {
-        landmark.set_y(raw_landmarks[offset + 1]);
+        landmark->set_y(raw_landmarks[offset + 1]);
       }
     }
     if (num_dimensions > 2) {
-      landmark.set_z(raw_landmarks[offset + 2]);
+      landmark->set_z(raw_landmarks[offset + 2]);
     }
-    output_landmarks->push_back(landmark);
   }
 
   // Output normalized landmarks if required.
   if (cc->Outputs().HasTag("NORM_LANDMARKS")) {
-    auto output_norm_landmarks =
+    NormalizedLandmarkList output_norm_landmarks;
-        absl::make_unique<std::vector<NormalizedLandmark>>();
+    // for (const auto& landmark : output_landmarks) {
-    for (const auto& landmark : *output_landmarks) {
+    for (int i = 0; i < output_landmarks.landmark_size(); ++i) {
-      NormalizedLandmark norm_landmark;
+      const Landmark& landmark = output_landmarks.landmark(i);
-      norm_landmark.set_x(static_cast<float>(landmark.x()) /
+      NormalizedLandmark* norm_landmark = output_norm_landmarks.add_landmark();
-                          options_.input_image_width());
+      norm_landmark->set_x(static_cast<float>(landmark.x()) /
-      norm_landmark.set_y(static_cast<float>(landmark.y()) /
+                           options_.input_image_width());
-                          options_.input_image_height());
+      norm_landmark->set_y(static_cast<float>(landmark.y()) /
-      norm_landmark.set_z(landmark.z() / options_.normalize_z());
+                           options_.input_image_height());
-
+      norm_landmark->set_z(landmark.z() / options_.normalize_z());
-      output_norm_landmarks->push_back(norm_landmark);
     }
     cc->Outputs()
         .Tag("NORM_LANDMARKS")
-        .Add(output_norm_landmarks.release(), cc->InputTimestamp());
+        .AddPacket(MakePacket<NormalizedLandmarkList>(output_norm_landmarks)
+                       .At(cc->InputTimestamp()));
   }
+
   // Output absolute landmarks.
   if (cc->Outputs().HasTag("LANDMARKS")) {
     cc->Outputs()
         .Tag("LANDMARKS")
-        .Add(output_landmarks.release(), cc->InputTimestamp());
+        .AddPacket(MakePacket<LandmarkList>(output_landmarks)
+                       .At(cc->InputTimestamp()));
   }
 
   return ::mediapipe::OkStatus();

mediapipe/calculators/tflite/tflite_tensors_to_segmentation_calculator.cc

@@ -28,8 +28,7 @@
 #include "mediapipe/util/resource_util.h"
 #include "tensorflow/lite/interpreter.h"
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 #include "mediapipe/gpu/gl_calculator_helper.h"
 #include "mediapipe/gpu/gl_simple_shaders.h"
 #include "mediapipe/gpu/shader_util.h"
@@ -54,8 +53,7 @@ float Clamp(float val, float min, float max) {
 
 namespace mediapipe {
 
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
 using ::tflite::gpu::gl::CopyBuffer;
 using ::tflite::gpu::gl::CreateReadWriteRgbaImageTexture;
 using ::tflite::gpu::gl::CreateReadWriteShaderStorageBuffer;
@@ -131,8 +129,7 @@ class TfLiteTensorsToSegmentationCalculator : public CalculatorBase {
   int tensor_channels_ = 0;
 
   bool use_gpu_ = false;
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   mediapipe::GlCalculatorHelper gpu_helper_;
   std::unique_ptr<GlProgram> mask_program_with_prev_;
   std::unique_ptr<GlProgram> mask_program_no_prev_;
@@ -162,8 +159,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
   }
 
   // Inputs GPU.
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   if (cc->Inputs().HasTag("TENSORS_GPU")) {
     cc->Inputs().Tag("TENSORS_GPU").Set<std::vector<GlBuffer>>();
     use_gpu |= true;
@@ -182,8 +178,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
   if (cc->Outputs().HasTag("MASK")) {
     cc->Outputs().Tag("MASK").Set<ImageFrame>();
   }
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   if (cc->Outputs().HasTag("MASK_GPU")) {
     cc->Outputs().Tag("MASK_GPU").Set<mediapipe::GpuBuffer>();
     use_gpu |= true;
@@ -191,8 +186,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
 #endif  //  !MEDIAPIPE_DISABLE_GPU
 
   if (use_gpu) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(mediapipe::GlCalculatorHelper::UpdateContract(cc));
 #endif  //  !MEDIAPIPE_DISABLE_GPU
   }
@@ -205,8 +199,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
 
   if (cc->Inputs().HasTag("TENSORS_GPU")) {
     use_gpu_ = true;
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(gpu_helper_.Open(cc));
 #endif  //  !MEDIAPIPE_DISABLE_GPU
   }
@@ -214,8 +207,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
   MP_RETURN_IF_ERROR(LoadOptions(cc));
 
   if (use_gpu_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(
         gpu_helper_.RunInGlContext([this, cc]() -> ::mediapipe::Status {
           MP_RETURN_IF_ERROR(InitGpu(cc));
@@ -232,8 +224,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
 ::mediapipe::Status TfLiteTensorsToSegmentationCalculator::Process(
     CalculatorContext* cc) {
   if (use_gpu_) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
     MP_RETURN_IF_ERROR(
         gpu_helper_.RunInGlContext([this, cc]() -> ::mediapipe::Status {
           MP_RETURN_IF_ERROR(ProcessGpu(cc));
@@ -249,8 +240,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
 
 ::mediapipe::Status TfLiteTensorsToSegmentationCalculator::Close(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   gpu_helper_.RunInGlContext([this] {
     if (upsample_program_) glDeleteProgram(upsample_program_);
     upsample_program_ = 0;
@@ -377,8 +367,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
   if (cc->Inputs().Tag("TENSORS_GPU").IsEmpty()) {
     return ::mediapipe::OkStatus();
   }
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   // Get input streams.
   const auto& input_tensors =
       cc->Inputs().Tag("TENSORS_GPU").Get<std::vector<GlBuffer>>();
@@ -464,8 +453,7 @@ REGISTER_CALCULATOR(TfLiteTensorsToSegmentationCalculator);
 }
 
 void TfLiteTensorsToSegmentationCalculator::GlRender() {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   static const GLfloat square_vertices[] = {
       -1.0f, -1.0f,  // bottom left
       1.0f,  -1.0f,  // bottom right
@@ -537,8 +525,7 @@ void TfLiteTensorsToSegmentationCalculator::GlRender() {
 
 ::mediapipe::Status TfLiteTensorsToSegmentationCalculator::InitGpu(
     CalculatorContext* cc) {
-#if !defined(MEDIAPIPE_DISABLE_GPU) && !defined(__EMSCRIPTEN__) && \
+#if !defined(MEDIAPIPE_DISABLE_GL_COMPUTE)
-    !defined(__APPLE__)
   MP_RETURN_IF_ERROR(gpu_helper_.RunInGlContext([this]()
                                                     -> ::mediapipe::Status {
     // A shader to process a segmentation tensor into an output mask,

mediapipe/calculators/util/BUILD

@@ -39,6 +39,15 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "timed_box_list_id_to_label_calculator_proto",
+    srcs = ["timed_box_list_id_to_label_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+    ],
+)
+
 proto_library(
     name = "latency_proto",
     srcs = ["latency.proto"],
@@ -113,6 +122,18 @@ mediapipe_cc_proto_library(
     ],
 )
 
+mediapipe_cc_proto_library(
+    name = "timed_box_list_id_to_label_calculator_cc_proto",
+    srcs = ["timed_box_list_id_to_label_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":timed_box_list_id_to_label_calculator_proto",
+    ],
+)
+
 mediapipe_cc_proto_library(
     name = "latency_cc_proto",
     srcs = ["latency.proto"],
@@ -313,6 +334,34 @@ cc_library(
     alwayslink = 1,
 )
 
+cc_library(
+    name = "timed_box_list_id_to_label_calculator",
+    srcs = ["timed_box_list_id_to_label_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":timed_box_list_id_to_label_calculator_cc_proto",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:packet",
+        "//mediapipe/util/tracking:box_tracker_cc_proto",
+        "//mediapipe/util:resource_util",
+    ] + select({
+        "//mediapipe:android": [
+            "//mediapipe/util/android/file/base",
+        ],
+        "//mediapipe:apple": [
+            "//mediapipe/util/android/file/base",
+        ],
+        "//mediapipe:macos": [
+            "//mediapipe/framework/port:file_helpers",
+        ],
+        "//conditions:default": [
+            "//mediapipe/framework/port:file_helpers",
+        ],
+    }),
+    alwayslink = 1,
+)
+
 cc_library(
     name = "non_max_suppression_calculator",
     srcs = ["non_max_suppression_calculator.cc"],
@@ -437,6 +486,7 @@ cc_library(
         "//mediapipe/framework/formats:rect_cc_proto",
         "//mediapipe/framework/port:ret_check",
         "//mediapipe/framework/port:status",
+        "@com_google_absl//absl/types:optional",
     ],
     alwayslink = 1,
 )
@@ -508,6 +558,17 @@ proto_library(
     ],
 )
 
+proto_library(
+    name = "timed_box_list_to_render_data_calculator_proto",
+    srcs = ["timed_box_list_to_render_data_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+        "//mediapipe/util:color_proto",
+        "//mediapipe/util:render_data_proto",
+    ],
+)
+
 proto_library(
     name = "labels_to_render_data_calculator_proto",
     srcs = ["labels_to_render_data_calculator.proto"],
@@ -651,6 +712,37 @@ cc_library(
     alwayslink = 1,
 )
 
+mediapipe_cc_proto_library(
+    name = "timed_box_list_to_render_data_calculator_cc_proto",
+    srcs = ["timed_box_list_to_render_data_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+        "//mediapipe/util:color_cc_proto",
+        "//mediapipe/util:render_data_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":timed_box_list_to_render_data_calculator_proto"],
+)
+
+cc_library(
+    name = "timed_box_list_to_render_data_calculator",
+    srcs = ["timed_box_list_to_render_data_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":timed_box_list_to_render_data_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:calculator_options_cc_proto",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/util:color_cc_proto",
+        "//mediapipe/util:render_data_cc_proto",
+        "//mediapipe/util/tracking:box_tracker_cc_proto",
+        "//mediapipe/util/tracking:tracking_cc_proto",
+        "@com_google_absl//absl/memory",
+        "@com_google_absl//absl/strings",
+    ],
+    alwayslink = 1,
+)
+
 cc_library(
     name = "labels_to_render_data_calculator",
     srcs = ["labels_to_render_data_calculator.cc"],
@@ -886,6 +978,19 @@ cc_library(
     alwayslink = 1,
 )
 
+cc_library(
+    name = "local_file_pattern_contents_calculator",
+    srcs = ["local_file_pattern_contents_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/port:file_helpers",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+    ],
+    alwayslink = 1,
+)
+
 cc_library(
     name = "filter_collection_calculator",
     srcs = ["filter_collection_calculator.cc"],
@@ -983,3 +1088,31 @@ cc_test(
         "//mediapipe/framework/port:parse_text_proto",
     ],
 )
+
+cc_library(
+    name = "detections_to_timed_box_list_calculator",
+    srcs = ["detections_to_timed_box_list_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:detection_cc_proto",
+        "//mediapipe/framework/formats:location_data_cc_proto",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/util/tracking:box_tracker",
+    ],
+    alwayslink = 1,
+)
+
+cc_library(
+    name = "detection_unique_id_calculator",
+    srcs = ["detection_unique_id_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:detection_cc_proto",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+    ],
+    alwayslink = 1,
+)

mediapipe/calculators/util/annotation_overlay_calculator.cc

@@ -39,13 +39,13 @@ namespace mediapipe {
 
 namespace {
 
-constexpr char kInputFrameTag[] = "INPUT_FRAME";
+constexpr char kInputFrameTag[] = "IMAGE";
-constexpr char kOutputFrameTag[] = "OUTPUT_FRAME";
+constexpr char kOutputFrameTag[] = "IMAGE";
 
 constexpr char kInputVectorTag[] = "VECTOR";
 
-constexpr char kInputFrameTagGpu[] = "INPUT_FRAME_GPU";
+constexpr char kInputFrameTagGpu[] = "IMAGE_GPU";
-constexpr char kOutputFrameTagGpu[] = "OUTPUT_FRAME_GPU";
+constexpr char kOutputFrameTagGpu[] = "IMAGE_GPU";
 
 enum { ATTRIB_VERTEX, ATTRIB_TEXTURE_POSITION, NUM_ATTRIBUTES };
 
@@ -61,7 +61,7 @@ constexpr int kAnnotationBackgroundColor[] = {100, 101, 102};
 // A calculator for rendering data on images.
 //
 // Inputs:
-//  1. INPUT_FRAME or INPUT_FRAME_GPU (optional): An ImageFrame (or GpuBuffer)
+//  1. IMAGE or IMAGE_GPU (optional): An ImageFrame (or GpuBuffer)
 //     containing the input image.
 //     If output is CPU, and input isn't provided, the renderer creates a
 //     blank canvas with the width, height and color provided in the options.
@@ -73,7 +73,7 @@ constexpr int kAnnotationBackgroundColor[] = {100, 101, 102};
 //     input vector items. These input streams are tagged with "VECTOR".
 //
 // Output:
-//  1. OUTPUT_FRAME or OUTPUT_FRAME_GPU: A rendered ImageFrame (or GpuBuffer).
+//  1. IMAGE or IMAGE_GPU: A rendered ImageFrame (or GpuBuffer).
 //
 // For CPU input frames, only SRGBA, SRGB and GRAY8 format are supported. The
 // output format is the same as input except for GRAY8 where the output is in
@@ -87,13 +87,13 @@ constexpr int kAnnotationBackgroundColor[] = {100, 101, 102};
 // Example config (CPU):
 // node {
 //   calculator: "AnnotationOverlayCalculator"
-//   input_stream: "INPUT_FRAME:image_frames"
+//   input_stream: "IMAGE:image_frames"
 //   input_stream: "render_data_1"
 //   input_stream: "render_data_2"
 //   input_stream: "render_data_3"
 //   input_stream: "VECTOR:0:render_data_vec_0"
 //   input_stream: "VECTOR:1:render_data_vec_1"
-//   output_stream: "OUTPUT_FRAME:decorated_frames"
+//   output_stream: "IMAGE:decorated_frames"
 //   options {
 //     [mediapipe.AnnotationOverlayCalculatorOptions.ext] {
 //     }
@@ -103,13 +103,13 @@ constexpr int kAnnotationBackgroundColor[] = {100, 101, 102};
 // Example config (GPU):
 // node {
 //   calculator: "AnnotationOverlayCalculator"
-//   input_stream: "INPUT_FRAME_GPU:image_frames"
+//   input_stream: "IMAGE_GPU:image_frames"
 //   input_stream: "render_data_1"
 //   input_stream: "render_data_2"
 //   input_stream: "render_data_3"
 //   input_stream: "VECTOR:0:render_data_vec_0"
 //   input_stream: "VECTOR:1:render_data_vec_1"
-//   output_stream: "OUTPUT_FRAME_GPU:decorated_frames"
+//   output_stream: "IMAGE_GPU:decorated_frames"
 //   options {
 //     [mediapipe.AnnotationOverlayCalculatorOptions.ext] {
 //     }

mediapipe/calculators/util/collection_has_min_size_calculator.h

@@ -37,6 +37,8 @@ namespace mediapipe {
 //    }
 //   }
 // }
+// Optionally, uses a side packet to override `min_size` specified in the
+// calculator options.
 template <typename IterableT>
 class CollectionHasMinSizeCalculator : public CalculatorBase {
  public:
@@ -54,6 +56,10 @@ class CollectionHasMinSizeCalculator : public CalculatorBase {
     cc->Inputs().Tag("ITERABLE").Set<IterableT>();
     cc->Outputs().Index(0).Set<bool>();
 
+    // Optional input side packet that determines `min_size_`.
+    if (cc->InputSidePackets().NumEntries() > 0) {
+      cc->InputSidePackets().Index(0).Set<int>();
+    }
     return ::mediapipe::OkStatus();
   }
 
@@ -62,6 +68,11 @@ class CollectionHasMinSizeCalculator : public CalculatorBase {
     min_size_ =
         cc->Options<::mediapipe::CollectionHasMinSizeCalculatorOptions>()
             .min_size();
+    // Override `min_size` if passed as side packet.
+    if (cc->InputSidePackets().NumEntries() > 0 &&
+        !cc->InputSidePackets().Index(0).IsEmpty()) {
+      min_size_ = cc->InputSidePackets().Index(0).Get<int>();
+    }
     return ::mediapipe::OkStatus();
   }
 

mediapipe/calculators/util/detection_label_id_to_text_calculator.cc

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "mediapipe//framework/packet.h"
 #include "mediapipe/calculators/util/detection_label_id_to_text_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/formats/detection.pb.h"
+#include "mediapipe/framework/packet.h"
 #include "mediapipe/framework/port/status.h"
 #include "mediapipe/util/resource_util.h"
 
-#if defined(MEDIAPIPE_LITE) || defined(__EMSCRIPTEN__) || \
+#if defined(MEDIAPIPE_MOBILE)
-    defined(__ANDROID__) || (defined(__APPLE__) && !TARGET_OS_OSX)
 #include "mediapipe/util/android/file/base/file.h"
 #include "mediapipe/util/android/file/base/helpers.h"
 #else

mediapipe/calculators/util/detection_unique_id_calculator.cc

@@ -0,0 +1,110 @@
+// Copyright 2019 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/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/detection.pb.h"
+#include "mediapipe/framework/port/status.h"
+
+namespace mediapipe {
+
+namespace {
+
+constexpr char kDetectionsTag[] = "DETECTIONS";
+constexpr char kDetectionListTag[] = "DETECTION_LIST";
+
+// Each detection processed by DetectionUniqueIDCalculator will be assigned an
+// unique id that starts from 1. If a detection already has an ID other than 0,
+// the ID will be overwritten.
+static int64 detection_id = 0;
+
+inline int GetNextDetectionId() { return ++detection_id; }
+
+}  // namespace
+
+// Assign a unique id to detections.
+// Note that the calculator will consume the input vector of Detection or
+// DetectionList. So the input stream can not be connected to other calculators.
+//
+// Example config:
+// node {
+//   calculator: "DetectionUniqueIdCalculator"
+//   input_stream: "DETECTIONS:detections"
+//   output_stream: "DETECTIONS:output_detections"
+// }
+class DetectionUniqueIdCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc) {
+    RET_CHECK(cc->Inputs().HasTag(kDetectionListTag) ||
+              cc->Inputs().HasTag(kDetectionsTag))
+        << "None of the input streams are provided.";
+
+    if (cc->Inputs().HasTag(kDetectionListTag)) {
+      RET_CHECK(cc->Outputs().HasTag(kDetectionListTag));
+      cc->Inputs().Tag(kDetectionListTag).Set<DetectionList>();
+      cc->Outputs().Tag(kDetectionListTag).Set<DetectionList>();
+    }
+    if (cc->Inputs().HasTag(kDetectionsTag)) {
+      RET_CHECK(cc->Outputs().HasTag(kDetectionsTag));
+      cc->Inputs().Tag(kDetectionsTag).Set<std::vector<Detection>>();
+      cc->Outputs().Tag(kDetectionsTag).Set<std::vector<Detection>>();
+    }
+
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override {
+    cc->SetOffset(::mediapipe::TimestampDiff(0));
+    return ::mediapipe::OkStatus();
+  }
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+};
+REGISTER_CALCULATOR(DetectionUniqueIdCalculator);
+
+::mediapipe::Status DetectionUniqueIdCalculator::Process(
+    CalculatorContext* cc) {
+  if (cc->Inputs().HasTag(kDetectionListTag) &&
+      !cc->Inputs().Tag(kDetectionListTag).IsEmpty()) {
+    auto result =
+        cc->Inputs().Tag(kDetectionListTag).Value().Consume<DetectionList>();
+    if (result.ok()) {
+      auto detection_list = std::move(result).ValueOrDie();
+      for (Detection& detection : *detection_list->mutable_detection()) {
+        detection.set_detection_id(GetNextDetectionId());
+      }
+      cc->Outputs()
+          .Tag(kDetectionListTag)
+          .Add(detection_list.release(), cc->InputTimestamp());
+    }
+  }
+
+  if (cc->Inputs().HasTag(kDetectionsTag) &&
+      !cc->Inputs().Tag(kDetectionsTag).IsEmpty()) {
+    auto result = cc->Inputs()
+                      .Tag(kDetectionsTag)
+                      .Value()
+                      .Consume<std::vector<Detection>>();
+    if (result.ok()) {
+      auto detections = std::move(result).ValueOrDie();
+      for (Detection& detection : *detections) {
+        detection.set_detection_id(GetNextDetectionId());
+      }
+      cc->Outputs()
+          .Tag(kDetectionsTag)
+          .Add(detections.release(), cc->InputTimestamp());
+    }
+  }
+  return ::mediapipe::OkStatus();
+}
+
+}  // namespace mediapipe

mediapipe/calculators/util/detections_to_rects_calculator.cc

@@ -39,7 +39,8 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
 }  // namespace
 
