Mp Hands nodes & segmentation msg creation

ml/messages/__init__.py

@@ -1,6 +1,9 @@
 from .img_detections import ImgDetectionWithKeypoints, ImgDetectionsWithKeypoints
+from .keypoints import HandKeypoints, Keypoints
 
 __all__ = [
     "ImgDetectionWithKeypoints",
     "ImgDetectionsWithKeypoints",
-]
+    "HandKeypoints",
+    "Keypoints",
+]

ml/messages/keypoints.py

@@ -0,0 +1,48 @@
+import depthai as dai
+from typing import List
+
+
+class Keypoints(dai.Buffer):
+    def __init__(self):
+        super().__init__()
+        self._keypoints: List[dai.Point3f] = []
+
+    @property
+    def keypoints(self) -> List[dai.Point3f]:
+        return self._keypoints
+
+    @keypoints.setter
+    def keypoints(self, value: List[dai.Point3f]):
+        if not isinstance(value, list):
+            raise TypeError("keypoints must be a list.")
+        for item in value:
+            if not isinstance(item, dai.Point3f):
+                raise TypeError("All items in keypoints must be of type dai.Point3f.")
+        self._keypoints = value
+
+
+class HandKeypoints(Keypoints):
+    def __init__(self):
+        Keypoints.__init__(self)
+        self._confidence: float = 0.0
+        self._handdedness: float = 0.0
+
+    @property
+    def confidence(self) -> float:
+        return self._confidence
+
+    @confidence.setter
+    def confidence(self, value: float):
+        if not isinstance(value, float):
+            raise TypeError("confidence must be a float.")
+        self._confidence = value
+
+    @property
+    def handdedness(self) -> float:
+        return self._handdedness
+
+    @handdedness.setter
+    def handdedness(self, value: float):
+        if not isinstance(value, float):
+            raise TypeError("handdedness must be a float.")
+        self._handdedness = value

ml/postprocessing/__init__.py

@@ -2,10 +2,18 @@
 from .dncnn3 import DnCNN3Parser
 from .depth_anything import DepthAnythingParser
 from .yunet import YuNetParser
+from .mediapipe_hand_detection import MPHandDetectionParser
+from .mediapipe_hand_landmarker import MPHandLandmarkParser
+from .scrfd import SCRFDParser
+from .segmentation import SegmentationParser
 
 __all__ = [
     'ZeroDCEParser', 
     'DnCNN3Parser',
     'DepthAnythingParser',
-    'YuNetParser'
+    'YuNetParser',
+    'MPHandDetectionParser',
+    'MPHandLandmarkParser',
+    'SCRFDParser',
+    'SegmentationParser',
     ]

ml/postprocessing/mediapipe_hand_detection.py

@@ -0,0 +1,74 @@
+import depthai as dai
+import numpy as np
+import cv2
+
+from .utils.message_creation import create_detection_message
+from .utils.medipipe import generate_anchors_and_decode
+
+class MPHandDetectionParser(dai.node.ThreadedHostNode):
+    def __init__(
+        self,
+        score_threshold=0.5,
+        nms_threshold=0.5,
+        top_k=100
+    ):
+        dai.node.ThreadedHostNode.__init__(self)
+        self.input = dai.Node.Input(self)
+        self.out = dai.Node.Output(self)
+
+        self.score_threshold = score_threshold
+        self.nms_threshold = nms_threshold
+        self.top_k = top_k
+
+    def setConfidenceThreshold(self, threshold):
+        self.score_threshold = threshold
+
+    def setNMSThreshold(self, threshold):
+        self.nms_threshold = threshold
+
+    def setTopK(self, top_k):
+        self.top_k = top_k
+
+    def run(self):
+        """
+        Postprocessing logic for MediPipe Hand detection model.
+
+        Returns:
+            dai.ImgDetections containing bounding boxes, labels, and confidence scores of detected hands.
+        """
+
+        while self.isRunning():
+
+            try:
+                output: dai.NNData = self.input.get()
+            except dai.MessageQueue.QueueException as e:
+                break  # Pipeline was stopped
+
+            tensorInfo = output.getTensorInfo("Identity")
+            bboxes = output.getTensor(f"Identity").reshape(2016, 18).astype(np.float32)
+            bboxes = (bboxes - tensorInfo.qpZp) * tensorInfo.qpScale
+            tensorInfo = output.getTensorInfo("Identity_1")
+            scores = output.getTensor(f"Identity_1").reshape(2016).astype(np.float32)
+            scores = (scores - tensorInfo.qpZp) * tensorInfo.qpScale
+
+            decoded_bboxes = generate_anchors_and_decode(bboxes=bboxes, scores=scores, threshold=self.score_threshold, scale=192)
+
+            bboxes = []
+            scores = []
+
+            for hand in decoded_bboxes:
+                extended_points = hand.rect_points
+                xmin = int(min(extended_points[0][0], extended_points[1][0]))
+                ymin = int(min(extended_points[0][1], extended_points[1][1]))
+                xmax = int(max(extended_points[2][0], extended_points[3][0]))
+                ymax = int(max(extended_points[2][1], extended_points[3][1]))
+
+                bboxes.append([xmin, ymin, xmax, ymax])
+                scores.append(hand.pd_score)
+
+            indices = cv2.dnn.NMSBoxes(bboxes, scores, self.score_threshold, self.nms_threshold, top_k=self.top_k)
+            bboxes = np.array(bboxes)[indices]
+            scores = np.array(scores)[indices]
+
+            detections_msg = create_detection_message(bboxes, scores, labels=None)
+            self.out.send(detections_msg)

