Project import generated by Copybara.

GitOrigin-RevId: e3a43e4e5e519cd14df7095749059e2613bdcf76

Author: MediaPipe Team

Diff for: BUILD

@@ -1,4 +1,4 @@
-# Copyright 2019-2020 The MediaPipe Authors.
+# 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.

Diff for: README.md

@@ -101,7 +101,7 @@ run code search using
 
 ## Videos
 
-*   [YouTube Channel](https://www.youtube.com/channel/UCObqmpuSMx-usADtL_qdMAw)
+*   [YouTube Channel](https://www.youtube.com/c/MediaPipe)
 
 ## Events
 
@@ -123,7 +123,7 @@ run code search using
 
 *   [Awesome MediaPipe](https://mediapipe.org) - A curated list of awesome
     MediaPipe related frameworks, libraries and software
-*   [Slack community](https://mediapipe.slack.com) for MediaPipe users
+*   [Slack community](https://https://mediapipe.page.link/joinslack) for MediaPipe users
 *   [Discuss](https://groups.google.com/forum/#!forum/mediapipe) - General
     community discussion around MediaPipe
 

Diff for: WORKSPACE

@@ -37,10 +37,19 @@ http_archive(
 )
 
 # GoogleTest/GoogleMock framework. Used by most unit-tests.
+# Last updated 2020-06-30.
 http_archive(
-     name = "com_google_googletest",
-     urls = ["https://github.com/google/googletest/archive/master.zip"],
-     strip_prefix = "googletest-master",
+    name = "com_google_googletest",
+    urls = ["https://github.com/google/googletest/archive/aee0f9d9b5b87796ee8a0ab26b7587ec30e8858e.zip"],
+    patches = [
+        # fix for https://github.com/google/googletest/issues/2817
+        "@//third_party:com_google_googletest_9d580ea80592189e6d44fa35bcf9cdea8bf620d6.diff"
+    ],
+    patch_args = [
+        "-p1",
+    ],
+    strip_prefix = "googletest-aee0f9d9b5b87796ee8a0ab26b7587ec30e8858e",
+    sha256 = "04a1751f94244307cebe695a69cc945f9387a80b0ef1af21394a490697c5c895",
 )
 
 # Google Benchmark library.

Diff for: build_ios_examples.sh

@@ -0,0 +1,74 @@
+#!/bin/bash
+# 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.
+# =========================================================================
+#
+# Script to build all MediaPipe iOS example apps.
+#
+# To build all apps and store them in out_dir:
+#   $ ./build_ios_examples.sh -d out_dir
+#   Omitting -d and the associated directory saves all generated IPAs in the
+#   current directory.
+#   $ ./build_ios_examples.sh -d out_dir --nostrip
+#   Same as above except that the symnbols are not stripped.
+
+set -e
+
+out_dir="."
+strip=true
+app_dir="mediapipe/examples/ios"
+bin_dir="bazel-bin"
+declare -a default_bazel_flags=(build -c opt --config=ios_arm64)
+
+while [[ -n $1 ]]; do
+  case $1 in
+    -d)
+      shift
+      out_dir=$1
+      ;;
+    --nostrip)
+      strip=false
+      ;;
+    *)
+      echo "Unsupported input argument $1."
+      exit 1
+      ;;
+  esac
+  shift
+done
+
+echo "app_dir: $app_dir"
+echo "out_dir: $out_dir"
+echo "strip: $strip"
+
+declare -a bazel_flags
+
+apps="${app_dir}/*"
+for app in ${apps}; do
+  if [[ -d "${app}" ]]; then
+    target_name=${app##*/}
+    target="${app}:${target_name}"
+
+    echo "=== Target: ${target}"
+
+    bazel_flags=("${default_bazel_flags[@]}")
+    bazel_flags+=(${target})
+    if [[ $strip == true ]]; then
+      bazel_flags+=(--linkopt=-s)
+    fi
+
+    bazel "${bazel_flags[@]}"
+    cp -f "${bin_dir}/${app}/"*".ipa" "${out_dir}"
+  fi
+done

Diff for: docs/framework_concepts/gpu.md

@@ -149,15 +149,15 @@ When possible, these calculators use platform-specific functionality to share da
 
 The below diagram shows the data flow in a mobile application that captures video from the camera, runs it through a MediaPipe graph, and renders the output on the screen in real time. The dashed line indicates which parts are inside the MediaPipe graph proper. This application runs a Canny edge-detection filter on the CPU using OpenCV, and overlays it on top of the original video using the GPU.
 