 ::mediapipe::Status DetectionsToRectsCalculator::DetectionToRect(
-    const Detection& detection, Rect* rect) {
+    const Detection& detection, const DetectionSpec& detection_spec,
+    Rect* rect) {
   const LocationData location_data = detection.location_data();
   RET_CHECK(location_data.format() == LocationData::BOUNDING_BOX)
       << "Only Detection with formats of BOUNDING_BOX can be converted to Rect";
@@ -52,7 +53,8 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
 }
 
 ::mediapipe::Status DetectionsToRectsCalculator::DetectionToNormalizedRect(
-    const Detection& detection, NormalizedRect* rect) {
+    const Detection& detection, const DetectionSpec& detection_spec,
+    NormalizedRect* rect) {
   const LocationData location_data = detection.location_data();
   RET_CHECK(location_data.format() == LocationData::RELATIVE_BOUNDING_BOX)
       << "Only Detection with formats of RELATIVE_BOUNDING_BOX can be "
@@ -174,27 +176,31 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
     }
   }
 
-  std::pair<int, int> image_size;
+  // Get dynamic calculator options (e.g. `image_size`).
-  if (rotate_) {
+  const DetectionSpec detection_spec = GetDetectionSpec(cc);
-    RET_CHECK(!cc->Inputs().Tag(kImageSizeTag).IsEmpty());
-    image_size = cc->Inputs().Tag(kImageSizeTag).Get<std::pair<int, int>>();
-  }
 
   if (cc->Outputs().HasTag(kRectTag)) {
     auto output_rect = absl::make_unique<Rect>();
-    MP_RETURN_IF_ERROR(DetectionToRect(detections[0], output_rect.get()));
+    MP_RETURN_IF_ERROR(
+        DetectionToRect(detections[0], detection_spec, output_rect.get()));
     if (rotate_) {
-      output_rect->set_rotation(ComputeRotation(detections[0], image_size));
+      float rotation;
+      MP_RETURN_IF_ERROR(
+          ComputeRotation(detections[0], detection_spec, &rotation));
+      output_rect->set_rotation(rotation);
     }
     cc->Outputs().Tag(kRectTag).Add(output_rect.release(),
                                     cc->InputTimestamp());
   }
   if (cc->Outputs().HasTag(kNormRectTag)) {
     auto output_rect = absl::make_unique<NormalizedRect>();
-    MP_RETURN_IF_ERROR(
+    MP_RETURN_IF_ERROR(DetectionToNormalizedRect(detections[0], detection_spec,
-        DetectionToNormalizedRect(detections[0], output_rect.get()));
+                                                 output_rect.get()));
     if (rotate_) {
-      output_rect->set_rotation(ComputeRotation(detections[0], image_size));
+      float rotation;
+      MP_RETURN_IF_ERROR(
+          ComputeRotation(detections[0], detection_spec, &rotation));
+      output_rect->set_rotation(rotation);
     }
     cc->Outputs()
         .Tag(kNormRectTag)
@@ -203,11 +209,13 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
   if (cc->Outputs().HasTag(kRectsTag)) {
     auto output_rects = absl::make_unique<std::vector<Rect>>(detections.size());
     for (int i = 0; i < detections.size(); ++i) {
-      MP_RETURN_IF_ERROR(
+      MP_RETURN_IF_ERROR(DetectionToRect(detections[i], detection_spec,
-          DetectionToRect(detections[i], &(output_rects->at(i))));
+                                         &(output_rects->at(i))));
       if (rotate_) {
-        output_rects->at(i).set_rotation(
+        float rotation;
-            ComputeRotation(detections[i], image_size));
+        MP_RETURN_IF_ERROR(
+            ComputeRotation(detections[i], detection_spec, &rotation));
+        output_rects->at(i).set_rotation(rotation);
       }
     }
     cc->Outputs().Tag(kRectsTag).Add(output_rects.release(),
@@ -217,11 +225,13 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
     auto output_rects =
         absl::make_unique<std::vector<NormalizedRect>>(detections.size());
     for (int i = 0; i < detections.size(); ++i) {
-      MP_RETURN_IF_ERROR(
+      MP_RETURN_IF_ERROR(DetectionToNormalizedRect(
-          DetectionToNormalizedRect(detections[i], &(output_rects->at(i))));
+          detections[i], detection_spec, &(output_rects->at(i))));
       if (rotate_) {
-        output_rects->at(i).set_rotation(
+        float rotation;
-            ComputeRotation(detections[i], image_size));
+        MP_RETURN_IF_ERROR(
+            ComputeRotation(detections[i], detection_spec, &rotation));
+        output_rects->at(i).set_rotation(rotation);
       }
     }
     cc->Outputs()
@@ -232,21 +242,35 @@ constexpr char kNormRectsTag[] = "NORM_RECTS";
   return ::mediapipe::OkStatus();
 }
 
-float DetectionsToRectsCalculator::ComputeRotation(
+::mediapipe::Status DetectionsToRectsCalculator::ComputeRotation(
-    const Detection& detection, const std::pair<int, int> image_size) {
+    const Detection& detection, const DetectionSpec& detection_spec,
+    float* rotation) {
   const auto& location_data = detection.location_data();
+  const auto& image_size = detection_spec.image_size;
+  RET_CHECK(image_size) << "Image size is required to calculate rotation";
+
   const float x0 = location_data.relative_keypoints(start_keypoint_index_).x() *
-                   image_size.first;
+                   image_size->first;
   const float y0 = location_data.relative_keypoints(start_keypoint_index_).y() *
-                   image_size.second;
+                   image_size->second;
   const float x1 = location_data.relative_keypoints(end_keypoint_index_).x() *
-                   image_size.first;
+                   image_size->first;
   const float y1 = location_data.relative_keypoints(end_keypoint_index_).y() *
-                   image_size.second;
+                   image_size->second;
 
-  float rotation = target_angle_ - std::atan2(-(y1 - y0), x1 - x0);
+  *rotation = NormalizeRadians(target_angle_ - std::atan2(-(y1 - y0), x1 - x0));
 
-  return NormalizeRadians(rotation);
+  return ::mediapipe::OkStatus();
+}
+
+DetectionSpec DetectionsToRectsCalculator::GetDetectionSpec(
+    const CalculatorContext* cc) {
+  absl::optional<std::pair<int, int>> image_size;
+  if (cc->Inputs().HasTag(kImageSizeTag)) {
+    image_size = cc->Inputs().Tag(kImageSizeTag).Get<std::pair<int, int>>();
+  }
+
+  return {image_size};
 }
 
 REGISTER_CALCULATOR(DetectionsToRectsCalculator);

mediapipe/calculators/util/detections_to_rects_calculator.h

@@ -16,6 +16,7 @@
 
 #include <cmath>
 
+#include "absl/types/optional.h"
 #include "mediapipe/calculators/util/detections_to_rects_calculator.pb.h"
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/calculator_options.pb.h"
@@ -27,6 +28,13 @@
 
 namespace mediapipe {
 
+// Dynamic options passed as calculator `input_stream` that can be used for
+// calculation of rectangle or rotation for given detection. Does not include
+// static calculator options which are available via private fields.
+struct DetectionSpec {
+  absl::optional<std::pair<int, int>> image_size;
+};
+
 // A calculator that converts Detection proto to Rect proto.
 //
 // Detection is the format for encoding one or more detections in an image.
@@ -81,13 +89,16 @@ class DetectionsToRectsCalculator : public CalculatorBase {
   ::mediapipe::Status Process(CalculatorContext* cc) override;
 
  protected:
-  virtual float ComputeRotation(const ::mediapipe::Detection& detection,
-                                const std::pair<int, int> image_size);
   virtual ::mediapipe::Status DetectionToRect(
-      const ::mediapipe::Detection& detection, ::mediapipe::Rect* rect);
+      const ::mediapipe::Detection& detection,
+      const DetectionSpec& detection_spec, ::mediapipe::Rect* rect);
   virtual ::mediapipe::Status DetectionToNormalizedRect(
       const ::mediapipe::Detection& detection,
-      ::mediapipe::NormalizedRect* rect);
+      const DetectionSpec& detection_spec, ::mediapipe::NormalizedRect* rect);
+  virtual ::mediapipe::Status ComputeRotation(
+      const ::mediapipe::Detection& detection,
+      const DetectionSpec& detection_spec, float* rotation);
+  virtual DetectionSpec GetDetectionSpec(const CalculatorContext* cc);
 
   static inline float NormalizeRadians(float angle) {
     return angle - 2 * M_PI * std::floor((angle - (-M_PI)) / (2 * M_PI));

mediapipe/calculators/util/detections_to_render_data_calculator.cc

@@ -39,6 +39,8 @@ constexpr char kKeypointLabel[] = "KEYPOINT";
 // The ratio of detection label font height to the height of detection bounding
 // box.
 constexpr double kLabelToBoundingBoxRatio = 0.1;
+// Perserve 2 decimal digits.
+constexpr float kNumScoreDecimalDigitsMultipler = 100;
 
 }  // namespace
 
@@ -235,18 +237,26 @@ void DetectionsToRenderDataCalculator::AddLabels(
     std::string label_str = detection.label().empty()
                                 ? absl::StrCat(detection.label_id(i))
                                 : detection.label(i);
+    const float rounded_score =
+        std::round(detection.score(i) * kNumScoreDecimalDigitsMultipler) /
+        kNumScoreDecimalDigitsMultipler;
     std::string label_and_score =
-        absl::StrCat(label_str, options.text_delimiter(), detection.score(i),
+        absl::StrCat(label_str, options.text_delimiter(), rounded_score,
                      options.text_delimiter());
     label_and_scores.push_back(label_and_score);
   }
   std::vector<std::string> labels;
+  if (options.render_detection_id()) {
+    const std::string detection_id_str =
+        absl::StrCat("Id: ", detection.detection_id());
+    labels.push_back(detection_id_str);
+  }
   if (options.one_label_per_line()) {
-    labels.swap(label_and_scores);
+    labels.insert(labels.end(), label_and_scores.begin(),
+                  label_and_scores.end());
   } else {
     labels.push_back(absl::StrJoin(label_and_scores, ""));
   }
-
   // Add the render annotations for "label(_id),score".
   for (int i = 0; i < labels.size(); ++i) {
     auto label = labels.at(i);

mediapipe/calculators/util/detections_to_render_data_calculator.proto

@@ -53,4 +53,7 @@ message DetectionsToRenderDataCalculatorOptions {
   // instances of this calculator are present in the graph, this value
   // should be unique among them.
   optional string scene_class = 7 [default = "DETECTION"];
+
+  // If true, renders the detection id in the first line before the labels.
+  optional bool render_detection_id = 8 [default = false];
 }

mediapipe/calculators/util/detections_to_timed_box_list_calculator.cc

@@ -0,0 +1,110 @@
+// Copyright 2019 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/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/detection.pb.h"
+#include "mediapipe/framework/formats/location_data.pb.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/util/tracking/box_tracker.h"
+
+namespace mediapipe {
+
+namespace {
+
+constexpr char kDetectionsTag[] = "DETECTIONS";
+constexpr char kDetectionListTag[] = "DETECTION_LIST";
+constexpr char kBoxesTag[] = "BOXES";
+
+}  // namespace
+
+// A calculator that converts Detection proto to TimedBoxList proto for
+// tracking.
+//
+// Please note that only Location Data formats of RELATIVE_BOUNDING_BOX are
+// supported.
+//
+// Example config:
+// node {
+//   calculator: "DetectionsToTimedBoxListCalculator"
+//   input_stream: "DETECTIONS:detections"
+//   output_stream: "BOXES:boxes"
+// }
+class DetectionsToTimedBoxListCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc) {
+    RET_CHECK(cc->Inputs().HasTag(kDetectionListTag) ||
+              cc->Inputs().HasTag(kDetectionsTag))
+        << "None of the input streams are provided.";
+    if (cc->Inputs().HasTag(kDetectionListTag)) {
+      cc->Inputs().Tag(kDetectionListTag).Set<DetectionList>();
+    }
+    if (cc->Inputs().HasTag(kDetectionsTag)) {
+      cc->Inputs().Tag(kDetectionsTag).Set<std::vector<Detection>>();
+    }
+    cc->Outputs().Tag(kBoxesTag).Set<TimedBoxProtoList>();
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override {
+    cc->SetOffset(TimestampDiff(0));
+    return ::mediapipe::OkStatus();
+  }
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+
+ private:
+  void ConvertDetectionToTimedBox(const Detection& detection,
+                                  TimedBoxProto* box, CalculatorContext* cc);
+};
+REGISTER_CALCULATOR(DetectionsToTimedBoxListCalculator);
+
+::mediapipe::Status DetectionsToTimedBoxListCalculator::Process(
+    CalculatorContext* cc) {
+  auto output_timed_box_list = absl::make_unique<TimedBoxProtoList>();
+
+  if (cc->Inputs().HasTag(kDetectionListTag)) {
+    const auto& detection_list =
+        cc->Inputs().Tag(kDetectionListTag).Get<DetectionList>();
+    for (const auto& detection : detection_list.detection()) {
+      TimedBoxProto* box = output_timed_box_list->add_box();
+      ConvertDetectionToTimedBox(detection, box, cc);
+    }
+  }
+  if (cc->Inputs().HasTag(kDetectionsTag)) {
+    const auto& detections =
+        cc->Inputs().Tag(kDetectionsTag).Get<std::vector<Detection>>();
+    for (const auto& detection : detections) {
+      TimedBoxProto* box = output_timed_box_list->add_box();
+      ConvertDetectionToTimedBox(detection, box, cc);
+    }
+  }
+
+  cc->Outputs().Tag(kBoxesTag).Add(output_timed_box_list.release(),
+                                   cc->InputTimestamp());
+  return ::mediapipe::OkStatus();
+}
+
+void DetectionsToTimedBoxListCalculator::ConvertDetectionToTimedBox(
+    const Detection& detection, TimedBoxProto* box, CalculatorContext* cc) {
+  const auto& relative_bounding_box =
+      detection.location_data().relative_bounding_box();
+  box->set_left(relative_bounding_box.xmin());
+  box->set_right(relative_bounding_box.xmin() + relative_bounding_box.width());
+  box->set_top(relative_bounding_box.ymin());
+  box->set_bottom(relative_bounding_box.ymin() +
+                  relative_bounding_box.height());
+  box->set_id(detection.detection_id());
+  box->set_time_msec(cc->InputTimestamp().Microseconds() / 1000);
+}
+
+}  // namespace mediapipe

mediapipe/calculators/util/filter_collection_calculator.cc

@@ -27,8 +27,8 @@ typedef FilterCollectionCalculator<std::vector<::mediapipe::NormalizedRect>>
 REGISTER_CALCULATOR(FilterNormalizedRectCollectionCalculator);
 
 typedef FilterCollectionCalculator<
-    std::vector<std::vector<::mediapipe::NormalizedLandmark>>>
+    std::vector<::mediapipe::NormalizedLandmarkList>>
-    FilterLandmarksCollectionCalculator;
+    FilterLandmarkListCollectionCalculator;
-REGISTER_CALCULATOR(FilterLandmarksCollectionCalculator);
+REGISTER_CALCULATOR(FilterLandmarkListCollectionCalculator);
 
 }  // namespace mediapipe

mediapipe/calculators/util/labels_to_render_data_calculator.cc

@@ -93,6 +93,7 @@ REGISTER_CALCULATOR(LabelsToRenderDataCalculator);
 }
 
 ::mediapipe::Status LabelsToRenderDataCalculator::Open(CalculatorContext* cc) {
+  cc->SetOffset(TimestampDiff(0));
   options_ = cc->Options<LabelsToRenderDataCalculatorOptions>();
   num_colors_ = options_.color_size();
   label_height_px_ = std::ceil(options_.font_height_px() * kFontHeightScale);

mediapipe/calculators/util/landmark_letterbox_removal_calculator.cc

@@ -12,20 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// Copyright 2019 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 <cmath>
 #include <vector>
 
@@ -49,7 +35,7 @@ constexpr char kLetterboxPaddingTag[] = "LETTERBOX_PADDING";
 // corresponding input image before letterboxing.
 //
 // Input:
-//   LANDMARKS: An std::vector<NormalizedLandmark> representing landmarks on an
+//   LANDMARKS: A NormalizedLandmarkList representing landmarks on an
 //   letterboxed image.
 //
 //   LETTERBOX_PADDING: An std::array<float, 4> representing the letterbox
@@ -57,7 +43,7 @@ constexpr char kLetterboxPaddingTag[] = "LETTERBOX_PADDING";
 //   image, normalized to [0.f, 1.f] by the letterboxed image dimensions.
 //
 // Output:
-//   LANDMARKS: An std::vector<NormalizedLandmark> representing landmarks with
+//   LANDMARKS: An NormalizedLandmarkList proto representing landmarks with
 //   their locations adjusted to the letterbox-removed (non-padded) image.
 //
 // Usage example:
@@ -67,6 +53,15 @@ constexpr char kLetterboxPaddingTag[] = "LETTERBOX_PADDING";
 //   input_stream: "LETTERBOX_PADDING:letterbox_padding"
 //   output_stream: "LANDMARKS:adjusted_landmarks"
 // }
+//
+// node {
+//   calculator: "LandmarkLetterboxRemovalCalculator"
+//   input_stream: "LANDMARKS:0:landmarks_0"
+//   input_stream: "LANDMARKS:1:landmarks_1"
+//   input_stream: "LETTERBOX_PADDING:letterbox_padding"
+//   output_stream: "LANDMARKS:0:adjusted_landmarks_0"
+//   output_stream: "LANDMARKS:1:adjusted_landmarks_1"
+// }
 class LandmarkLetterboxRemovalCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
@@ -74,10 +69,20 @@ class LandmarkLetterboxRemovalCalculator : public CalculatorBase {
               cc->Inputs().HasTag(kLetterboxPaddingTag))
         << "Missing one or more input streams.";
 
-    cc->Inputs().Tag(kLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    RET_CHECK_EQ(cc->Inputs().NumEntries(kLandmarksTag),
+                 cc->Outputs().NumEntries(kLandmarksTag))
+        << "Same number of input and output landmarks is required.";
+
+    for (CollectionItemId id = cc->Inputs().BeginId(kLandmarksTag);
+         id != cc->Inputs().EndId(kLandmarksTag); ++id) {
+      cc->Inputs().Get(id).Set<NormalizedLandmarkList>();
+    }
     cc->Inputs().Tag(kLetterboxPaddingTag).Set<std::array<float, 4>>();
 