ml/postprocessing/mediapipe_hand_landmarker.py

@@ -0,0 +1,57 @@
+import depthai as dai
+import numpy as np
+import cv2
+
+from .utils.message_creation import create_hand_keypoints_message
+
+class MPHandLandmarkParser(dai.node.ThreadedHostNode):
+    def __init__(
+        self,
+        score_threshold=0.5,
+        scale_factor=224
+    ):
+        dai.node.ThreadedHostNode.__init__(self)
+        self.input = dai.Node.Input(self)
+        self.out = dai.Node.Output(self)
+
+        self.score_threshold = score_threshold
+        self.scale_factor = scale_factor
+
+    def setScoreThreshold(self, threshold):
+        self.score_threshold = threshold
+
+    def setScaleFactor(self, scale_factor):
+        self.scale_factor = scale_factor
+
+    def run(self):
+        """
+        Postprocessing logic for MediaPipe Hand landmark model.
+
+        Returns:
+            HandLandmarks containing normalized 21 landmarks, confidence score, and handdedness score (right or left hand).
+        """
+
+        while self.isRunning():
+
+            try:
+                output: dai.NNData = self.input.get()
+            except dai.MessageQueue.QueueException as e:
+                break  # Pipeline was stopped
+
+            tensorInfo = output.getTensorInfo("Identity")
+            landmarks = output.getTensor(f"Identity").reshape(21, 3).astype(np.float32)
+            landmarks = (landmarks - tensorInfo.qpZp) * tensorInfo.qpScale
+            tensorInfo = output.getTensorInfo("Identity_1")
+            hand_score = output.getTensor(f"Identity_1").reshape(-1).astype(np.float32)
+            hand_score = (hand_score - tensorInfo.qpZp) * tensorInfo.qpScale
+            hand_score = hand_score[0]
+            tensorInfo = output.getTensorInfo("Identity_2")
+            handedness = output.getTensor(f"Identity_2").reshape(-1).astype(np.float32)
+            handedness = (handedness - tensorInfo.qpZp) * tensorInfo.qpScale
+            handedness = handedness[0]
+
+            # normalize landmarks
+            landmarks /= self.scale_factor
+
+            hand_landmarks_msg = create_hand_keypoints_message(landmarks, float(handedness), float(hand_score), self.score_threshold)
+            self.out.send(hand_landmarks_msg)

ml/postprocessing/scrfd.py

@@ -2,21 +2,19 @@
 import numpy as np
 import cv2
 
-from ..custom_messages.img_detections import ImgDetectionsWithKeypoints
+from ..messages import ImgDetectionsWithKeypoints
 
 class SCRFDParser(dai.node.ThreadedHostNode):
     def __init__(
         self,
         score_threshold=0.5,
         nms_threshold=0.5,
-        top_k=100,
-        input_size=(640, 640), # WH
+        top_k=100
     ):
         dai.node.ThreadedHostNode.__init__(self)
         self.input = dai.Node.Input(self)
         self.out = dai.Node.Output(self)
 
-        self.input_size = input_size
         self.score_threshold = score_threshold
         self.nms_threshold = nms_threshold
         self.top_k = top_k
@@ -30,9 +28,6 @@ def setNMSThreshold(self, threshold):
     def setTopK(self, top_k):
         self.top_k = top_k
 
-    def setInputSize(self, width, height):
-        self.input_size = (width, height)
-
     def run(self):
         """
         Postprocessing logic for SCRFD model.

ml/postprocessing/segmentation.py

@@ -0,0 +1,35 @@
+import depthai as dai
+import numpy as np
+import cv2
+from .utils.message_creation import create_segmentation_message
+
+class SegmentationParser(dai.node.ThreadedHostNode):
+    def __init__(
+        self,
+    ):
+        dai.node.ThreadedHostNode.__init__(self)
+        self.input = dai.Node.Input(self)
+        self.out = dai.Node.Output(self)
+
+    def run(self):
+        """
+        Postprocessing logic for Segmentation model with `num_classes` classes including background at index 0.
+
+        Returns:
+            Segmenation mask with `num_classes` classes, 0 - background.
+        """
+
+        while self.isRunning():
+
+            try:
+                output: dai.NNData = self.input.get()
+            except dai.MessageQueue.QueueException as e:
+                break  # Pipeline was stopped
+
+            segmentation_mask = output.getTensor("output")
+            segmentation_mask = segmentation_mask[0]  # num_clases x H x W
+            segmentation_mask = np.vstack((np.zeros((1, segmentation_mask.shape[1], segmentation_mask.shape[2]), dtype=np.float32), segmentation_mask))
+            overlay_image = np.argmax(segmentation_mask, axis=0).reshape(segmentation_mask.shape[1], segmentation_mask.shape[2], 1).astype(np.uint8)
+
+            imgFrame = create_segmentation_message(overlay_image)
+            self.out.send(imgFrame)