-| ![How GPU calculators interact](../images/gpu_example_graph.png)             |
-| :--------------------------------------------------------------------------: |
-| *Video frames from the camera are fed into the graph as `GpuBuffer` packets. |
-: The input stream is accessed by two calculators in parallel.                 :
-: `GpuBufferToImageFrameCalculator` converts the buffer into an `ImageFrame`,  :
-: which is then sent through a grayscale converter and a canny filter (both    :
-: based on OpenCV and running on the CPU), whose output is then converted into :
-: a `GpuBuffer` again. A multi-input GPU calculator, GlOverlayCalculator,      :
-: takes as input both the original `GpuBuffer` and the one coming out of the   :
-: edge detector, and overlays them using a shader. The output is then sent     :
-: back to the application using a callback calculator, and the application     :
-: renders the image to the screen using OpenGL.*                               :
+![How GPU calculators interact](../images/gpu_example_graph.png)
+
+Video frames from the camera are fed into the graph as `GpuBuffer` packets. The
+input stream is accessed by two calculators in parallel.
+`GpuBufferToImageFrameCalculator` converts the buffer into an `ImageFrame`,
+which is then sent through a grayscale converter and a canny filter (both based
+on OpenCV and running on the CPU), whose output is then converted into a
+`GpuBuffer` again. A multi-input GPU calculator, GlOverlayCalculator, takes as
+input both the original `GpuBuffer` and the one coming out of the edge detector,
+and overlays them using a shader. The output is then sent back to the
+application using a callback calculator, and the application renders the image
+to the screen using OpenGL.

Diff for: docs/getting_started/building_examples.md

@@ -184,12 +184,8 @@ app:
 
 ### Prerequisite
 
-1.  Install [Xcode](https://developer.apple.com/xcode/) and the Command Line
-    Tools.
-
-    Follow Apple's instructions to obtain the required development certificates
-    and provisioning profiles for your iOS device. Install the Command Line
-    Tools by
+1.  Install [Xcode](https://developer.apple.com/xcode/), and additionally
+    install the Command Line Tools by:
 
     ```bash
     xcode-select --install
@@ -209,26 +205,31 @@ app:
     pip3 install --user six
     ```
 
-4.  Clone the MediaPipe repository.
+4.  Follow
+    [Apple's instructions](https://developer.apple.com/support/certificates/) to
+    obtain the required development certificates and provisioning profiles for
+    your iOS device.
+
+    Tip: You can the following command to see the provisioning profiles you have
+    previously downloaded using Xcode: `open
+    ~/Library/MobileDevice/"Provisioning Profiles"`. If there are none, generate
+    and download a profile on
+    [Apple's developer site](https://developer.apple.com/account/resources/).
+
+5.  Clone the MediaPipe repository.
 
     ```bash
     git clone https://github.com/google/mediapipe.git
     ```
 
-5.  Symlink or copy your provisioning profile to
-    `mediapipe/mediapipe/provisioning_profile.mobileprovision`.
+6.  In the cloned MediaPipe repository, symlink or copy your provisioning profile
+    to `mediapipe/provisioning_profile.mobileprovision`, e.g.,
 
     ```bash
     cd mediapipe
     ln -s ~/Downloads/MyProvisioningProfile.mobileprovision mediapipe/provisioning_profile.mobileprovision
     ```
 
-    Tip: You can use this command to see the provisioning profiles you have
-    previously downloaded using Xcode: `open
-    ~/Library/MobileDevice/"Provisioning Profiles"`. If there are none, generate
-    and download a profile on
-    [Apple's developer site](https://developer.apple.com/account/resources/).
-
 ### Option 1: Build with Bazel in Command Line
 
 1.  Modify the `bundle_id` field of the app's `ios_application` build target to
@@ -246,6 +247,10 @@ app:
 
     You may see a permission request from `codesign` in order to sign the app.
 
+    Tip: You can run this
+    [script](https://github.com/google/mediapipe/blob/master/build_ios_examples.sh)
+    to build all MediaPipe iOS example apps.
+
 3.  In Xcode, open the `Devices and Simulators` window (command-shift-2).
 
 4.  Make sure your device is connected. You will see a list of installed apps.

Diff for: docs/getting_started/install.md

@@ -44,6 +44,18 @@ apps, see these [instructions](./building_examples.md#ios).
     [Bazel documentation](https://docs.bazel.build/versions/master/install-ubuntu.html)
     to install Bazel 2.0 or higher.
 
+    For Nvidia Jetson and Raspberry Pi devices with ARM Ubuntu, Bazel needs to
+    be built from source.
+
+    ```bash
+    # For Bazel 3.0.0
+    wget https://github.com/bazelbuild/bazel/releases/download/3.0.0/bazel-3.0.0-dist.zip
+    sudo apt-get install build-essential openjdk-8-jdk python zip unzip
+    unzip bazel-3.0.0-dist.zip
+    env EXTRA_BAZEL_ARGS="--host_javabase=@local_jdk//:jdk" bash ./compile.sh
+    sudo cp output/bazel /usr/local/bin/
+    ```
+
 3.  Install OpenCV and FFmpeg.
 