-    cc->Outputs().Tag(kLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    for (CollectionItemId id = cc->Outputs().BeginId(kLandmarksTag);
+         id != cc->Outputs().EndId(kLandmarksTag); ++id) {
+      cc->Outputs().Get(id).Set<NormalizedLandmarkList>();
+    }
 
     return ::mediapipe::OkStatus();
   }
@@ -89,39 +94,45 @@ class LandmarkLetterboxRemovalCalculator : public CalculatorBase {
   }
 
   ::mediapipe::Status Process(CalculatorContext* cc) override {
-    // Only process if there's input landmarks.
+    if (cc->Inputs().Tag(kLetterboxPaddingTag).IsEmpty()) {
-    if (cc->Inputs().Tag(kLandmarksTag).IsEmpty()) {
       return ::mediapipe::OkStatus();
     }
-
-    const auto& input_landmarks =
-        cc->Inputs().Tag(kLandmarksTag).Get<std::vector<NormalizedLandmark>>();
     const auto& letterbox_padding =
         cc->Inputs().Tag(kLetterboxPaddingTag).Get<std::array<float, 4>>();
-
     const float left = letterbox_padding[0];
     const float top = letterbox_padding[1];
     const float left_and_right = letterbox_padding[0] + letterbox_padding[2];
     const float top_and_bottom = letterbox_padding[1] + letterbox_padding[3];
 
-    auto output_landmarks =
+    CollectionItemId input_id = cc->Inputs().BeginId(kLandmarksTag);
-        absl::make_unique<std::vector<NormalizedLandmark>>();
+    CollectionItemId output_id = cc->Outputs().BeginId(kLandmarksTag);
-    for (const auto& landmark : input_landmarks) {
+    // Number of inputs and outpus is the same according to the contract.
-      NormalizedLandmark new_landmark;
+    for (; input_id != cc->Inputs().EndId(kLandmarksTag);
-      const float new_x = (landmark.x() - left) / (1.0f - left_and_right);
+         ++input_id, ++output_id) {
-      const float new_y = (landmark.y() - top) / (1.0f - top_and_bottom);
+      const auto& input_packet = cc->Inputs().Get(input_id);
+      if (input_packet.IsEmpty()) {
+        continue;
+      }
 
-      new_landmark.set_x(new_x);
+      const NormalizedLandmarkList& input_landmarks =
-      new_landmark.set_y(new_y);
+          input_packet.Get<NormalizedLandmarkList>();
-      // Keep z-coord as is.
+      NormalizedLandmarkList output_landmarks;
-      new_landmark.set_z(landmark.z());
+      for (int i = 0; i < input_landmarks.landmark_size(); ++i) {
+        const NormalizedLandmark& landmark = input_landmarks.landmark(i);
+        NormalizedLandmark* new_landmark = output_landmarks.add_landmark();
+        const float new_x = (landmark.x() - left) / (1.0f - left_and_right);
+        const float new_y = (landmark.y() - top) / (1.0f - top_and_bottom);
 
-      output_landmarks->emplace_back(new_landmark);
+        new_landmark->set_x(new_x);
+        new_landmark->set_y(new_y);
+        // Keep z-coord as is.
+        new_landmark->set_z(landmark.z());
+      }
+
+      cc->Outputs().Get(output_id).AddPacket(
+          MakePacket<NormalizedLandmarkList>(output_landmarks)
+              .At(cc->InputTimestamp()));
     }
-
-    cc->Outputs()
-        .Tag(kLandmarksTag)
-        .Add(output_landmarks.release(), cc->InputTimestamp());
     return ::mediapipe::OkStatus();
   }
 };

mediapipe/calculators/util/landmark_letterbox_removal_calculator_test.cc

@@ -43,10 +43,10 @@ CalculatorGraphConfig::Node GetDefaultNode() {
 TEST(LandmarkLetterboxRemovalCalculatorTest, PaddingLeftRight) {
   CalculatorRunner runner(GetDefaultNode());
 
-  auto landmarks = absl::make_unique<std::vector<NormalizedLandmark>>();
+  auto landmarks = absl::make_unique<NormalizedLandmarkList>();
-  landmarks->push_back(CreateLandmark(0.5f, 0.5f));
+  *landmarks->add_landmark() = CreateLandmark(0.5f, 0.5f);
-  landmarks->push_back(CreateLandmark(0.2f, 0.2f));
+  *landmarks->add_landmark() = CreateLandmark(0.2f, 0.2f);
-  landmarks->push_back(CreateLandmark(0.7f, 0.7f));
+  *landmarks->add_landmark() = CreateLandmark(0.7f, 0.7f);
   runner.MutableInputs()
       ->Tag("LANDMARKS")
       .packets.push_back(
@@ -61,26 +61,28 @@ TEST(LandmarkLetterboxRemovalCalculatorTest, PaddingLeftRight) {
   MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
   const std::vector<Packet>& output = runner.Outputs().Tag("LANDMARKS").packets;
   ASSERT_EQ(1, output.size());
-  const auto& output_landmarks =
+  const auto& output_landmarks = output[0].Get<NormalizedLandmarkList>();
-      output[0].Get<std::vector<NormalizedLandmark>>();
 
-  EXPECT_EQ(output_landmarks.size(), 3);
+  EXPECT_EQ(output_landmarks.landmark_size(), 3);
 
-  EXPECT_THAT(output_landmarks[0].x(), testing::FloatNear(0.6f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(0).x(), testing::FloatNear(0.6f, 1e-5));
-  EXPECT_THAT(output_landmarks[0].y(), testing::FloatNear(0.5f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(0).y(), testing::FloatNear(0.5f, 1e-5));
-  EXPECT_THAT(output_landmarks[1].x(), testing::FloatNear(0.0f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(1).x(), testing::FloatNear(0.0f, 1e-5));
-  EXPECT_THAT(output_landmarks[1].y(), testing::FloatNear(0.2f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(1).y(), testing::FloatNear(0.2f, 1e-5));
-  EXPECT_THAT(output_landmarks[2].x(), testing::FloatNear(1.0f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(2).x(), testing::FloatNear(1.0f, 1e-5));
-  EXPECT_THAT(output_landmarks[2].y(), testing::FloatNear(0.7f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(2).y(), testing::FloatNear(0.7f, 1e-5));
 }
 
 TEST(LandmarkLetterboxRemovalCalculatorTest, PaddingTopBottom) {
   CalculatorRunner runner(GetDefaultNode());
 
-  auto landmarks = absl::make_unique<std::vector<NormalizedLandmark>>();
+  auto landmarks = absl::make_unique<NormalizedLandmarkList>();
-  landmarks->push_back(CreateLandmark(0.5f, 0.5f));
+  NormalizedLandmark* landmark = landmarks->add_landmark();
-  landmarks->push_back(CreateLandmark(0.2f, 0.2f));
+  *landmark = CreateLandmark(0.5f, 0.5f);
-  landmarks->push_back(CreateLandmark(0.7f, 0.7f));
+  landmark = landmarks->add_landmark();
+  *landmark = CreateLandmark(0.2f, 0.2f);
+  landmark = landmarks->add_landmark();
+  *landmark = CreateLandmark(0.7f, 0.7f);
   runner.MutableInputs()
       ->Tag("LANDMARKS")
       .packets.push_back(
@@ -95,17 +97,16 @@ TEST(LandmarkLetterboxRemovalCalculatorTest, PaddingTopBottom) {
   MP_ASSERT_OK(runner.Run()) << "Calculator execution failed.";
   const std::vector<Packet>& output = runner.Outputs().Tag("LANDMARKS").packets;
   ASSERT_EQ(1, output.size());
-  const auto& output_landmarks =
+  const auto& output_landmarks = output[0].Get<NormalizedLandmarkList>();
-      output[0].Get<std::vector<NormalizedLandmark>>();
 
-  EXPECT_EQ(output_landmarks.size(), 3);
+  EXPECT_EQ(output_landmarks.landmark_size(), 3);
 
-  EXPECT_THAT(output_landmarks[0].x(), testing::FloatNear(0.5f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(0).x(), testing::FloatNear(0.5f, 1e-5));
-  EXPECT_THAT(output_landmarks[0].y(), testing::FloatNear(0.6f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(0).y(), testing::FloatNear(0.6f, 1e-5));
-  EXPECT_THAT(output_landmarks[1].x(), testing::FloatNear(0.2f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(1).x(), testing::FloatNear(0.2f, 1e-5));
-  EXPECT_THAT(output_landmarks[1].y(), testing::FloatNear(0.0f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(1).y(), testing::FloatNear(0.0f, 1e-5));
-  EXPECT_THAT(output_landmarks[2].x(), testing::FloatNear(0.7f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(2).x(), testing::FloatNear(0.7f, 1e-5));
-  EXPECT_THAT(output_landmarks[2].y(), testing::FloatNear(1.0f, 1e-5));
+  EXPECT_THAT(output_landmarks.landmark(2).y(), testing::FloatNear(1.0f, 1e-5));
 }
 
 }  // namespace mediapipe

mediapipe/calculators/util/landmark_projection_calculator.cc

@@ -12,20 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// Copyright 2019 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 <cmath>
 #include <vector>
 
@@ -47,13 +33,13 @@ constexpr char kRectTag[] = "NORM_RECT";
 // Projects normalized landmarks in a rectangle to its original coordinates. The
 // rectangle must also be in normalized coordinates.
 // Input:
-//   NORM_LANDMARKS: An std::vector<NormalizedLandmark> representing landmarks
+//   NORM_LANDMARKS: A NormalizedLandmarkList representing landmarks
 //                   in a normalized rectangle.
 //   NORM_RECT: An NormalizedRect representing a normalized rectangle in image
 //              coordinates.
 //
 // Output:
-//   NORM_LANDMARKS: An std::vector<NormalizedLandmark> representing landmarks
+//   NORM_LANDMARKS: A NormalizedLandmarkList representing landmarks
 //                   with their locations adjusted to the image.
 //
 // Usage example:
@@ -63,6 +49,15 @@ constexpr char kRectTag[] = "NORM_RECT";
 //   input_stream: "NORM_RECT:rect"
 //   output_stream: "NORM_LANDMARKS:projected_landmarks"
 // }
+//
+// node {
+//   calculator: "LandmarkProjectionCalculator"
+//   input_stream: "NORM_LANDMARKS:0:landmarks_0"
+//   input_stream: "NORM_LANDMARKS:1:landmarks_1"
+//   input_stream: "NORM_RECT:rect"
+//   output_stream: "NORM_LANDMARKS:0:projected_landmarks_0"
+//   output_stream: "NORM_LANDMARKS:1:projected_landmarks_1"
+// }
 class LandmarkProjectionCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
@@ -70,10 +65,20 @@ class LandmarkProjectionCalculator : public CalculatorBase {
               cc->Inputs().HasTag(kRectTag))
         << "Missing one or more input streams.";
 
-    cc->Inputs().Tag(kLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    RET_CHECK_EQ(cc->Inputs().NumEntries(kLandmarksTag),
+                 cc->Outputs().NumEntries(kLandmarksTag))
+        << "Same number of input and output landmarks is required.";
+
+    for (CollectionItemId id = cc->Inputs().BeginId(kLandmarksTag);
+         id != cc->Inputs().EndId(kLandmarksTag); ++id) {
+      cc->Inputs().Get(id).Set<NormalizedLandmarkList>();
+    }
     cc->Inputs().Tag(kRectTag).Set<NormalizedRect>();
 
-    cc->Outputs().Tag(kLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    for (CollectionItemId id = cc->Outputs().BeginId(kLandmarksTag);
+         id != cc->Outputs().EndId(kLandmarksTag); ++id) {
+      cc->Outputs().Get(id).Set<NormalizedLandmarkList>();
+    }
 
     return ::mediapipe::OkStatus();
   }
@@ -85,42 +90,50 @@ class LandmarkProjectionCalculator : public CalculatorBase {
   }
 
   ::mediapipe::Status Process(CalculatorContext* cc) override {
-    const auto& options =
+    if (cc->Inputs().Tag(kRectTag).IsEmpty()) {
-        cc->Options<::mediapipe::LandmarkProjectionCalculatorOptions>();
-    // Only process if there's input landmarks.
-    if (cc->Inputs().Tag(kLandmarksTag).IsEmpty()) {
       return ::mediapipe::OkStatus();
     }
-
-    const auto& input_landmarks =
-        cc->Inputs().Tag(kLandmarksTag).Get<std::vector<NormalizedLandmark>>();
     const auto& input_rect = cc->Inputs().Tag(kRectTag).Get<NormalizedRect>();
 
-    auto output_landmarks =
+    const auto& options =
-        absl::make_unique<std::vector<NormalizedLandmark>>();
+        cc->Options<::mediapipe::LandmarkProjectionCalculatorOptions>();
-    for (const auto& landmark : input_landmarks) {
-      NormalizedLandmark new_landmark;
 
-      const float x = landmark.x() - 0.5f;
+    CollectionItemId input_id = cc->Inputs().BeginId(kLandmarksTag);
-      const float y = landmark.y() - 0.5f;
+    CollectionItemId output_id = cc->Outputs().BeginId(kLandmarksTag);
-      const float angle = options.ignore_rotation() ? 0 : input_rect.rotation();
+    // Number of inputs and outpus is the same according to the contract.
-      float new_x = std::cos(angle) * x - std::sin(angle) * y;
+    for (; input_id != cc->Inputs().EndId(kLandmarksTag);
-      float new_y = std::sin(angle) * x + std::cos(angle) * y;
+         ++input_id, ++output_id) {
+      const auto& input_packet = cc->Inputs().Get(input_id);
+      if (input_packet.IsEmpty()) {
+        continue;
+      }
 
-      new_x = new_x * input_rect.width() + input_rect.x_center();
+      const auto& input_landmarks = input_packet.Get<NormalizedLandmarkList>();
-      new_y = new_y * input_rect.height() + input_rect.y_center();
+      NormalizedLandmarkList output_landmarks;
+      for (int i = 0; i < input_landmarks.landmark_size(); ++i) {
+        const NormalizedLandmark& landmark = input_landmarks.landmark(i);
+        NormalizedLandmark* new_landmark = output_landmarks.add_landmark();
 
-      new_landmark.set_x(new_x);
+        const float x = landmark.x() - 0.5f;
-      new_landmark.set_y(new_y);
+        const float y = landmark.y() - 0.5f;
-      // Keep z-coord as is.
+        const float angle =
-      new_landmark.set_z(landmark.z());
+            options.ignore_rotation() ? 0 : input_rect.rotation();
+        float new_x = std::cos(angle) * x - std::sin(angle) * y;
+        float new_y = std::sin(angle) * x + std::cos(angle) * y;
 
-      output_landmarks->emplace_back(new_landmark);
+        new_x = new_x * input_rect.width() + input_rect.x_center();
+        new_y = new_y * input_rect.height() + input_rect.y_center();
+
+        new_landmark->set_x(new_x);
+        new_landmark->set_y(new_y);
+        // Keep z-coord as is.
+        new_landmark->set_z(landmark.z());
+      }
+
+      cc->Outputs().Get(output_id).AddPacket(
+          MakePacket<NormalizedLandmarkList>(output_landmarks)
+              .At(cc->InputTimestamp()));
     }
-
-    cc->Outputs()
-        .Tag(kLandmarksTag)
-        .Add(output_landmarks.release(), cc->InputTimestamp());
     return ::mediapipe::OkStatus();
   }
 };

mediapipe/calculators/util/landmarks_to_detection_calculator.cc

@@ -28,8 +28,7 @@ namespace {
 constexpr char kDetectionTag[] = "DETECTION";
 constexpr char kNormalizedLandmarksTag[] = "NORM_LANDMARKS";
 
-Detection ConvertLandmarksToDetection(
+Detection ConvertLandmarksToDetection(const NormalizedLandmarkList& landmarks) {
-    const std::vector<NormalizedLandmark>& landmarks) {
   Detection detection;
   LocationData* location_data = detection.mutable_location_data();
 
@@ -37,7 +36,8 @@ Detection ConvertLandmarksToDetection(
   float x_max = std::numeric_limits<float>::min();
   float y_min = std::numeric_limits<float>::max();
   float y_max = std::numeric_limits<float>::min();
-  for (const auto& landmark : landmarks) {
+  for (int i = 0; i < landmarks.landmark_size(); ++i) {
+    const NormalizedLandmark& landmark = landmarks.landmark(i);
     x_min = std::min(x_min, landmark.x());
     x_max = std::max(x_max, landmark.x());
     y_min = std::min(y_min, landmark.y());
@@ -67,7 +67,7 @@ Detection ConvertLandmarksToDetection(
 // to specify a subset of landmarks for creating the detection.
 //
 // Input:
-//  NOMR_LANDMARKS: A vector of NormalizedLandmark.
+//  NOMR_LANDMARKS: A NormalizedLandmarkList proto.
 //
 // Output:
 //   DETECTION: A Detection proto.
@@ -95,9 +95,7 @@ REGISTER_CALCULATOR(LandmarksToDetectionCalculator);
   RET_CHECK(cc->Inputs().HasTag(kNormalizedLandmarksTag));
   RET_CHECK(cc->Outputs().HasTag(kDetectionTag));
   // TODO: Also support converting Landmark to Detection.
-  cc->Inputs()
+  cc->Inputs().Tag(kNormalizedLandmarksTag).Set<NormalizedLandmarkList>();
-      .Tag(kNormalizedLandmarksTag)
-      .Set<std::vector<NormalizedLandmark>>();
   cc->Outputs().Tag(kDetectionTag).Set<Detection>();
 
   return ::mediapipe::OkStatus();
@@ -113,19 +111,20 @@ REGISTER_CALCULATOR(LandmarksToDetectionCalculator);
 
 ::mediapipe::Status LandmarksToDetectionCalculator::Process(
     CalculatorContext* cc) {
-  const auto& landmarks = cc->Inputs()
+  const auto& landmarks =
-                              .Tag(kNormalizedLandmarksTag)
+      cc->Inputs().Tag(kNormalizedLandmarksTag).Get<NormalizedLandmarkList>();
-                              .Get<std::vector<NormalizedLandmark>>();
+  RET_CHECK_GT(landmarks.landmark_size(), 0)
-  RET_CHECK_GT(landmarks.size(), 0) << "Input landmark vector is empty.";
+      << "Input landmark vector is empty.";
 
   auto detection = absl::make_unique<Detection>();
   if (options_.selected_landmark_indices_size()) {
-    std::vector<NormalizedLandmark> subset_landmarks(
+    NormalizedLandmarkList subset_landmarks;
-        options_.selected_landmark_indices_size());
+    for (int i = 0; i < options_.selected_landmark_indices_size(); ++i) {
-    for (int i = 0; i < subset_landmarks.size(); ++i) {
+      RET_CHECK_LT(options_.selected_landmark_indices(i),
-      RET_CHECK_LT(options_.selected_landmark_indices(i), landmarks.size())
+                   landmarks.landmark_size())
           << "Index of landmark subset is out of range.";
-      subset_landmarks[i] = landmarks[options_.selected_landmark_indices(i)];
+      *subset_landmarks.add_landmark() =
+          landmarks.landmark(options_.selected_landmark_indices(i));
     }
     *detection = ConvertLandmarksToDetection(subset_landmarks);
   } else {

mediapipe/calculators/util/landmarks_to_floats_calculator.cc

@@ -48,7 +48,7 @@ constexpr char kMatrixTag[] = "MATRIX";
 
 // Converts a vector of landmarks to a vector of floats or a matrix.
 // Input:
-//   NORM_LANDMARKS: An std::vector<NormalizedLandmark>.
+//   NORM_LANDMARKS: A NormalizedLandmarkList proto.
 //
 // Output:
 //   FLOATS(optional): A vector of floats from flattened landmarks.
@@ -63,7 +63,7 @@ constexpr char kMatrixTag[] = "MATRIX";
 class LandmarksToFloatsCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
-    cc->Inputs().Tag(kLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    cc->Inputs().Tag(kLandmarksTag).Set<NormalizedLandmarkList>();
     RET_CHECK(cc->Outputs().HasTag(kFloatsTag) ||
               cc->Outputs().HasTag(kMatrixTag));
     if (cc->Outputs().HasTag(kFloatsTag)) {
@@ -94,11 +94,12 @@ class LandmarksToFloatsCalculator : public CalculatorBase {
     }
 
     const auto& input_landmarks =
-        cc->Inputs().Tag(kLandmarksTag).Get<std::vector<NormalizedLandmark>>();
+        cc->Inputs().Tag(kLandmarksTag).Get<NormalizedLandmarkList>();
 
     if (cc->Outputs().HasTag(kFloatsTag)) {
       auto output_floats = absl::make_unique<std::vector<float>>();
-      for (const auto& landmark : input_landmarks) {
+      for (int i = 0; i < input_landmarks.landmark_size(); ++i) {
+        const NormalizedLandmark& landmark = input_landmarks.landmark(i);
         output_floats->emplace_back(landmark.x());
         if (num_dimensions_ > 1) {
           output_floats->emplace_back(landmark.y());
@@ -113,14 +114,14 @@ class LandmarksToFloatsCalculator : public CalculatorBase {
           .Add(output_floats.release(), cc->InputTimestamp());
     } else {
       auto output_matrix = absl::make_unique<Matrix>();
-      output_matrix->setZero(num_dimensions_, input_landmarks.size());
+      output_matrix->setZero(num_dimensions_, input_landmarks.landmark_size());
-      for (int i = 0; i < input_landmarks.size(); ++i) {
+      for (int i = 0; i < input_landmarks.landmark_size(); ++i) {
-        (*output_matrix)(0, i) = input_landmarks[i].x();
+        (*output_matrix)(0, i) = input_landmarks.landmark(i).x();
         if (num_dimensions_ > 1) {
-          (*output_matrix)(1, i) = input_landmarks[i].y();
+          (*output_matrix)(1, i) = input_landmarks.landmark(i).y();
         }
         if (num_dimensions_ > 2) {
-          (*output_matrix)(2, i) = input_landmarks[i].z();
+          (*output_matrix)(2, i) = input_landmarks.landmark(i).z();
         }
       }
       cc->Outputs()

mediapipe/calculators/util/landmarks_to_render_data_calculator.cc

@@ -46,12 +46,13 @@ inline float Remap(float x, float lo, float hi, float scale) {
   return (x - lo) / (hi - lo + 1e-6) * scale;
 }
 
-template <class LandmarkType>
+template <class LandmarkListType, class LandmarkType>
-inline void GetMinMaxZ(const std::vector<LandmarkType>& landmarks, float* z_min,
+inline void GetMinMaxZ(const LandmarkListType& landmarks, float* z_min,
                        float* z_max) {
   *z_min = std::numeric_limits<float>::max();
   *z_max = std::numeric_limits<float>::min();
-  for (const auto& landmark : landmarks) {
+  for (int i = 0; i < landmarks.landmark_size(); ++i) {
+    const LandmarkType& landmark = landmarks.landmark(i);
     *z_min = std::min(landmark.z(), *z_min);
     *z_max = std::max(landmark.z(), *z_max);
   }
@@ -73,7 +74,7 @@ void SetColorSizeValueFromZ(float z, float z_min, float z_max,
 }  // namespace
 
 // A calculator that converts Landmark proto to RenderData proto for
-// visualization. The input should be std::vector<Landmark>. It is also possible
+// visualization. The input should be LandmarkList proto. It is also possible
 // to specify the connections between landmarks.
 //
 // Example config:
@@ -121,11 +122,11 @@ class LandmarksToRenderDataCalculator : public CalculatorBase {
       const LandmarksToRenderDataCalculatorOptions& options, bool normalized,
       int gray_val1, int gray_val2, RenderData* render_data);
 
-  template <class LandmarkType>
+  template <class LandmarkListType>
-  void AddConnections(const std::vector<LandmarkType>& landmarks,
+  void AddConnections(const LandmarkListType& landmarks, bool normalized,
-                      bool normalized, RenderData* render_data);
+                      RenderData* render_data);
-  template <class LandmarkType>
+  template <class LandmarkListType>
-  void AddConnectionsWithDepth(const std::vector<LandmarkType>& landmarks,
+  void AddConnectionsWithDepth(const LandmarkListType& landmarks,
                                bool normalized, float min_z, float max_z,
                                RenderData* render_data);
 
@@ -144,10 +145,10 @@ REGISTER_CALCULATOR(LandmarksToRenderDataCalculator);
          "normalized landmarks.";
 
   if (cc->Inputs().HasTag(kLandmarksTag)) {
-    cc->Inputs().Tag(kLandmarksTag).Set<std::vector<Landmark>>();
+    cc->Inputs().Tag(kLandmarksTag).Set<LandmarkList>();
   }
   if (cc->Inputs().HasTag(kNormLandmarksTag)) {
-    cc->Inputs().Tag(kNormLandmarksTag).Set<std::vector<NormalizedLandmark>>();
+    cc->Inputs().Tag(kNormLandmarksTag).Set<NormalizedLandmarkList>();
   }
   cc->Outputs().Tag(kRenderDataTag).Set<RenderData>();
   return ::mediapipe::OkStatus();
@@ -169,16 +170,17 @@ REGISTER_CALCULATOR(LandmarksToRenderDataCalculator);
   float z_max = 0.f;
 
   if (cc->Inputs().HasTag(kLandmarksTag)) {
-    const auto& landmarks =
+    const LandmarkList& landmarks =
-        cc->Inputs().Tag(kLandmarksTag).Get<std::vector<Landmark>>();
+        cc->Inputs().Tag(kLandmarksTag).Get<LandmarkList>();
     RET_CHECK_EQ(options_.landmark_connections_size() % 2, 0)
         << "Number of entries in landmark connections must be a multiple of 2";
     if (visualize_depth) {
-      GetMinMaxZ(landmarks, &z_min, &z_max);
+      GetMinMaxZ<LandmarkList, Landmark>(landmarks, &z_min, &z_max);
     }
     // Only change rendering if there are actually z values other than 0.
     visualize_depth &= ((z_max - z_min) > 1e-3);
-    for (const auto& landmark : landmarks) {
+    for (int i = 0; i < landmarks.landmark_size(); ++i) {
+      const Landmark& landmark = landmarks.landmark(i);
       auto* landmark_data_render =
           AddPointRenderData(options_, render_data.get());
       if (visualize_depth) {
@@ -191,25 +193,27 @@ REGISTER_CALCULATOR(LandmarksToRenderDataCalculator);
       landmark_data->set_y(landmark.y());
     }
     if (visualize_depth) {
-      AddConnectionsWithDepth(landmarks, /*normalized=*/false, z_min, z_max,
+      AddConnectionsWithDepth<LandmarkList>(landmarks, /*normalized=*/false,
-                              render_data.get());
+                                            z_min, z_max, render_data.get());
     } else {
-      AddConnections(landmarks, /*normalized=*/false, render_data.get());
+      AddConnections<LandmarkList>(landmarks, /*normalized=*/false,
+                                   render_data.get());
     }
   }
 
   if (cc->Inputs().HasTag(kNormLandmarksTag)) {
-    const auto& landmarks = cc->Inputs()
+    const NormalizedLandmarkList& landmarks =
-                                .Tag(kNormLandmarksTag)
+        cc->Inputs().Tag(kNormLandmarksTag).Get<NormalizedLandmarkList>();
-                                .Get<std::vector<NormalizedLandmark>>();
     RET_CHECK_EQ(options_.landmark_connections_size() % 2, 0)
         << "Number of entries in landmark connections must be a multiple of 2";
     if (visualize_depth) {
-      GetMinMaxZ(landmarks, &z_min, &z_max);
+      GetMinMaxZ<NormalizedLandmarkList, NormalizedLandmark>(landmarks, &z_min,
+                                                             &z_max);
     }
     // Only change rendering if there are actually z values other than 0.
     visualize_depth &= ((z_max - z_min) > 1e-3);
-    for (const auto& landmark : landmarks) {
+    for (int i = 0; i < landmarks.landmark_size(); ++i) {
+      const NormalizedLandmark& landmark = landmarks.landmark(i);
       auto* landmark_data_render =
           AddPointRenderData(options_, render_data.get());
       if (visualize_depth) {
@@ -222,10 +226,11 @@ REGISTER_CALCULATOR(LandmarksToRenderDataCalculator);
       landmark_data->set_y(landmark.y());
     }
     if (visualize_depth) {
-      AddConnectionsWithDepth(landmarks, /*normalized=*/true, z_min, z_max,
+      AddConnectionsWithDepth<NormalizedLandmarkList>(
-                              render_data.get());
+          landmarks, /*normalized=*/true, z_min, z_max, render_data.get());
     } else {
-      AddConnections(landmarks, /*normalized=*/true, render_data.get());
+      AddConnections<NormalizedLandmarkList>(landmarks, /*normalized=*/true,
+                                             render_data.get());
     }
   }
 
@@ -235,13 +240,13 @@ REGISTER_CALCULATOR(LandmarksToRenderDataCalculator);
   return ::mediapipe::OkStatus();
 }
 
-template <class LandmarkType>
+template <class LandmarkListType>
 void LandmarksToRenderDataCalculator::AddConnectionsWithDepth(
-    const std::vector<LandmarkType>& landmarks, bool normalized, float min_z,
+    const LandmarkListType& landmarks, bool normalized, float min_z,
     float max_z, RenderData* render_data) {
   for (int i = 0; i < options_.landmark_connections_size(); i += 2) {
-    const auto& ld0 = landmarks[options_.landmark_connections(i)];
+    const auto& ld0 = landmarks.landmark(options_.landmark_connections(i));
-    const auto& ld1 = landmarks[options_.landmark_connections(i + 1)];
+    const auto& ld1 = landmarks.landmark(options_.landmark_connections(i + 1));
     const int gray_val1 =
         255 - static_cast<int>(Remap(ld0.z(), min_z, max_z, 255));
     const int gray_val2 =
@@ -272,13 +277,13 @@ void LandmarksToRenderDataCalculator::AddConnectionToRenderData(
   connection_annotation->set_thickness(options.thickness());
 }
 
-template <class LandmarkType>
+template <class LandmarkListType>
 void LandmarksToRenderDataCalculator::AddConnections(
-    const std::vector<LandmarkType>& landmarks, bool normalized,
+    const LandmarkListType& landmarks, bool normalized,
     RenderData* render_data) {
   for (int i = 0; i < options_.landmark_connections_size(); i += 2) {
-    const auto& ld0 = landmarks[options_.landmark_connections(i)];
+    const auto& ld0 = landmarks.landmark(options_.landmark_connections(i));
-    const auto& ld1 = landmarks[options_.landmark_connections(i + 1)];
+    const auto& ld1 = landmarks.landmark(options_.landmark_connections(i + 1));
     AddConnectionToRenderData(ld0.x(), ld0.y(), ld1.x(), ld1.y(), options_,
                               normalized, render_data);
   }

mediapipe/calculators/util/local_file_pattern_contents_calculator.cc

@@ -0,0 +1,75 @@
+// Copyright 2019 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 <memory>
+#include <string>
+
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/port/file_helpers.h"
+#include "mediapipe/framework/port/status.h"
+
+namespace mediapipe {
+// The calculator takes the path to local directory and desired file suffix to
+// mach as input side packets, and outputs the contents of those files that
+// match the pattern. Those matched files will be sent sequentially through the
+// output stream with incremental timestamp difference by 1.
+//
+// Example config:
+// node {
+//   calculator: "LocalFilePatternContentsCalculator"
+//   input_side_packet: "FILE_DIRECTORY:file_directory"
+//   input_side_packet: "FILE_SUFFIX:file_suffix"
+//   output_stream: "CONTENTS:contents"
+// }
+class LocalFilePatternContentsCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc) {
+    cc->InputSidePackets().Tag("FILE_DIRECTORY").Set<std::string>();
+    cc->InputSidePackets().Tag("FILE_SUFFIX").Set<std::string>();
+    cc->Outputs().Tag("CONTENTS").Set<std::string>();
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override {
+    MP_RETURN_IF_ERROR(::mediapipe::file::MatchFileTypeInDirectory(
+        cc->InputSidePackets().Tag("FILE_DIRECTORY").Get<std::string>(),
+        cc->InputSidePackets().Tag("FILE_SUFFIX").Get<std::string>(),
+        &filenames_));
+    return ::mediapipe::OkStatus();
+  }
+
+  ::mediapipe::Status Process(CalculatorContext* cc) override {
+    if (current_output_ < filenames_.size()) {
+      auto contents = absl::make_unique<std::string>();
+      LOG(INFO) << filenames_[current_output_];
+      MP_RETURN_IF_ERROR(mediapipe::file::GetContents(
+          filenames_[current_output_], contents.get()));
+      ++current_output_;
+      cc->Outputs()
+          .Tag("CONTENTS")
+          .Add(contents.release(), Timestamp(current_output_));
+    } else {
+      return tool::StatusStop();
+    }
+    return ::mediapipe::OkStatus();
+  }
+
+ private:
+  std::vector<std::string> filenames_;
+  int current_output_ = 0;
+};
+
+REGISTER_CALCULATOR(LocalFilePatternContentsCalculator);
+
+}  // namespace mediapipe

mediapipe/calculators/util/rect_to_render_data_calculator.cc

@@ -45,15 +45,17 @@ RenderAnnotation::Rectangle* NewRect(
 void SetRect(bool normalized, double xmin, double ymin, double width,
              double height, double rotation,
              RenderAnnotation::Rectangle* rect) {
-  if (xmin + width < 0.0 || ymin + height < 0.0) return;
+  if (rotation == 0.0) {
-  if (normalized) {
+    if (xmin + width < 0.0 || ymin + height < 0.0) return;
-    if (xmin > 1.0 || ymin > 1.0) return;
+    if (normalized) {
+      if (xmin > 1.0 || ymin > 1.0) return;
+    }
   }
   rect->set_normalized(normalized);
-  rect->set_left(normalized ? std::max(xmin, 0.0) : xmin);
+  rect->set_left(xmin);
-  rect->set_top(normalized ? std::max(ymin, 0.0) : ymin);
+  rect->set_top(ymin);
-  rect->set_right(normalized ? std::min(xmin + width, 1.0) : xmin + width);
+  rect->set_right(xmin + width);
-  rect->set_bottom(normalized ? std::min(ymin + height, 1.0) : ymin + height);
+  rect->set_bottom(ymin + height);
   rect->set_rotation(rotation);
 }
 

mediapipe/calculators/util/timed_box_list_id_to_label_calculator.cc

@@ -0,0 +1,105 @@
+// Copyright 2019 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/util/timed_box_list_id_to_label_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/packet.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/util/resource_util.h"
+#include "mediapipe/util/tracking/box_tracker.pb.h"
+
+#if defined(MEDIAPIPE_MOBILE)
+#include "mediapipe/util/android/file/base/file.h"
+#include "mediapipe/util/android/file/base/helpers.h"
+#else
+#include "mediapipe/framework/port/file_helpers.h"
+#endif
+
+namespace mediapipe {
+
+using mediapipe::TimedBoxProto;
+using mediapipe::TimedBoxProtoList;
+
+// Takes a label map (from label IDs to names), and populate the label field in
+// TimedBoxProto according to it's ID.
+//
+// Example usage:
+// node {
+//   calculator: "TimedBoxListIdToLabelCalculator"
+//   input_stream: "input_timed_box_list"
+//   output_stream: "output_timed_box_list"
+//   node_options: {
+//     [mediapipe.TimedBoxListIdToLabelCalculatorOptions] {
+//       label_map_path: "labelmap.txt"
+//     }
+//   }
+// }
+class TimedBoxListIdToLabelCalculator : public CalculatorBase {
+ public:
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+
+ private:
+  std::unordered_map<int, std::string> label_map_;
+};
+REGISTER_CALCULATOR(TimedBoxListIdToLabelCalculator);
+
+::mediapipe::Status TimedBoxListIdToLabelCalculator::GetContract(
+    CalculatorContract* cc) {
+  cc->Inputs().Index(0).Set<TimedBoxProtoList>();
+  cc->Outputs().Index(0).Set<TimedBoxProtoList>();
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status TimedBoxListIdToLabelCalculator::Open(
+    CalculatorContext* cc) {
+  cc->SetOffset(TimestampDiff(0));
+
+  const auto& options =
+      cc->Options<::mediapipe::TimedBoxListIdToLabelCalculatorOptions>();
+
+  std::string string_path;
+  ASSIGN_OR_RETURN(string_path, PathToResourceAsFile(options.label_map_path()));
+  std::string label_map_string;
+  MP_RETURN_IF_ERROR(file::GetContents(string_path, &label_map_string));
+
+  std::istringstream stream(label_map_string);
+  std::string line;
+  int i = 0;
+  while (std::getline(stream, line)) {
+    label_map_[i++] = line;
+  }
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status TimedBoxListIdToLabelCalculator::Process(
+    CalculatorContext* cc) {
+  const auto& input_list = cc->Inputs().Index(0).Get<TimedBoxProtoList>();
+  auto output_list = absl::make_unique<TimedBoxProtoList>();
+  for (const auto& input_box : input_list.box()) {
+    TimedBoxProto* box_ptr = output_list->add_box();
+    *box_ptr = input_box;
+
+    if (label_map_.find(input_box.id()) != label_map_.end()) {
+      box_ptr->set_label(label_map_[input_box.id()]);
+    }
+  }
+  cc->Outputs().Index(0).Add(output_list.release(), cc->InputTimestamp());
+  return ::mediapipe::OkStatus();
+}
+
+}  // namespace mediapipe

mediapipe/calculators/util/timed_box_list_id_to_label_calculator.proto

@@ -0,0 +1,28 @@
+// Copyright 2019 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+
+message TimedBoxListIdToLabelCalculatorOptions {
+  extend mediapipe.CalculatorOptions {
+    optional TimedBoxListIdToLabelCalculatorOptions ext = 297701606;
+  }
+
+  // Path to a label map file for getting the actual name of detected classes.
+  optional string label_map_path = 1;
+}

mediapipe/calculators/util/timed_box_list_to_render_data_calculator.cc

@@ -0,0 +1,166 @@
+// Copyright 2019 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 "absl/memory/memory.h"
+#include "absl/strings/str_cat.h"
+#include "absl/strings/str_join.h"
+#include "mediapipe/calculators/util/timed_box_list_to_render_data_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/calculator_options.pb.h"
+#include "mediapipe/framework/port/ret_check.h"
+#include "mediapipe/util/color.pb.h"
+#include "mediapipe/util/render_data.pb.h"
+#include "mediapipe/util/tracking/box_tracker.pb.h"
+#include "mediapipe/util/tracking/tracking.pb.h"
+
+namespace mediapipe {
+
+namespace {
+
+constexpr char kTimedBoxListTag[] = "BOX_LIST";
+constexpr char kRenderDataTag[] = "RENDER_DATA";
+
+void AddTimedBoxProtoToRenderData(
+    const TimedBoxProto& box_proto,
+    const TimedBoxListToRenderDataCalculatorOptions& options,
+    RenderData* render_data) {
+  if (box_proto.has_quad() && box_proto.quad().vertices_size() > 0 &&
+      box_proto.quad().vertices_size() % 2 == 0) {
+    const int num_corners = box_proto.quad().vertices_size() / 2;
+    for (int i = 0; i < num_corners; ++i) {
+      const int next_corner = (i + 1) % num_corners;
+      auto* line_annotation = render_data->add_render_annotations();
+      line_annotation->mutable_color()->set_r(options.box_color().r());
+      line_annotation->mutable_color()->set_g(options.box_color().g());
+      line_annotation->mutable_color()->set_b(options.box_color().b());
+      line_annotation->set_thickness(options.thickness());
+      RenderAnnotation::Line* line = line_annotation->mutable_line();
+      line->set_normalized(true);
+      line->set_x_start(box_proto.quad().vertices(i * 2));
+      line->set_y_start(box_proto.quad().vertices(i * 2 + 1));
+      line->set_x_end(box_proto.quad().vertices(next_corner * 2));
+      line->set_y_end(box_proto.quad().vertices(next_corner * 2 + 1));
+    }
+  } else {
+    auto* rect_annotation = render_data->add_render_annotations();
+    rect_annotation->mutable_color()->set_r(options.box_color().r());
+    rect_annotation->mutable_color()->set_g(options.box_color().g());
+    rect_annotation->mutable_color()->set_b(options.box_color().b());
+    rect_annotation->set_thickness(options.thickness());
+    RenderAnnotation::Rectangle* rect = rect_annotation->mutable_rectangle();
+    rect->set_normalized(true);
+    rect->set_left(box_proto.left());
+    rect->set_right(box_proto.right());
+    rect->set_top(box_proto.top());
+    rect->set_bottom(box_proto.bottom());
+    rect->set_rotation(box_proto.rotation());
+  }
+
+  if (box_proto.has_label()) {
+    auto* label_annotation = render_data->add_render_annotations();
+    label_annotation->mutable_color()->set_r(options.box_color().r());
+    label_annotation->mutable_color()->set_g(options.box_color().g());
+    label_annotation->mutable_color()->set_b(options.box_color().b());
+    label_annotation->set_thickness(options.thickness());
+    RenderAnnotation::Text* text = label_annotation->mutable_text();
+    text->set_display_text(box_proto.label());
+    text->set_normalized(true);
+    constexpr float text_left_start = 0.3f;
+    text->set_left((1.0f - text_left_start) * box_proto.left() +
+                   text_left_start * box_proto.right());
+    constexpr float text_baseline = 0.6f;
+    text->set_baseline(text_baseline * box_proto.bottom() +
+                       (1.0f - text_baseline) * box_proto.top());
+    constexpr float text_height = 0.2f;
+    text->set_font_height((box_proto.bottom() - box_proto.top()) * text_height);
+  }
+}
+
+}  // namespace
+
+// A calculator that converts TimedBoxProtoList proto to RenderData proto for
+// visualization. If the input TimedBoxProto contains `quad` field, this
+// calculator will draw a quadrilateral based on it. Otherwise this calculator
+// will draw a rotated rectangle based on `top`, `bottom`, `left`, `right` and
+// `rotation` fields
+//
+// Example config:
+// node {
+//   calculator: "TimedBoxListToRenderDataCalculator"
+//   input_stream: "BOX_LIST:landmarks"
+//   output_stream: "RENDER_DATA:render_data"
+//   options {
+//     [TimedBoxListToRenderDataCalculatorOptions.ext] {
+//       box_color { r: 0 g: 255 b: 0 }
+//       thickness: 4.0
+//     }
+//   }
+// }
+class TimedBoxListToRenderDataCalculator : public CalculatorBase {
+ public:
+  TimedBoxListToRenderDataCalculator() {}
+  ~TimedBoxListToRenderDataCalculator() override {}
+  TimedBoxListToRenderDataCalculator(
+      const TimedBoxListToRenderDataCalculator&) = delete;
+  TimedBoxListToRenderDataCalculator& operator=(
+      const TimedBoxListToRenderDataCalculator&) = delete;
+
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+
+ private:
+  TimedBoxListToRenderDataCalculatorOptions options_;
+};
+REGISTER_CALCULATOR(TimedBoxListToRenderDataCalculator);
+
+::mediapipe::Status TimedBoxListToRenderDataCalculator::GetContract(
+    CalculatorContract* cc) {
+  if (cc->Inputs().HasTag(kTimedBoxListTag)) {
+    cc->Inputs().Tag(kTimedBoxListTag).Set<TimedBoxProtoList>();
+  }
+  cc->Outputs().Tag(kRenderDataTag).Set<RenderData>();
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status TimedBoxListToRenderDataCalculator::Open(
+    CalculatorContext* cc) {
+  cc->SetOffset(TimestampDiff(0));
+  options_ = cc->Options<TimedBoxListToRenderDataCalculatorOptions>();
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status TimedBoxListToRenderDataCalculator::Process(
+    CalculatorContext* cc) {
+  auto render_data = absl::make_unique<RenderData>();
+
+  if (cc->Inputs().HasTag(kTimedBoxListTag)) {
+    const auto& box_list =
+        cc->Inputs().Tag(kTimedBoxListTag).Get<TimedBoxProtoList>();
+
+    for (const auto& box : box_list.box()) {
+      AddTimedBoxProtoToRenderData(box, options_, render_data.get());
+    }
+  }
+
+  cc->Outputs()
+      .Tag(kRenderDataTag)
+      .Add(render_data.release(), cc->InputTimestamp());
+  return ::mediapipe::OkStatus();
+}
+
+}  // namespace mediapipe

mediapipe/calculators/util/timed_box_list_to_render_data_calculator.proto

@@ -0,0 +1,32 @@
+// Copyright 2019 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+import "mediapipe/util/color.proto";
+
+message TimedBoxListToRenderDataCalculatorOptions {
+  extend CalculatorOptions {
+    optional TimedBoxListToRenderDataCalculatorOptions ext = 289899854;
+  }
+
+  // Color of boxes.
+  optional Color box_color = 1;
+
+  // Thickness of the drawing of boxes.
+  optional double thickness = 2 [default = 1.0];
+}

mediapipe/calculators/util/top_k_scores_calculator.cc

@@ -29,8 +29,7 @@
 #include "mediapipe/framework/port/statusor.h"
 #include "mediapipe/util/resource_util.h"
 
-#if defined(MEDIAPIPE_LITE) || defined(__EMSCRIPTEN__) || \
+#if defined(MEDIAPIPE_MOBILE)
-    defined(__ANDROID__) || (defined(__APPLE__) && !TARGET_OS_OSX)
 #include "mediapipe/util/android/file/base/file.h"
 #include "mediapipe/util/android/file/base/helpers.h"
 #else

mediapipe/calculators/video/BUILD

@@ -37,6 +37,86 @@ proto_library(
     deps = ["//mediapipe/framework:calculator_proto"],
 )
 
+proto_library(
+    name = "motion_analysis_calculator_proto",
+    srcs = ["motion_analysis_calculator.proto"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+        "//mediapipe/util/tracking:motion_analysis_proto",
+    ],
+)
+
+proto_library(
+    name = "flow_packager_calculator_proto",
+    srcs = ["flow_packager_calculator.proto"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+        "//mediapipe/util/tracking:flow_packager_proto",
+    ],
+)
+
+proto_library(
+    name = "box_tracker_calculator_proto",
+    srcs = ["box_tracker_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+        "//mediapipe/util/tracking:box_tracker_proto",
+    ],
+)
+
+proto_library(
+    name = "video_pre_stream_calculator_proto",
+    srcs = ["video_pre_stream_calculator.proto"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_proto",
+    ],
+)
+
+mediapipe_cc_proto_library(
+    name = "motion_analysis_calculator_cc_proto",
+    srcs = ["motion_analysis_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+        "//mediapipe/util/tracking:motion_analysis_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":motion_analysis_calculator_proto"],
+)
+
+mediapipe_cc_proto_library(
+    name = "flow_packager_calculator_cc_proto",
+    srcs = ["flow_packager_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+        "//mediapipe/util/tracking:flow_packager_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":flow_packager_calculator_proto"],
+)
+
+mediapipe_cc_proto_library(
+    name = "box_tracker_calculator_cc_proto",
+    srcs = ["box_tracker_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+        "//mediapipe/util/tracking:box_tracker_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":box_tracker_calculator_proto"],
+)
+
+mediapipe_cc_proto_library(
+    name = "video_pre_stream_calculator_cc_proto",
+    srcs = ["video_pre_stream_calculator.proto"],
+    cc_deps = [
+        "//mediapipe/framework:calculator_cc_proto",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":video_pre_stream_calculator_proto"],
+)
+
 mediapipe_cc_proto_library(
     name = "flow_to_image_calculator_cc_proto",
     srcs = ["flow_to_image_calculator.proto"],
@@ -131,6 +211,107 @@ cc_library(
     alwayslink = 1,
 )
 
+cc_library(
+    name = "motion_analysis_calculator",
+    srcs = ["motion_analysis_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":motion_analysis_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:image_frame_opencv",
+        "//mediapipe/framework/formats:video_stream_header",
+        "//mediapipe/framework/port:integral_types",
+        "//mediapipe/framework/port:logging",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/util/tracking:camera_motion",
+        "//mediapipe/util/tracking:camera_motion_cc_proto",
+        "//mediapipe/util/tracking:frame_selection_cc_proto",
+        "//mediapipe/util/tracking:motion_analysis",
+        "//mediapipe/util/tracking:motion_estimation",
+        "//mediapipe/util/tracking:motion_models",
+        "//mediapipe/util/tracking:region_flow_cc_proto",
+        "@com_google_absl//absl/strings",
+    ],
+    alwayslink = 1,
+)
+
+cc_library(
+    name = "flow_packager_calculator",
+    srcs = ["flow_packager_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":flow_packager_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/port:integral_types",
+        "//mediapipe/framework/port:logging",
+        "//mediapipe/util/tracking:camera_motion_cc_proto",
+        "//mediapipe/util/tracking:flow_packager",
+        "//mediapipe/util/tracking:region_flow_cc_proto",
+        "@com_google_absl//absl/strings",
+        "@com_google_absl//absl/strings:str_format",
+    ],
+    alwayslink = 1,
+)
+
+cc_library(
+    name = "box_tracker_calculator",
+    srcs = ["box_tracker_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":box_tracker_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:image_frame_opencv",
+        "//mediapipe/framework/formats:video_stream_header",  # fixdeps: keep -- required for exobazel build.
+        "//mediapipe/framework/port:integral_types",
+        "//mediapipe/framework/port:logging",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:ret_check",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/framework/tool:options_util",
+        "//mediapipe/util/tracking",
+        "//mediapipe/util/tracking:box_tracker",
+        "//mediapipe/util/tracking:tracking_visualization_utilities",
+        "@com_google_absl//absl/strings",
+    ],
+    alwayslink = 1,
+)
+
+cc_library(
+    name = "tracked_detection_manager_calculator",
+    srcs = ["tracked_detection_manager_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:detection_cc_proto",
+        "//mediapipe/framework/formats:location_data_cc_proto",
+        "//mediapipe/framework/formats:rect_cc_proto",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/util/tracking",
+        "//mediapipe/util/tracking:box_tracker",
+        "//mediapipe/util/tracking:tracked_detection",
+        "//mediapipe/util/tracking:tracked_detection_manager",
+        "//mediapipe/util/tracking:tracking_visualization_utilities",
+        "@com_google_absl//absl/container:node_hash_map",
+    ],
+    alwayslink = 1,
+)
+
+cc_library(
+    name = "video_pre_stream_calculator",
+    srcs = ["video_pre_stream_calculator.cc"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":video_pre_stream_calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:video_stream_header",
+    ],
+    alwayslink = 1,
+)
+
 filegroup(
     name = "test_videos",
     srcs = [
@@ -187,6 +368,7 @@ cc_test(
 cc_test(
     name = "tvl1_optical_flow_calculator_test",
     srcs = ["tvl1_optical_flow_calculator_test.cc"],
+    linkstatic = 1,
     deps = [
         ":tvl1_optical_flow_calculator",
         "//mediapipe/framework:calculator_framework",
@@ -201,3 +383,78 @@ cc_test(
         "//mediapipe/framework/port:parse_text_proto",
     ],
 )
+
+MEDIAPIPE_DEPS = [
+    "//mediapipe/calculators/video:box_tracker_calculator",
+    "//mediapipe/calculators/video:flow_packager_calculator",
+    "//mediapipe/calculators/video:motion_analysis_calculator",
+    "//mediapipe/framework/stream_handler:fixed_size_input_stream_handler",
+    "//mediapipe/framework/stream_handler:sync_set_input_stream_handler",
+]
+
+mediapipe_binary_graph(
+    name = "parallel_tracker_binarypb",
+    graph = "testdata/parallel_tracker_graph.pbtxt",
+    output_name = "testdata/parallel_tracker.binarypb",
+    visibility = ["//visibility:public"],
+    deps = MEDIAPIPE_DEPS,
+)
+
+mediapipe_binary_graph(
+    name = "tracker_binarypb",
+    graph = "testdata/tracker_graph.pbtxt",
+    output_name = "testdata/tracker.binarypb",
+    visibility = ["//visibility:public"],
+    deps = MEDIAPIPE_DEPS,
+)
+
+cc_test(
+    name = "tracking_graph_test",
+    size = "small",
+    srcs = ["tracking_graph_test.cc"],
+    copts = ["-DPARALLEL_INVOKER_ACTIVE"] + select({
+        "//mediapipe:apple": [],
+        "//mediapipe:android": [],
+        "//conditions:default": [],
+    }),
+    data = [
+        ":testdata/lenna.png",
+        ":testdata/parallel_tracker.binarypb",
+        ":testdata/tracker.binarypb",
+    ],
+    deps = [
+        ":box_tracker_calculator",
+        ":box_tracker_calculator_cc_proto",
+        ":flow_packager_calculator",
+        ":motion_analysis_calculator",
+        "//mediapipe/framework:calculator_cc_proto",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework:packet",
+        "//mediapipe/framework/deps:file_path",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/port:advanced_proto",
+        "//mediapipe/framework/port:core_proto",
+        "//mediapipe/framework/port:file_helpers",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:opencv_highgui",
+        "//mediapipe/framework/port:status",
+        "//mediapipe/framework/stream_handler:fixed_size_input_stream_handler",
+        "//mediapipe/framework/stream_handler:sync_set_input_stream_handler",
+        "//mediapipe/util/tracking:box_tracker_cc_proto",
+        "//mediapipe/util/tracking:tracking_cc_proto",
+    ],
+)
+
+cc_test(
+    name = "video_pre_stream_calculator_test",
+    srcs = ["video_pre_stream_calculator_test.cc"],
+    deps = [
+        ":video_pre_stream_calculator",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/formats:image_frame",
+        "//mediapipe/framework/formats:video_stream_header",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status",
+    ],
+)

mediapipe/calculators/video/box_tracker_calculator.proto

@@ -0,0 +1,55 @@
+// Copyright 2019 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+import "mediapipe/util/tracking/box_tracker.proto";
+
+message BoxTrackerCalculatorOptions {
+  extend CalculatorOptions {
+    optional BoxTrackerCalculatorOptions ext = 268767860;
+  }
+
+  optional BoxTrackerOptions tracker_options = 1;
+
+  // Initial position to be tracked. Can also be supplied as side packet or
+  // as input stream.
+  optional TimedBoxProtoList initial_position = 2;
+
+  // If set and VIZ stream is present, renders tracking data into the
+  // visualization.
+  optional bool visualize_tracking_data = 3 [default = false];
+
+  // If set and VIZ stream is present, renders the box state
+  // into the visualization.
+  optional bool visualize_state = 4 [default = false];
+
+  // If set and VIZ stream is present, renders the internal box state
+  // into the visualization.
+  optional bool visualize_internal_state = 5 [default = false];
+
+  // Size of the track data cache during streaming mode. This allows to buffer
+  // track_data's for fast forward tracking, i.e. any TimedBox received
+  // via input stream START_POS can be tracked towards the current track head
+  // (i.e. last received TrackingData). Measured in number of frames.
+  optional int32 streaming_track_data_cache_size = 6 [default = 0];
+
+  // Add a transition period of N frames to smooth the jump from original
+  // tracking to reset start pos with motion compensation. The transition will
+  // be a linear decay of original tracking result. 0 means no transition.
+  optional int32 start_pos_transition_frames = 7 [default = 0];
+}

mediapipe/calculators/video/flow_packager_calculator.cc

@@ -0,0 +1,281 @@
+// Copyright 2019 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 <stdio.h>
+
+#include <fstream>
+#include <memory>
+
+#include "absl/strings/str_format.h"
+#include "absl/strings/string_view.h"
+#include "mediapipe/calculators/video/flow_packager_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/logging.h"
+#include "mediapipe/util/tracking/camera_motion.pb.h"
+#include "mediapipe/util/tracking/flow_packager.h"
+#include "mediapipe/util/tracking/region_flow.pb.h"
+
+namespace mediapipe {
+
+using mediapipe::CameraMotion;
+using mediapipe::FlowPackager;
+using mediapipe::RegionFlowFeatureList;
+using mediapipe::TrackingData;
+using mediapipe::TrackingDataChunk;
+
+// A calculator that packages input CameraMotion and RegionFlowFeatureList
+// into a TrackingData and optionally writes TrackingDataChunks to file.
+//
+// Input stream:
+//   FLOW:       Input region flow (proto RegionFlowFeatureList).
+//   CAMERA:     Input camera stream (proto CameraMotion, optional).
+//
+// Input side packets:
+//   CACHE_DIR:  Optional caching directory tracking files are written to.
+//
+// Output streams.
+//   TRACKING:       Output tracking data (proto TrackingData, per frame
+//                   optional).
+//   TRACKING_CHUNK: Output tracking chunks (proto TrackingDataChunk,
+//                   per chunk, optional), output at the first timestamp
+//                   of each chunk.
+//   COMPLETE:       Optional output packet sent on PreStream to
+//                   to signal downstream calculators that all data has been
+//                   processed and calculator is closed. Can be used to indicate
+//                   that all data as been written to CACHE_DIR.
+class FlowPackagerCalculator : public CalculatorBase {
+ public:
+  ~FlowPackagerCalculator() override = default;
+
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+  ::mediapipe::Status Close(CalculatorContext* cc) override;
+
+  // Writes passed chunk to disk.
+  void WriteChunk(const TrackingDataChunk& chunk) const;
+
+  // Initializes next chunk for tracking beginning from last frame of
+  // current chunk (Chunking is design with one frame overlap).
+  void PrepareCurrentForNextChunk(TrackingDataChunk* chunk);
+
+ private:
+  FlowPackagerCalculatorOptions options_;
+
+  // Caching options.
+  bool use_caching_ = false;
+  bool build_chunk_ = false;
+  std::string cache_dir_;
+  int chunk_idx_ = -1;
+  TrackingDataChunk tracking_chunk_;
+
+  int frame_idx_ = 0;
+
+  Timestamp prev_timestamp_;
+  std::unique_ptr<FlowPackager> flow_packager_;
+};
+
+REGISTER_CALCULATOR(FlowPackagerCalculator);
+
+::mediapipe::Status FlowPackagerCalculator::GetContract(
+    CalculatorContract* cc) {
+  if (!cc->Inputs().HasTag("FLOW")) {
+    return tool::StatusFail("No input flow was specified.");
+  }
+
+  cc->Inputs().Tag("FLOW").Set<RegionFlowFeatureList>();
+
+  if (cc->Inputs().HasTag("CAMERA")) {
+    cc->Inputs().Tag("CAMERA").Set<CameraMotion>();
+  }
+  if (cc->Outputs().HasTag("TRACKING")) {
+    cc->Outputs().Tag("TRACKING").Set<TrackingData>();
+  }
+  if (cc->Outputs().HasTag("TRACKING_CHUNK")) {
+    cc->Outputs().Tag("TRACKING_CHUNK").Set<TrackingDataChunk>();
+  }
+  if (cc->Outputs().HasTag("COMPLETE")) {
+    cc->Outputs().Tag("COMPLETE").Set<bool>();
+  }
+
+  if (cc->InputSidePackets().HasTag("CACHE_DIR")) {
+    cc->InputSidePackets().Tag("CACHE_DIR").Set<std::string>();
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status FlowPackagerCalculator::Open(CalculatorContext* cc) {
+  options_ = cc->Options<FlowPackagerCalculatorOptions>();
+
+  flow_packager_.reset(new FlowPackager(options_.flow_packager_options()));
+
+  use_caching_ = cc->InputSidePackets().HasTag("CACHE_DIR");
+  build_chunk_ = use_caching_ || cc->Outputs().HasTag("TRACKING_CHUNK");
+  if (use_caching_) {
+    cache_dir_ = cc->InputSidePackets().Tag("CACHE_DIR").Get<std::string>();
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status FlowPackagerCalculator::Process(CalculatorContext* cc) {
+  InputStream* flow_stream = &(cc->Inputs().Tag("FLOW"));
+  const RegionFlowFeatureList& flow = flow_stream->Get<RegionFlowFeatureList>();
+
+  const Timestamp timestamp = flow_stream->Value().Timestamp();
+
+  const CameraMotion* camera_motion = nullptr;
+  if (cc->Inputs().HasTag("CAMERA")) {
+    InputStream* camera_stream = &(cc->Inputs().Tag("CAMERA"));
+    camera_motion = &camera_stream->Get<CameraMotion>();
+  }
+
+  std::unique_ptr<TrackingData> tracking_data(new TrackingData());
+
+  flow_packager_->PackFlow(flow, camera_motion, tracking_data.get());
+
+  if (build_chunk_) {
+    if (chunk_idx_ < 0) {  // Lazy init, determine first start.
+      chunk_idx_ =
+          timestamp.Value() / 1000 / options_.caching_chunk_size_msec();
+      tracking_chunk_.set_first_chunk(true);
+    }
+    CHECK_GE(chunk_idx_, 0);
+
+    TrackingDataChunk::Item* item = tracking_chunk_.add_item();
+    item->set_frame_idx(frame_idx_);
+    item->set_timestamp_usec(timestamp.Value());
+    if (frame_idx_ > 0) {
+      item->set_prev_timestamp_usec(prev_timestamp_.Value());
+    }
+    if (cc->Outputs().HasTag("TRACKING")) {
+      // Need to copy as output is requested.
+      *item->mutable_tracking_data() = *tracking_data;
+    } else {
+      item->mutable_tracking_data()->Swap(tracking_data.get());
+    }
+
+    const int next_chunk_msec =
+        options_.caching_chunk_size_msec() * (chunk_idx_ + 1);
+
+    if (timestamp.Value() / 1000 >= next_chunk_msec) {
+      if (cc->Outputs().HasTag("TRACKING_CHUNK")) {
+        cc->Outputs()
+            .Tag("TRACKING_CHUNK")
+            .Add(new TrackingDataChunk(tracking_chunk_),
+                 Timestamp(tracking_chunk_.item(0).timestamp_usec()));
+      }
+      if (use_caching_) {
+        WriteChunk(tracking_chunk_);
+      }
+      PrepareCurrentForNextChunk(&tracking_chunk_);
+    }
+  }
+
+  if (cc->Outputs().HasTag("TRACKING")) {
+    cc->Outputs()
+        .Tag("TRACKING")
+        .Add(tracking_data.release(), flow_stream->Value().Timestamp());
+  }
+
+  prev_timestamp_ = timestamp;
+  ++frame_idx_;
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status FlowPackagerCalculator::Close(CalculatorContext* cc) {
+  if (frame_idx_ > 0) {
+    tracking_chunk_.set_last_chunk(true);
+    if (cc->Outputs().HasTag("TRACKING_CHUNK")) {
+      cc->Outputs()
+          .Tag("TRACKING_CHUNK")
+          .Add(new TrackingDataChunk(tracking_chunk_),
+               Timestamp(tracking_chunk_.item(0).timestamp_usec()));
+    }
+
+    if (use_caching_) {
+      WriteChunk(tracking_chunk_);
+    }
+  }
+
+  if (cc->Outputs().HasTag("COMPLETE")) {
+    cc->Outputs().Tag("COMPLETE").Add(new bool(true), Timestamp::PreStream());
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+void FlowPackagerCalculator::WriteChunk(const TrackingDataChunk& chunk) const {
+  if (chunk.item_size() == 0) {
+    LOG(ERROR) << "Write chunk called with empty tracking data."
+               << "This can only occur if the spacing between frames "
+               << "is larger than the requested chunk size. Try increasing "
+               << "the chunk size";
+    return;
+  }
+
+  auto format_runtime =
+      absl::ParsedFormat<'d'>::New(options_.cache_file_format());
+
+  std::string chunk_file;
+  if (format_runtime) {
+    chunk_file =
+        cache_dir_ + "/" + absl::StrFormat(*format_runtime, chunk_idx_);
+  } else {
+    LOG(ERROR) << "chache_file_format wrong. fall back to chunk_%04d.";
+    chunk_file = cache_dir_ + "/" + absl::StrFormat("chunk_%04d", chunk_idx_);
+  }
+
+  std::string data;
+  chunk.SerializeToString(&data);
+
+  const char* temp_filename = tempnam(cache_dir_.c_str(), nullptr);
+  std::ofstream out_file(temp_filename);
+  if (!out_file) {
+    LOG(ERROR) << "Could not open " << temp_filename;
+  } else {
+    out_file.write(data.data(), data.size());
+  }
+
+  if (rename(temp_filename, chunk_file.c_str()) != 0) {
+    LOG(ERROR) << "Failed to rename to " << chunk_file;
+  }
+
+  LOG(INFO) << "Wrote chunk : " << chunk_file;
+}
+
+void FlowPackagerCalculator::PrepareCurrentForNextChunk(
+    TrackingDataChunk* chunk) {
+  CHECK(chunk);
+  if (chunk->item_size() == 0) {
+    LOG(ERROR) << "Called with empty chunk. Unexpected.";
+    return;
+  }
+
+  chunk->set_first_chunk(false);
+
+  // Buffer last item for next chunk.
+  TrackingDataChunk::Item last_item;
+  last_item.Swap(chunk->mutable_item(chunk->item_size() - 1));
+
+  chunk->Clear();
+  chunk->add_item()->Swap(&last_item);
+
+  ++chunk_idx_;
+}
+
+}  // namespace mediapipe

mediapipe/calculators/video/flow_packager_calculator.proto

@@ -0,0 +1,36 @@
+// Copyright 2019 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+import "mediapipe/util/tracking/flow_packager.proto";
+
+message FlowPackagerCalculatorOptions {
+  extend CalculatorOptions {
+    optional FlowPackagerCalculatorOptions ext = 271236147;
+  }
+
+  optional mediapipe.FlowPackagerOptions flow_packager_options = 1;
+
+  // Chunk size for caching files that are written to the externally specified
+  // caching directory. Specified in msec.
+  // Note that each chunk always contains at its end the first frame of the
+  // next chunk (to enable forward tracking across chunk boundaries).
+  optional int32 caching_chunk_size_msec = 2 [default = 2500];
+
+  optional string cache_file_format = 3 [default = "chunk_%04d"];
+}

mediapipe/calculators/video/motion_analysis_calculator.cc

@@ -0,0 +1,988 @@
+// Copyright 2019 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 <cmath>
+#include <fstream>
+#include <memory>
+
+#include "absl/strings/numbers.h"
+#include "absl/strings/str_split.h"
+#include "absl/strings/string_view.h"
+#include "mediapipe/calculators/video/motion_analysis_calculator.pb.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/image_frame.h"
+#include "mediapipe/framework/formats/image_frame_opencv.h"
+#include "mediapipe/framework/formats/video_stream_header.h"
+#include "mediapipe/framework/port/integral_types.h"
+#include "mediapipe/framework/port/logging.h"
+#include "mediapipe/framework/port/ret_check.h"
+#include "mediapipe/framework/port/status.h"
+#include "mediapipe/util/tracking/camera_motion.h"
+#include "mediapipe/util/tracking/camera_motion.pb.h"
+#include "mediapipe/util/tracking/frame_selection.pb.h"
+#include "mediapipe/util/tracking/motion_analysis.h"
+#include "mediapipe/util/tracking/motion_estimation.h"
+#include "mediapipe/util/tracking/motion_models.h"
+#include "mediapipe/util/tracking/region_flow.pb.h"
+
+namespace mediapipe {
+
+using mediapipe::AffineAdapter;
+using mediapipe::CameraMotion;
+using mediapipe::FrameSelectionResult;
+using mediapipe::Homography;
+using mediapipe::HomographyAdapter;
+using mediapipe::LinearSimilarityModel;
+using mediapipe::MixtureHomography;
+using mediapipe::MixtureRowWeights;
+using mediapipe::MotionAnalysis;
+using mediapipe::ProjectViaFit;
+using mediapipe::RegionFlowComputationOptions;
+using mediapipe::RegionFlowFeatureList;
+using mediapipe::SalientPointFrame;
+using mediapipe::TranslationModel;
+
+const char kOptionsTag[] = "OPTIONS";
+
+// A calculator that performs motion analysis on an incoming video stream.
+//
+// Input streams:  (at least one of them is required).
+//   VIDEO:     The input video stream (ImageFrame, sRGB, sRGBA or GRAY8).
+//   SELECTION: Optional input stream to perform analysis only on selected
+//              frames. If present needs to contain camera motion
+//              and features.
+//
+// Input side packets:
+//   CSV_FILE:  Read motion models as homographies from CSV file. Expected
+//              to be defined in the frame domain (un-normalized).
+//              Should store 9 floats per row.
+//              Specify number of homographies per frames via option
+//              meta_models_per_frame. For values > 1, MixtureHomographies
+//              are created, for value == 1, a single Homography is used.
+//   DOWNSAMPLE: Optionally specify downsampling factor via input side packet
+//               overriding value in the graph settings.
+// Output streams (all are optional).
+//   FLOW:      Sparse feature tracks in form of proto RegionFlowFeatureList.
+//   CAMERA:    Camera motion as proto CameraMotion describing the per frame-
+//              pair motion. Has VideoHeader from input video.
+//   SALIENCY:  Foreground saliency (objects moving different from the
+//              background) as proto SalientPointFrame.
+//   VIZ:       Visualization stream as ImageFrame, sRGB, visualizing
+//              features and saliency (set via
+//              analysis_options().visualization_options())
+//   DENSE_FG:  Dense foreground stream, describing per-pixel foreground-
+//              ness as confidence between 0 (background) and 255
+//              (foreground). Output is ImageFrame (GRAY8).
+//   VIDEO_OUT: Optional output stream when SELECTION is used. Output is input
+//              VIDEO at the selected frames. Required VIDEO to be present.
+//   GRAY_VIDEO_OUT: Optional output stream for downsampled, grayscale video.
+//                   Requires VIDEO to be present and SELECTION to not be used.
+class MotionAnalysisCalculator : public CalculatorBase {
+  // TODO: Activate once leakr approval is ready.
+  // typedef com::google::android::libraries::micro::proto::Data HomographyData;
+
+ public:
+  ~MotionAnalysisCalculator() override = default;
+
+  static ::mediapipe::Status GetContract(CalculatorContract* cc);
+
+  ::mediapipe::Status Open(CalculatorContext* cc) override;
+  ::mediapipe::Status Process(CalculatorContext* cc) override;
+  ::mediapipe::Status Close(CalculatorContext* cc) override;
+
+ private:
+  // Outputs results to Outputs() if MotionAnalysis buffered sufficient results.
+  // Otherwise no-op. Set flush to true to force output of all buffered data.
+  void OutputMotionAnalyzedFrames(bool flush, CalculatorContext* cc);
+
+  // Lazy init function to be called on Process.
+  ::mediapipe::Status InitOnProcess(InputStream* video_stream,
+                                    InputStream* selection_stream);
+
+  // Parses CSV file contents to homographies.
+  bool ParseModelCSV(const std::string& contents,
+                     std::deque<Homography>* homographies);
+
+  // Turns list of 9-tuple floating values into set of homographies.
+  bool HomographiesFromValues(const std::vector<float>& homog_values,
+                              std::deque<Homography>* homographies);
+
+  // Appends CameraMotions and features from homographies.
+  // Set append_identity to true to add an identity transform to the beginning
+  // of the each list *in addition* to the motions derived from homographies.
+  void AppendCameraMotionsFromHomographies(
+      const std::deque<Homography>& homographies, bool append_identity,
+      std::deque<CameraMotion>* camera_motions,
+      std::deque<RegionFlowFeatureList>* features);
+
+  // Helper function to subtract current metadata motion from features. Used
+  // for hybrid estimation case.
+  void SubtractMetaMotion(const CameraMotion& meta_motion,
+                          RegionFlowFeatureList* features);
+
+  // Inverse of above function to add back meta motion and replace
+  // feature location with originals after estimation.
+  void AddMetaMotion(const CameraMotion& meta_motion,
+                     const RegionFlowFeatureList& meta_features,
+                     RegionFlowFeatureList* features, CameraMotion* motion);
+
+  MotionAnalysisCalculatorOptions options_;
+  int frame_width_ = -1;
+  int frame_height_ = -1;
+  int frame_idx_ = 0;
+
+  // Buffers incoming video frame packets (if visualization output is requested)
+  std::vector<Packet> packet_buffer_;
+
+  // Buffers incoming timestamps until MotionAnalysis is ready to output via
+  // above OutputMotionAnalyzedFrames.
+  std::vector<Timestamp> timestamp_buffer_;
+
+  // Input indicators for each stream.
+  bool selection_input_ = false;
+  bool video_input_ = false;
+
+  // Output indicators for each stream.
+  bool region_flow_feature_output_ = false;
+  bool camera_motion_output_ = false;
+  bool saliency_output_ = false;
+  bool visualize_output_ = false;
+  bool dense_foreground_output_ = false;
+  bool video_output_ = false;
+  bool grayscale_output_ = false;
+  bool csv_file_input_ = false;
+
+  // Inidicates if saliency should be computed.
+  bool with_saliency_ = false;
+
+  // Set if hybrid meta analysis - see proto for details.
+  bool hybrid_meta_analysis_ = false;
+
+  // Concatenated motions for each selected frame. Used in case
+  // hybrid estimation is requested to fallback to valid models.
+  std::deque<CameraMotion> selected_motions_;
+
+  // Normalized homographies from CSV file or metadata.
+  std::deque<Homography> meta_homographies_;
+  std::deque<CameraMotion> meta_motions_;
+  std::deque<RegionFlowFeatureList> meta_features_;
+
+  // Offset into above meta_motions_ and features_ when using
+  // hybrid meta analysis.
+  int hybrid_meta_offset_ = 0;
+
+  std::unique_ptr<MotionAnalysis> motion_analysis_;
+
+  std::unique_ptr<MixtureRowWeights> row_weights_;
+};
+
+REGISTER_CALCULATOR(MotionAnalysisCalculator);
+
+::mediapipe::Status MotionAnalysisCalculator::GetContract(
+    CalculatorContract* cc) {
+  if (cc->Inputs().HasTag("VIDEO")) {
+    cc->Inputs().Tag("VIDEO").Set<ImageFrame>();
+  }
+
+  // Optional input stream from frame selection calculator.
+  if (cc->Inputs().HasTag("SELECTION")) {
+    cc->Inputs().Tag("SELECTION").Set<FrameSelectionResult>();
+  }
+
+  RET_CHECK(cc->Inputs().HasTag("VIDEO") || cc->Inputs().HasTag("SELECTION"))
+      << "Either VIDEO, SELECTION must be specified.";
+
+  if (cc->Outputs().HasTag("FLOW")) {
+    cc->Outputs().Tag("FLOW").Set<RegionFlowFeatureList>();
+  }
+
+  if (cc->Outputs().HasTag("CAMERA")) {
+    cc->Outputs().Tag("CAMERA").Set<CameraMotion>();
+  }
+
+  if (cc->Outputs().HasTag("SALIENCY")) {
+    cc->Outputs().Tag("SALIENCY").Set<SalientPointFrame>();
+  }
+
+  if (cc->Outputs().HasTag("VIZ")) {
+    cc->Outputs().Tag("VIZ").Set<ImageFrame>();
+  }
+
+  if (cc->Outputs().HasTag("DENSE_FG")) {
+    cc->Outputs().Tag("DENSE_FG").Set<ImageFrame>();
+  }
+
+  if (cc->Outputs().HasTag("VIDEO_OUT")) {
+    cc->Outputs().Tag("VIDEO_OUT").Set<ImageFrame>();
+  }
+
+  if (cc->Outputs().HasTag("GRAY_VIDEO_OUT")) {
+    // We only output grayscale video if we're actually performing full region-
+    // flow analysis on the video.
+    RET_CHECK(cc->Inputs().HasTag("VIDEO") &&
+              !cc->Inputs().HasTag("SELECTION"));
+    cc->Outputs().Tag("GRAY_VIDEO_OUT").Set<ImageFrame>();
+  }
+
+  if (cc->InputSidePackets().HasTag("CSV_FILE")) {
+    cc->InputSidePackets().Tag("CSV_FILE").Set<std::string>();
+  }
+  if (cc->InputSidePackets().HasTag("DOWNSAMPLE")) {
+    cc->InputSidePackets().Tag("DOWNSAMPLE").Set<float>();
+  }
+
+  if (cc->InputSidePackets().HasTag(kOptionsTag)) {
+    cc->InputSidePackets().Tag(kOptionsTag).Set<CalculatorOptions>();
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status MotionAnalysisCalculator::Open(CalculatorContext* cc) {
+  options_ =
+      tool::RetrieveOptions(cc->Options<MotionAnalysisCalculatorOptions>(),
+                            cc->InputSidePackets(), kOptionsTag);
+
+  video_input_ = cc->Inputs().HasTag("VIDEO");
+  selection_input_ = cc->Inputs().HasTag("SELECTION");
+  region_flow_feature_output_ = cc->Outputs().HasTag("FLOW");
+  camera_motion_output_ = cc->Outputs().HasTag("CAMERA");
+  saliency_output_ = cc->Outputs().HasTag("SALIENCY");
+  visualize_output_ = cc->Outputs().HasTag("VIZ");
+  dense_foreground_output_ = cc->Outputs().HasTag("DENSE_FG");
+  video_output_ = cc->Outputs().HasTag("VIDEO_OUT");
+  grayscale_output_ = cc->Outputs().HasTag("GRAY_VIDEO_OUT");
+  csv_file_input_ = cc->InputSidePackets().HasTag("CSV_FILE");
+  hybrid_meta_analysis_ = options_.meta_analysis() ==
+                          MotionAnalysisCalculatorOptions::META_ANALYSIS_HYBRID;
+
+  if (video_output_) {
+    RET_CHECK(selection_input_) << "VIDEO_OUT requires SELECTION input";
+  }
+
+  if (selection_input_) {
+    switch (options_.selection_analysis()) {
+      case MotionAnalysisCalculatorOptions::NO_ANALYSIS_USE_SELECTION:
+        RET_CHECK(!visualize_output_)
+            << "Visualization not supported for NO_ANALYSIS_USE_SELECTION";
+        RET_CHECK(!dense_foreground_output_)
+            << "Dense foreground not supported for NO_ANALYSIS_USE_SELECTION";
+        RET_CHECK(!saliency_output_)
+            << "Saliency output not supported for NO_ANALYSIS_USE_SELECTION";
+        break;
+
+      case MotionAnalysisCalculatorOptions::ANALYSIS_RECOMPUTE:
+      case MotionAnalysisCalculatorOptions::ANALYSIS_WITH_SEED:
+        RET_CHECK(video_input_) << "Need video input for feature tracking.";
+        break;
+
+      case MotionAnalysisCalculatorOptions::ANALYSIS_FROM_FEATURES:
+        // Nothing to add here.
+        break;
+    }
+  }
+
+  if (visualize_output_ || dense_foreground_output_ || video_output_) {
+    RET_CHECK(video_input_) << "Video input required.";
+  }
+
+  if (csv_file_input_) {
+    RET_CHECK(!selection_input_)
+        << "Can not use selection input with csv input.";
+    if (!hybrid_meta_analysis_) {
+      RET_CHECK(!saliency_output_ && !visualize_output_ &&
+                !dense_foreground_output_ && !grayscale_output_)
+          << "CSV file and meta input only supports flow and camera motion "
+          << "output when using metadata only.";
+    }
+  }
+
+  if (csv_file_input_) {
+    // Read from file and parse.
+    const std::string filename =
+        cc->InputSidePackets().Tag("CSV_FILE").Get<std::string>();
+
+    std::string file_contents;
+    std::ifstream input_file(filename, std::ios::in);
+    input_file.seekg(0, std::ios::end);
+    const int file_length = input_file.tellg();
+    file_contents.resize(file_length);
+    input_file.seekg(0, std::ios::beg);
+    input_file.read(&file_contents[0], file_length);
+    input_file.close();
+
+    RET_CHECK(ParseModelCSV(file_contents, &meta_homographies_))
+        << "Could not parse CSV file";
+  }
+
+  // Get video header from video or selection input if present.
+  const VideoHeader* video_header = nullptr;
+  if (video_input_ && !cc->Inputs().Tag("VIDEO").Header().IsEmpty()) {
+    video_header = &(cc->Inputs().Tag("VIDEO").Header().Get<VideoHeader>());
+  } else if (selection_input_ &&
+             !cc->Inputs().Tag("SELECTION").Header().IsEmpty()) {
+    video_header = &(cc->Inputs().Tag("SELECTION").Header().Get<VideoHeader>());
+  } else {
+    LOG(WARNING) << "No input video header found. Downstream calculators "
+                    "expecting video headers are likely to fail.";
+  }
+
+  with_saliency_ = options_.analysis_options().compute_motion_saliency();
+  // Force computation of saliency if requested as output.
+  if (cc->Outputs().HasTag("SALIENCY")) {
+    with_saliency_ = true;
+    if (!options_.analysis_options().compute_motion_saliency()) {
+      LOG(WARNING) << "Enable saliency computation. Set "
+                   << "compute_motion_saliency to true to silence this "
+                   << "warning.";
+      options_.mutable_analysis_options()->set_compute_motion_saliency(true);
+    }
+  }
+
+  if (options_.bypass_mode()) {
+    cc->SetOffset(TimestampDiff(0));
+  }
+
+  if (cc->InputSidePackets().HasTag("DOWNSAMPLE")) {
+    options_.mutable_analysis_options()
+        ->mutable_flow_options()
+        ->set_downsample_factor(
+            cc->InputSidePackets().Tag("DOWNSAMPLE").Get<float>());
+  }
+
+  // If no video header is provided, just return and initialize on the first
+  // Process() call.
+  if (video_header == nullptr) {
+    return ::mediapipe::OkStatus();
+  }
+
+  ////////////// EARLY RETURN; ONLY HEADER OUTPUT SHOULD GO HERE ///////////////
+
+  if (visualize_output_) {
+    cc->Outputs().Tag("VIZ").SetHeader(Adopt(new VideoHeader(*video_header)));
+  }
+
+  if (video_output_) {
+    cc->Outputs()
+        .Tag("VIDEO_OUT")
+        .SetHeader(Adopt(new VideoHeader(*video_header)));
+  }
+
+  if (cc->Outputs().HasTag("DENSE_FG")) {
+    std::unique_ptr<VideoHeader> foreground_header(
+        new VideoHeader(*video_header));
+    foreground_header->format = ImageFormat::GRAY8;
+    cc->Outputs().Tag("DENSE_FG").SetHeader(Adopt(foreground_header.release()));
+  }
+
+  if (cc->Outputs().HasTag("CAMERA")) {
+    cc->Outputs().Tag("CAMERA").SetHeader(
+        Adopt(new VideoHeader(*video_header)));
+  }
+
+  if (cc->Outputs().HasTag("SALIENCY")) {
+    cc->Outputs()
+        .Tag("SALIENCY")
+        .SetHeader(Adopt(new VideoHeader(*video_header)));
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status MotionAnalysisCalculator::Process(CalculatorContext* cc) {
+  if (options_.bypass_mode()) {
+    return ::mediapipe::OkStatus();
+  }
+
+  InputStream* video_stream =
+      video_input_ ? &(cc->Inputs().Tag("VIDEO")) : nullptr;
+  InputStream* selection_stream =
+      selection_input_ ? &(cc->Inputs().Tag("SELECTION")) : nullptr;
+
+  // Checked on Open.
+  CHECK(video_stream || selection_stream);
+
+  // Lazy init.
+  if (frame_width_ < 0 || frame_height_ < 0) {
+    MP_RETURN_IF_ERROR(InitOnProcess(video_stream, selection_stream));
+  }
+
+  const Timestamp timestamp = cc->InputTimestamp();
+  if ((csv_file_input_) && !hybrid_meta_analysis_) {
+    if (camera_motion_output_) {
+      RET_CHECK(!meta_motions_.empty()) << "Insufficient metadata.";
+
+      CameraMotion output_motion = meta_motions_.front();
+      meta_motions_.pop_front();
+      output_motion.set_timestamp_usec(timestamp.Value());
+      cc->Outputs().Tag("CAMERA").Add(new CameraMotion(output_motion),
+                                      timestamp);
+    }
+
+    if (region_flow_feature_output_) {
+      RET_CHECK(!meta_features_.empty()) << "Insufficient frames in CSV file";
+      RegionFlowFeatureList output_features = meta_features_.front();
+      meta_features_.pop_front();
+
+      output_features.set_timestamp_usec(timestamp.Value());
+      cc->Outputs().Tag("FLOW").Add(new RegionFlowFeatureList(output_features),
+                                    timestamp);
+    }
+
+    ++frame_idx_;
+    return ::mediapipe::OkStatus();
+  }
+
+  if (motion_analysis_ == nullptr) {
+    // We do not need MotionAnalysis when using just metadata.
+    motion_analysis_.reset(new MotionAnalysis(options_.analysis_options(),
+                                              frame_width_, frame_height_));
+  }
+
+  std::unique_ptr<FrameSelectionResult> frame_selection_result;
+  // Always use frame if selection is not activated.
+  bool use_frame = !selection_input_;
+  if (selection_input_) {
+    CHECK(selection_stream);
+
+    // Fill in timestamps we process.
+    if (!selection_stream->Value().IsEmpty()) {
+      ASSIGN_OR_RETURN(
+          frame_selection_result,
+          selection_stream->Value().ConsumeOrCopy<FrameSelectionResult>());
+      use_frame = true;
+
+      // Make sure both features and camera motion are present.
+      RET_CHECK(frame_selection_result->has_camera_motion() &&
+                frame_selection_result->has_features())
+          << "Frame selection input error at: " << timestamp
+          << " both camera motion and features need to be "
+             "present in FrameSelectionResult. "
+          << frame_selection_result->has_camera_motion() << " , "
+          << frame_selection_result->has_features();
+    }
+  }
+
+  if (selection_input_ && use_frame &&
+      options_.selection_analysis() ==
+          MotionAnalysisCalculatorOptions::NO_ANALYSIS_USE_SELECTION) {
+    // Output concatenated results, nothing to compute here.
+    if (camera_motion_output_) {
+      cc->Outputs().Tag("CAMERA").Add(
+          frame_selection_result->release_camera_motion(), timestamp);
+    }
+    if (region_flow_feature_output_) {
+      cc->Outputs().Tag("FLOW").Add(frame_selection_result->release_features(),
+                                    timestamp);
+    }
+
+    if (video_output_) {
+      cc->Outputs().Tag("VIDEO_OUT").AddPacket(video_stream->Value());
+    }
+
+    return ::mediapipe::OkStatus();
+  }
+
+  if (use_frame) {
+    if (!selection_input_) {
+      const cv::Mat input_view =
+          formats::MatView(&video_stream->Get<ImageFrame>());
+      if (hybrid_meta_analysis_) {
+        // Seed with meta homography.
+        RET_CHECK(hybrid_meta_offset_ < meta_motions_.size())
+            << "Not enough metadata received for hybrid meta analysis";
+        Homography initial_transform =
+            meta_motions_[hybrid_meta_offset_].homography();
+        std::function<void(RegionFlowFeatureList*)> subtract_helper = std::bind(
+            &MotionAnalysisCalculator::SubtractMetaMotion, this,
+            meta_motions_[hybrid_meta_offset_], std::placeholders::_1);
+
+        // Keep original features before modification around.
+        motion_analysis_->AddFrameGeneric(
+            input_view, timestamp.Value(), initial_transform, nullptr, nullptr,
+            &subtract_helper, &meta_features_[hybrid_meta_offset_]);
+        ++hybrid_meta_offset_;
+      } else {
+        motion_analysis_->AddFrame(input_view, timestamp.Value());
+      }
+    } else {
+      selected_motions_.push_back(frame_selection_result->camera_motion());
+      switch (options_.selection_analysis()) {
+        case MotionAnalysisCalculatorOptions::NO_ANALYSIS_USE_SELECTION:
+          return ::mediapipe::UnknownErrorBuilder(MEDIAPIPE_LOC)
+                 << "Should not reach this point!";
+
+        case MotionAnalysisCalculatorOptions::ANALYSIS_FROM_FEATURES:
+          motion_analysis_->AddFeatures(frame_selection_result->features());
+          break;
+
+        case MotionAnalysisCalculatorOptions::ANALYSIS_RECOMPUTE: {
+          const cv::Mat input_view =
+              formats::MatView(&video_stream->Get<ImageFrame>());
+          motion_analysis_->AddFrame(input_view, timestamp.Value());
+          break;
+        }
+
+        case MotionAnalysisCalculatorOptions::ANALYSIS_WITH_SEED: {
+          Homography homography;
+          CameraMotionToHomography(frame_selection_result->camera_motion(),
+                                   &homography);
+          const cv::Mat input_view =
+              formats::MatView(&video_stream->Get<ImageFrame>());
+          motion_analysis_->AddFrameGeneric(input_view, timestamp.Value(),
+                                            homography, &homography);
+          break;
+        }
+      }
+    }
+
+    timestamp_buffer_.push_back(timestamp);
+    ++frame_idx_;
+
+    VLOG_EVERY_N(0, 100) << "Analyzed frame " << frame_idx_;
+
+    // Buffer input frames only if visualization is requested.
+    if (visualize_output_ || video_output_) {
+      packet_buffer_.push_back(video_stream->Value());
+    }
+
+    // If requested, output grayscale thumbnails
+    if (grayscale_output_) {
+      cv::Mat grayscale_mat = motion_analysis_->GetGrayscaleFrameFromResults();
+      std::unique_ptr<ImageFrame> grayscale_image(new ImageFrame(
+          ImageFormat::GRAY8, grayscale_mat.cols, grayscale_mat.rows));
+      cv::Mat image_frame_mat = formats::MatView(grayscale_image.get());
+      grayscale_mat.copyTo(image_frame_mat);
+
+      cc->Outputs()
+          .Tag("GRAY_VIDEO_OUT")
+          .Add(grayscale_image.release(), timestamp);
+    }
+
+    // Output other results, if we have any yet.
+    OutputMotionAnalyzedFrames(false, cc);
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+::mediapipe::Status MotionAnalysisCalculator::Close(CalculatorContext* cc) {
+  // Guard against empty videos.
+  if (motion_analysis_) {
+    OutputMotionAnalyzedFrames(true, cc);
+  }
+  if (csv_file_input_) {
+    if (!meta_motions_.empty()) {
+      LOG(ERROR) << "More motions than frames. Unexpected! Remainder: "
+                 << meta_motions_.size();
+    }
+  }
+  return ::mediapipe::OkStatus();
+}
+
+void MotionAnalysisCalculator::OutputMotionAnalyzedFrames(
+    bool flush, CalculatorContext* cc) {
+  std::vector<std::unique_ptr<RegionFlowFeatureList>> features;
+  std::vector<std::unique_ptr<CameraMotion>> camera_motions;
+  std::vector<std::unique_ptr<SalientPointFrame>> saliency;
+
+  const int buffer_size = timestamp_buffer_.size();
+  const int num_results = motion_analysis_->GetResults(
+      flush, &features, &camera_motions, with_saliency_ ? &saliency : nullptr);
+
+  CHECK_LE(num_results, buffer_size);
+
+  if (num_results == 0) {
+    return;
+  }
+
+  for (int k = 0; k < num_results; ++k) {
+    // Region flow features and camera motion for this frame.
+    auto& feature_list = features[k];
+    auto& camera_motion = camera_motions[k];
+    const Timestamp timestamp = timestamp_buffer_[k];
+
+    if (selection_input_ && options_.hybrid_selection_camera()) {
+      if (camera_motion->type() > selected_motions_.front().type()) {
+        // Composited type is more stable.
+        camera_motion->Swap(&selected_motions_.front());
+      }
+      selected_motions_.pop_front();
+    }
+
+    if (hybrid_meta_analysis_) {
+      AddMetaMotion(meta_motions_.front(), meta_features_.front(),
+                    feature_list.get(), camera_motion.get());
+      meta_motions_.pop_front();
+      meta_features_.pop_front();
+    }
+
+    // Video frame for visualization.
+    std::unique_ptr<ImageFrame> visualization_frame;
+    cv::Mat visualization;
+    if (visualize_output_) {
+      // Initialize visualization frame with original frame.
+      visualization_frame.reset(new ImageFrame());
+      visualization_frame->CopyFrom(packet_buffer_[k].Get<ImageFrame>(), 16);
+      visualization = formats::MatView(visualization_frame.get());
+
+      motion_analysis_->RenderResults(
+          *feature_list, *camera_motion,
+          with_saliency_ ? saliency[k].get() : nullptr, &visualization);
+
+      cc->Outputs().Tag("VIZ").Add(visualization_frame.release(), timestamp);
+    }
+
+    // Output dense foreground mask.
+    if (dense_foreground_output_) {
+      std::unique_ptr<ImageFrame> foreground_frame(
+          new ImageFrame(ImageFormat::GRAY8, frame_width_, frame_height_));
+      cv::Mat foreground = formats::MatView(foreground_frame.get());
+      motion_analysis_->ComputeDenseForeground(*feature_list, *camera_motion,
+                                               &foreground);
+      cc->Outputs().Tag("DENSE_FG").Add(foreground_frame.release(), timestamp);
+    }
+
+    // Output flow features if requested.
+    if (region_flow_feature_output_) {
+      cc->Outputs().Tag("FLOW").Add(feature_list.release(), timestamp);
+    }
+
+    // Output camera motion.
+    if (camera_motion_output_) {
+      cc->Outputs().Tag("CAMERA").Add(camera_motion.release(), timestamp);
+    }
+
+    if (video_output_) {
+      cc->Outputs().Tag("VIDEO_OUT").AddPacket(packet_buffer_[k]);
+    }
+
+    // Output saliency.
+    if (saliency_output_) {
+      cc->Outputs().Tag("SALIENCY").Add(saliency[k].release(), timestamp);
+    }
+  }
+
+  if (hybrid_meta_analysis_) {
+    hybrid_meta_offset_ -= num_results;
+    CHECK_GE(hybrid_meta_offset_, 0);
+  }
+
+  timestamp_buffer_.erase(timestamp_buffer_.begin(),
+                          timestamp_buffer_.begin() + num_results);
+
+  if (visualize_output_ || video_output_) {
+    packet_buffer_.erase(packet_buffer_.begin(),
+                         packet_buffer_.begin() + num_results);
+  }
+}
+
+::mediapipe::Status MotionAnalysisCalculator::InitOnProcess(
+    InputStream* video_stream, InputStream* selection_stream) {
+  if (video_stream) {
+    frame_width_ = video_stream->Get<ImageFrame>().Width();
+    frame_height_ = video_stream->Get<ImageFrame>().Height();
+
+    // Ensure image options are set correctly.
+    auto* region_options =
+        options_.mutable_analysis_options()->mutable_flow_options();
+
+    // Use two possible formats to account for different channel orders.
+    RegionFlowComputationOptions::ImageFormat image_format;
+    RegionFlowComputationOptions::ImageFormat image_format2;
+    switch (video_stream->Get<ImageFrame>().Format()) {
+      case ImageFormat::GRAY8:
+        image_format = image_format2 =
+            RegionFlowComputationOptions::FORMAT_GRAYSCALE;
+        break;
+
+      case ImageFormat::SRGB:
+        image_format = RegionFlowComputationOptions::FORMAT_RGB;
+        image_format2 = RegionFlowComputationOptions::FORMAT_BGR;
+        break;
+
+      case ImageFormat::SRGBA:
+        image_format = RegionFlowComputationOptions::FORMAT_RGBA;
+        image_format2 = RegionFlowComputationOptions::FORMAT_BGRA;
+        break;
+
+      default:
+        RET_CHECK(false) << "Unsupported image format.";
+    }
+    if (region_options->image_format() != image_format &&
+        region_options->image_format() != image_format2) {
+      LOG(WARNING) << "Requested image format in RegionFlowComputation "
+                   << "does not match video stream format. Overriding.";
+      region_options->set_image_format(image_format);
+    }
+
+    // Account for downsampling mode INPUT_SIZE. In this case we are handed
+    // already downsampled frames but the resulting CameraMotion should
+    // be computed on higher resolution as specifed by the downsample scale.
+    if (region_options->downsample_mode() ==
+        RegionFlowComputationOptions::DOWNSAMPLE_TO_INPUT_SIZE) {
+      const float scale = region_options->downsample_factor();
+      frame_width_ = static_cast<int>(std::round(frame_width_ * scale));
+      frame_height_ = static_cast<int>(std::round(frame_height_ * scale));
+    }
+  } else if (selection_stream) {
+    const auto& camera_motion =
+        selection_stream->Get<FrameSelectionResult>().camera_motion();
+    frame_width_ = camera_motion.frame_width();
+    frame_height_ = camera_motion.frame_height();
+  } else {
+    LOG(FATAL) << "Either VIDEO or SELECTION stream need to be specified.";
+  }
+
+  // Filled by CSV file parsing.
+  if (!meta_homographies_.empty()) {
+    CHECK(csv_file_input_);
+    AppendCameraMotionsFromHomographies(meta_homographies_,
+                                        true,  // append identity.
+                                        &meta_motions_, &meta_features_);
+    meta_homographies_.clear();
+  }
+
+  // Filter weights before using for hybrid mode.
+  if (hybrid_meta_analysis_) {
+    auto* motion_options =
+        options_.mutable_analysis_options()->mutable_motion_options();
+    motion_options->set_filter_initialized_irls_weights(true);
+  }
+
+  return ::mediapipe::OkStatus();
+}
+
+bool MotionAnalysisCalculator::ParseModelCSV(
+    const std::string& contents, std::deque<Homography>* homographies) {
+  std::vector<absl::string_view> values =
+      absl::StrSplit(contents, absl::ByAnyChar(",\n"));
+
+  // Trim off any empty lines.
+  while (values.back().empty()) {
+    values.pop_back();
+  }
+
+  // Convert to float.
+  std::vector<float> homog_values;
+  homog_values.reserve(values.size());
+
+  for (const auto& value : values) {
+    double value_64f;
+    if (!absl::SimpleAtod(value, &value_64f)) {
+      LOG(ERROR) << "Not a double, expected!";
+      return false;
+    }
+
+    homog_values.push_back(value_64f);
+  }
+
+  return HomographiesFromValues(homog_values, homographies);
+}
+
+bool MotionAnalysisCalculator::HomographiesFromValues(
+    const std::vector<float>& homog_values,
+    std::deque<Homography>* homographies) {
+  CHECK(homographies);
+
+  // Obvious constants are obvious :D
+  constexpr int kHomographyValues = 9;
+  if (homog_values.size() % kHomographyValues != 0) {
+    LOG(ERROR) << "Contents not a multiple of " << kHomographyValues;
+    return false;
+  }
+
+  for (int k = 0; k < homog_values.size(); k += kHomographyValues) {
+    std::vector<double> h_vals(kHomographyValues);
+    for (int l = 0; l < kHomographyValues; ++l) {
+      h_vals[l] = homog_values[k + l];
+    }
+
+    // Normalize last entry to 1.
+    if (h_vals[kHomographyValues - 1] == 0) {
+      LOG(ERROR) << "Degenerate homography, last entry is zero";
+      return false;
+    }
+
+    const double scale = 1.0f / h_vals[kHomographyValues - 1];
+    for (int l = 0; l < kHomographyValues; ++l) {
+      h_vals[l] *= scale;
+    }
+
+    Homography h = HomographyAdapter::FromDoublePointer(h_vals.data(), false);
+    homographies->push_back(h);
+  }
+
+  if (homographies->size() % options_.meta_models_per_frame() != 0) {
+    LOG(ERROR) << "Total homographies not a multiple of specified models "
+               << "per frame.";
+    return false;
+  }
+
+  return true;
+}
+
+void MotionAnalysisCalculator::SubtractMetaMotion(
+    const CameraMotion& meta_motion, RegionFlowFeatureList* features) {
+  if (meta_motion.mixture_homography().model_size() > 0) {
+    CHECK(row_weights_ != nullptr);
+    RegionFlowFeatureListViaTransform(meta_motion.mixture_homography(),
+                                      features, -1.0f,
+                                      1.0f,  // subtract transformed.
+                                      true,  // replace feature loc.
+                                      row_weights_.get());
+  } else {
+    RegionFlowFeatureListViaTransform(meta_motion.homography(), features, -1.0f,
+                                      1.0f,   // subtract transformed.
+                                      true);  // replace feature loc.
+  }
+
+  // Clamp transformed features to domain and handle outliers.
+  const float domain_diam =
+      hypot(features->frame_width(), features->frame_height());
+  const float motion_mag = meta_motion.average_magnitude();
+  // Same irls fraction as used by MODEL_MIXTURE_HOMOGRAPHY scaling in
+  // MotionEstimation.
+  const float irls_fraction = options_.analysis_options()
+                                  .motion_options()
+                                  .irls_mixture_fraction_scale() *
+                              options_.analysis_options()
+                                  .motion_options()
+                                  .irls_motion_magnitude_fraction();
+  float err_scale = std::max(1.0f, motion_mag * irls_fraction);
+
+  const float max_err =
+      options_.meta_outlier_domain_ratio() * domain_diam * err_scale;
+  const float max_err_sq = max_err * max_err;
+
+  for (auto& feature : *features->mutable_feature()) {
+    feature.set_x(
+        std::max(0.0f, std::min(features->frame_width() - 1.0f, feature.x())));
+    feature.set_y(
+        std::max(0.0f, std::min(features->frame_height() - 1.0f, feature.y())));
+    // Label anything with large residual motion an outlier.
+    if (FeatureFlow(feature).Norm2() > max_err_sq) {
+      feature.set_irls_weight(0.0f);
+    }
+  }
+}
+
+void MotionAnalysisCalculator::AddMetaMotion(
+    const CameraMotion& meta_motion, const RegionFlowFeatureList& meta_features,
+    RegionFlowFeatureList* features, CameraMotion* motion) {
+  // Restore old feature location.
+  CHECK_EQ(meta_features.feature_size(), features->feature_size());
+  for (int k = 0; k < meta_features.feature_size(); ++k) {
+    auto feature = features->mutable_feature(k);
+    const auto& meta_feature = meta_features.feature(k);
+    feature->set_x(meta_feature.x());
+    feature->set_y(meta_feature.y());
+    feature->set_dx(meta_feature.dx());
+    feature->set_dy(meta_feature.dy());
+  }
+
+  // Composite camera motion.
+  *motion = ComposeCameraMotion(*motion, meta_motion);
+  // Restore type from metadata, i.e. do not declare motions as invalid.
+  motion->set_type(meta_motion.type());
+  motion->set_match_frame(-1);
+}
+
+void MotionAnalysisCalculator::AppendCameraMotionsFromHomographies(
+    const std::deque<Homography>& homographies, bool append_identity,
+    std::deque<CameraMotion>* camera_motions,
+    std::deque<RegionFlowFeatureList>* features) {
+  CHECK(camera_motions);
+  CHECK(features);
+
+  CameraMotion identity;
+  identity.set_frame_width(frame_width_);
+  identity.set_frame_height(frame_height_);
+
+  *identity.mutable_translation() = TranslationModel();
+  *identity.mutable_linear_similarity() = LinearSimilarityModel();
+  *identity.mutable_homography() = Homography();
+  identity.set_type(CameraMotion::VALID);
+  identity.set_match_frame(0);
+
+  RegionFlowFeatureList empty_list;
+  empty_list.set_long_tracks(true);
+  empty_list.set_match_frame(-1);
+  empty_list.set_frame_width(frame_width_);
+  empty_list.set_frame_height(frame_height_);
+
+  if (append_identity) {
+    camera_motions->push_back(identity);
+    features->push_back(empty_list);
+  }
+
+  const int models_per_frame = options_.meta_models_per_frame();
+  CHECK_GT(models_per_frame, 0) << "At least one model per frame is needed";
+  CHECK_EQ(0, homographies.size() % models_per_frame);
+  const int num_frames = homographies.size() / models_per_frame;
+
+  // Heuristic sigma, similar to what we use for rolling shutter removal.
+  const float mixture_sigma = 1.0f / models_per_frame;
+
+  if (row_weights_ == nullptr) {
+    row_weights_.reset(new MixtureRowWeights(frame_height_,
+                                             frame_height_ / 10,  // 10% margin
+                                             mixture_sigma * frame_height_,
+                                             1.0f, models_per_frame));
+  }
+
+  for (int f = 0; f < num_frames; ++f) {
+    MixtureHomography mix_homog;
+    const int model_start = f * models_per_frame;
+
+    for (int k = 0; k < models_per_frame; ++k) {
+      const Homography& homog = homographies[model_start + k];
+      *mix_homog.add_model() = ModelInvert(homog);
+    }
+
+    CameraMotion c = identity;
+    c.set_match_frame(-1);
+
+    if (mix_homog.model_size() > 1) {
+      *c.mutable_mixture_homography() = mix_homog;
+      c.set_mixture_row_sigma(mixture_sigma);
+
+      for (int k = 0; k < models_per_frame; ++k) {
+        c.add_mixture_inlier_coverage(1.0f);
+      }
+      *c.add_mixture_homography_spectrum() = mix_homog;
+      c.set_rolling_shutter_motion_index(0);
+
+      *c.mutable_homography() = ProjectViaFit<Homography>(
+          mix_homog, frame_width_, frame_height_, row_weights_.get());
+    } else {
+      // Guaranteed to exist because to check that models_per_frame > 0 above.
+      *c.mutable_homography() = mix_homog.model(0);
+    }
+
+    // Project remaining motions down.
+    *c.mutable_linear_similarity() = ProjectViaFit<LinearSimilarityModel>(
+        c.homography(), frame_width_, frame_height_);
+    *c.mutable_translation() = ProjectViaFit<TranslationModel>(
+        c.homography(), frame_width_, frame_height_);
+
+    c.set_average_magnitude(
+        std::hypot(c.translation().dx(), c.translation().dy()));
+
+    camera_motions->push_back(c);
+    features->push_back(empty_list);
+  }
+}
+
+}  // namespace mediapipe

mediapipe/calculators/video/motion_analysis_calculator.proto

@@ -0,0 +1,111 @@
+// Copyright 2019 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.
+
+syntax = "proto2";
+
+package mediapipe;
+
+import "mediapipe/framework/calculator.proto";
+import "mediapipe/util/tracking/motion_analysis.proto";
+
+// Next tag: 10
+message MotionAnalysisCalculatorOptions {
+  extend CalculatorOptions {
+    optional MotionAnalysisCalculatorOptions ext = 270698255;
+  }
+
+  optional mediapipe.MotionAnalysisOptions analysis_options = 1;
+
+  // Determines how optional input SELECTION (if present) is used to compute
+  // the final camera motion.
+  enum SelectionAnalysis {
+    // Recompute camera motion for selected frame neighbors.
+    ANALYSIS_RECOMPUTE = 1;
+
+    // Use composited camera motion and region flow from SELECTION input. No
+    // tracking or re-computation is performed.
+    // Note that in this case only CAMERA, FLOW and VIDEO_OUT tags are
+    // supported as output.
+    NO_ANALYSIS_USE_SELECTION = 2;
+
+    // Recompute camera motion for selected frame neighbors using
+    // features supplied by SELECTION input. No feature tracking is performed.
+    ANALYSIS_FROM_FEATURES = 3;
+
+    // Recomputes camera motion for selected frame neighbors but seeds
+    // initial transform with camera motion from SELECTION input.
+    ANALYSIS_WITH_SEED = 4;
+  }
+
+  optional SelectionAnalysis selection_analysis = 4
+      [default = ANALYSIS_WITH_SEED];
+
+  // If activated when SELECTION input is activated, will replace the computed
+  // camera motion (for any of the ANALYSIS_* case above) with the one supplied
+  // by the frame selection, in case the frame selection one is more stable.
+  // For example, if recomputed camera motion is unstable but the one from
+  // the selection result is stable, will use the stable result instead.
+  optional bool hybrid_selection_camera = 5 [default = false];
+
+  // Determines how optional input META is used to compute the final camera
+  // motion.
+  enum MetaAnalysis {
+    // Uses metadata supplied motions as is.
+    META_ANALYSIS_USE_META = 1;
+
+    // Seeds visual tracking from metadata motions - estimates visual residual
+    // motion and combines with metadata.
+    META_ANALYSIS_HYBRID = 2;
+  }
+
+  optional MetaAnalysis meta_analysis = 8 [default = META_ANALYSIS_USE_META];
+
+  // Determines number of homography models per frame stored in the CSV file
+  // or the homography metadata in META.
+  // For values > 1, MixtureHomographies are created.
+  optional int32 meta_models_per_frame = 6 [default = 1];
+
+  // Used for META_ANALYSIS_HYBRID. Rejects features which flow deviates
+  // domain_ratio * image diagonal size from the ground truth metadata motion.
+  optional float meta_outlier_domain_ratio = 9 [default = 0.0015];
+
+  // If true, the MotionAnalysisCalculator will skip all processing and emit no
+  // packets on any output. This is useful for quickly creating different
+  // versions of a MediaPipe graph without changing its structure, assuming that
+  // downstream calculators can handle missing input packets.
+  // TODO: Remove this hack. See b/36485206 for more details.
+  optional bool bypass_mode = 7 [default = false];
+}
+
+// Taken from
+// java/com/google/android/libraries/microvideo/proto/microvideo.proto to
+// satisfy leakr requirements
+// TODO: Remove and use above proto.
+message HomographyData {
+  // For each frame, there are 12 homography matrices stored. Each matrix is
+  // 3x3 (9 elements). This field will contain 12 x 3 x 3  float values. The
+  // first row of the first homography matrix will be followed by the second row
+  // of the first homography matrix, followed by third row of first homography
+  // matrix, followed by the first row of the second homography matrix, etc.
+  repeated float motion_homography_data = 1 [packed = true];
+
+  // Vector containing histogram counts for individual patches in the frame.
+  repeated uint32 histogram_count_data = 2 [packed = true];
+
+  // The width of the frame at the time metadata was sampled.
+  optional int32 frame_width = 3;
+
+  // The height of the frame at the time metadata was sampled.
+  optional int32 frame_height = 4;
+}

mediapipe/calculators/video/opencv_video_decoder_calculator.cc

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stdlib.h>
+
 #include "mediapipe/framework/calculator_framework.h"
 #include "mediapipe/framework/formats/image_format.pb.h"
 #include "mediapipe/framework/formats/image_frame.h"
@@ -66,6 +68,22 @@ ImageFormat::Format GetImageFormat(int num_channels) {
 //   output_stream: "VIDEO:video_frames"
 //   output_stream: "VIDEO_PRESTREAM:video_header"
 // }
+//
+// OpenCV's VideoCapture doesn't decode audio tracks. If the audio tracks need
+// to be saved, specify an output side packet with tag "SAVED_AUDIO_PATH".
+// The calculator will call FFmpeg binary to save audio tracks as an aac file.
+// If the audio tracks can't be extracted by FFmpeg, the output side packet
+// will contain an empty std::string.
+//
+// Example config:
+// node {
+//   calculator: "OpenCvVideoDecoderCalculator"
+//   input_side_packet: "INPUT_FILE_PATH:input_file_path"
+//   output_side_packet: "SAVED_AUDIO_PATH:audio_path"
+//   output_stream: "VIDEO:video_frames"
+//   output_stream: "VIDEO_PRESTREAM:video_header"
+// }
+//
 class OpenCvVideoDecoderCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc) {
@@ -74,6 +92,9 @@ class OpenCvVideoDecoderCalculator : public CalculatorBase {
     if (cc->Outputs().HasTag("VIDEO_PRESTREAM")) {
       cc->Outputs().Tag("VIDEO_PRESTREAM").Set<VideoHeader>();
     }
+    if (cc->OutputSidePackets().HasTag("SAVED_AUDIO_PATH")) {
+      cc->OutputSidePackets().Tag("SAVED_AUDIO_PATH").Set<std::string>();
+    }
     return ::mediapipe::OkStatus();
   }
 
@@ -127,6 +148,35 @@ class OpenCvVideoDecoderCalculator : public CalculatorBase {
     }
     // Rewind to the very first frame.
     cap_->set(cv::CAP_PROP_POS_AVI_RATIO, 0);
+
+    if (cc->OutputSidePackets().HasTag("SAVED_AUDIO_PATH")) {
+#ifdef HAVE_FFMPEG
+      std::string saved_audio_path = std::tmpnam(nullptr);
+      std::string ffmpeg_command =
+          absl::StrCat("ffmpeg -nostats -loglevel 0 -i ", input_file_path,
+                       " -vn -f adts ", saved_audio_path);
+      system(ffmpeg_command.c_str());
+      int status_code = system(absl::StrCat("ls ", saved_audio_path).c_str());
+      if (status_code == 0) {
+        cc->OutputSidePackets()
+            .Tag("SAVED_AUDIO_PATH")
+            .Set(MakePacket<std::string>(saved_audio_path));
+      } else {
+        LOG(WARNING) << "FFmpeg can't extract audio from " << input_file_path
+                     << " by executing the following command: "
+                     << ffmpeg_command;
+        cc->OutputSidePackets()
+            .Tag("SAVED_AUDIO_PATH")
+            .Set(MakePacket<std::string>(std::string()));
+      }
+#else
+      return ::mediapipe::InvalidArgumentErrorBuilder(MEDIAPIPE_LOC)
+             << "OpenCVVideoDecoderCalculator can't save the audio file "
+                "because FFmpeg is not installed. Please remove "
+                "output_side_packet: \"SAVED_AUDIO_PATH\" from the node "
+                "config.";
+#endif
+    }
     return ::mediapipe::OkStatus();
   }
 

mediapipe/calculators/video/opencv_video_decoder_calculator_test.cc

@@ -55,8 +55,12 @@ TEST(OpenCvVideoDecoderCalculatorTest, TestMp4Avc720pVideo) {
   EXPECT_EQ(640, header.height);
   EXPECT_FLOAT_EQ(6.0f, header.duration);
   EXPECT_FLOAT_EQ(30.0f, header.frame_rate);
-  EXPECT_EQ(180, runner.Outputs().Tag("VIDEO").packets.size());
+  // The number of the output packets should be 180.
-  for (int i = 0; i < 180; ++i) {
+  // Some OpenCV version returns the first two frames with the same timestamp on
+  // macos and we might miss one frame here.
+  int num_of_packets = runner.Outputs().Tag("VIDEO").packets.size();
+  EXPECT_GE(num_of_packets, 179);
+  for (int i = 0; i < num_of_packets; ++i) {
     Packet image_frame_packet = runner.Outputs().Tag("VIDEO").packets[i];
     cv::Mat output_mat =
         formats::MatView(&(image_frame_packet.Get<ImageFrame>()));
@@ -141,8 +145,12 @@ TEST(OpenCvVideoDecoderCalculatorTest, TestMkvVp8Video) {
   EXPECT_EQ(320, header.height);
   EXPECT_FLOAT_EQ(6.0f, header.duration);
   EXPECT_FLOAT_EQ(30.0f, header.frame_rate);
-  EXPECT_EQ(180, runner.Outputs().Tag("VIDEO").packets.size());
+  // The number of the output packets should be 180.
-  for (int i = 0; i < 180; ++i) {
+  // Some OpenCV version returns the first two frames with the same timestamp on
+  // macos and we might miss one frame here.
+  int num_of_packets = runner.Outputs().Tag("VIDEO").packets.size();
+  EXPECT_GE(num_of_packets, 179);
+  for (int i = 0; i < num_of_packets; ++i) {
     Packet image_frame_packet = runner.Outputs().Tag("VIDEO").packets[i];
     cv::Mat output_mat =
         formats::MatView(&(image_frame_packet.Get<ImageFrame>()));

mediapipe/calculators/video/opencv_video_encoder_calculator.cc

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stdlib.h>
+
 #include <memory>
 #include <string>
 #include <vector>
@@ -39,8 +41,7 @@ namespace mediapipe {
 // packet. Currently, the calculator only supports one video stream (in
 // mediapipe::ImageFrame).
 //
-// Example config to generate the output video file:
+// Example config:
-//
 // node {
 //   calculator: "OpenCvVideoEncoderCalculator"
 //   input_stream: "VIDEO:video"
@@ -53,6 +54,26 @@ namespace mediapipe {
 //     }
 //   }
 // }
+//
+// OpenCV's VideoWriter doesn't encode audio. If an input side packet with tag
+// "AUDIO_FILE_PATH" is specified, the calculator will call FFmpeg binary to
+// attach the audio file to the video as the last step in Close().
+//
+// Example config:
+// node {
+//   calculator: "OpenCvVideoEncoderCalculator"
+//   input_stream: "VIDEO:video"
+//   input_stream: "VIDEO_PRESTREAM:video_header"
+//   input_side_packet: "OUTPUT_FILE_PATH:output_file_path"
+//   input_side_packet: "AUDIO_FILE_PATH:audio_path"
+//   node_options {
+//     [type.googleapis.com/mediapipe.OpenCvVideoEncoderCalculatorOptions]: {
+//        codec: "avc1"
+//        video_format: "mp4"
+//     }
+//   }
+// }
+//
 class OpenCvVideoEncoderCalculator : public CalculatorBase {
  public:
   static ::mediapipe::Status GetContract(CalculatorContract* cc);
@@ -77,6 +98,9 @@ class OpenCvVideoEncoderCalculator : public CalculatorBase {
   }
   RET_CHECK(cc->InputSidePackets().HasTag("OUTPUT_FILE_PATH"));
   cc->InputSidePackets().Tag("OUTPUT_FILE_PATH").Set<std::string>();
+  if (cc->InputSidePackets().HasTag("AUDIO_FILE_PATH")) {
+    cc->InputSidePackets().Tag("AUDIO_FILE_PATH").Set<std::string>();
+  }
   return ::mediapipe::OkStatus();
 }
 
@@ -155,6 +179,33 @@ class OpenCvVideoEncoderCalculator : public CalculatorBase {
   if (writer_ && writer_->isOpened()) {
     writer_->release();
   }
+  if (cc->InputSidePackets().HasTag("AUDIO_FILE_PATH")) {
+#ifdef HAVE_FFMPEG
+    const std::string& audio_file_path =
+        cc->InputSidePackets().Tag("AUDIO_FILE_PATH").Get<std::string>();
+    if (audio_file_path.empty()) {
+      LOG(WARNING) << "OpenCvVideoEncoderCalculator isn't able to attach the "
+                      "audio tracks to the generated video because the audio "
+                      "file path is not specified.";
+    } else {
+      // A temp output file is needed because FFmpeg can't do in-place editing.
+      const std::string temp_file_path = std::tmpnam(nullptr);
+      system(absl::StrCat("mv ", output_file_path_, " ", temp_file_path,
+                          "&& ffmpeg -nostats -loglevel 0 -i ", temp_file_path,
+                          " -i ", audio_file_path,
+                          "  -c copy -map 0:v:0 -map 1:a:0 ", output_file_path_,
+                          "&& rm ", temp_file_path)
+                 .c_str());
+    }
+
+#else
+    return ::mediapipe::InvalidArgumentErrorBuilder(MEDIAPIPE_LOC)
+           << "OpenCVVideoEncoderCalculator can't attach the audio tracks to "
+              "the video because FFmpeg is not installed. Please remove "
+              "input_side_packet: \"AUDIO_FILE_PATH\" from the node "
+              "config.";
+#endif
+  }
   return ::mediapipe::OkStatus();
 }