     Option 1. Use package manager tool to install the pre-compiled OpenCV
@@ -58,6 +70,14 @@ apps, see these [instructions](./building_examples.md#ios).
                            libopencv-imgproc-dev libopencv-video-dev
     ```
 
+    [`opencv_linux.BUILD`] is configured for x86_64 by default. For Nvidia
+    Jetson and Raspberry Pi devices with ARM Ubuntu, the lib paths need to be
+    modified.
+
+    ```bash
+    sed -i "s/x86_64-linux-gnu/aarch64-linux-gnu/g" third_party/opencv_linux.BUILD
+    ```
+
     Option 2. Run [`setup_opencv.sh`] to automatically build OpenCV from source
     and modify MediaPipe's OpenCV config.
 
@@ -493,14 +513,14 @@ cameras. Alternatively, you use a video file as input.
 
     ```bash
     username@DESKTOP-TMVLBJ1:~$ curl -sLO --retry 5 --retry-max-time 10 \
-    https://storage.googleapis.com/bazel/2.0.0/release/bazel-2.0.0-installer-linux-x86_64.sh && \
-    sudo mkdir -p /usr/local/bazel/2.0.0 && \
-    chmod 755 bazel-2.0.0-installer-linux-x86_64.sh && \
-    sudo ./bazel-2.0.0-installer-linux-x86_64.sh --prefix=/usr/local/bazel/2.0.0 && \
-    source /usr/local/bazel/2.0.0/lib/bazel/bin/bazel-complete.bash
-
-    username@DESKTOP-TMVLBJ1:~$ /usr/local/bazel/2.0.0/lib/bazel/bin/bazel version && \
-    alias bazel='/usr/local/bazel/2.0.0/lib/bazel/bin/bazel'
+    https://storage.googleapis.com/bazel/3.0.0/release/bazel-3.0.0-installer-linux-x86_64.sh && \
+    sudo mkdir -p /usr/local/bazel/3.0.0 && \
+    chmod 755 bazel-3.0.0-installer-linux-x86_64.sh && \
+    sudo ./bazel-3.0.0-installer-linux-x86_64.sh --prefix=/usr/local/bazel/3.0.0 && \
+    source /usr/local/bazel/3.0.0/lib/bazel/bin/bazel-complete.bash
+
+    username@DESKTOP-TMVLBJ1:~$ /usr/local/bazel/3.0.0/lib/bazel/bin/bazel version && \
+    alias bazel='/usr/local/bazel/3.0.0/lib/bazel/bin/bazel'
     ```
 
 6.  Checkout MediaPipe repository.

Diff for: docs/index.md

@@ -101,7 +101,7 @@ run code search using
 
 ## Videos
 
-*   [YouTube Channel](https://www.youtube.com/channel/UCObqmpuSMx-usADtL_qdMAw)
+*   [YouTube Channel](https://www.youtube.com/c/MediaPipe)
 
 ## Events
 
@@ -123,7 +123,7 @@ run code search using
 
 *   [Awesome MediaPipe](https://mediapipe.org) - A curated list of awesome
     MediaPipe related frameworks, libraries and software
-*   [Slack community](https://mediapipe.slack.com) for MediaPipe users
+*   [Slack community](https://https://mediapipe.page.link/joinslack) for MediaPipe users
 *   [Discuss](https://groups.google.com/forum/#!forum/mediapipe) - General
     community discussion around MediaPipe
 

Diff for: docs/solutions/hands.md

@@ -1,6 +1,6 @@
 ---
 layout: default
-title: Hand
+title: Hands
 parent: Solutions
 nav_order: 3
 ---
@@ -219,9 +219,13 @@ Please refer to [these instructions](../index.md#mediapipe-on-the-web).
 
 ## Resources
 
-*   Google AI Blog: [On-Device, Real-Time Hand Tracking with MediaPipe](https://ai.googleblog.com/2019/08/on-device-real-time-hand-tracking-with.html)
-*   TensorFlow Blog: [Face and hand tracking in the browser with MediaPipe and
-    TensorFlow.js](https://blog.tensorflow.org/2020/03/face-and-hand-tracking-in-browser-with-mediapipe-and-tensorflowjs.html)
+*   Google AI Blog:
+    [On-Device, Real-Time Hand Tracking with MediaPipe](https://ai.googleblog.com/2019/08/on-device-real-time-hand-tracking-with.html)
+*   TensorFlow Blog:
+    [Face and hand tracking in the browser with MediaPipe and TensorFlow.js](https://blog.tensorflow.org/2020/03/face-and-hand-tracking-in-browser-with-mediapipe-and-tensorflowjs.html)
+*   Paper:
+    [MediaPipe Hands: On-device Real-time Hand Tracking](https://arxiv.org/abs/2006.10214)
+    ([presentation](https://www.youtube.com/watch?v=I-UOrvxxXEk))
 *   Palm detection model:
     [TFLite model](https://github.com/google/mediapipe/tree/master/mediapipe/models/palm_detection.tflite),
     [TF.js model](https://tfhub.dev/mediapipe/handdetector/1)

Diff for: docs/solutions/objectron.md

@@ -188,5 +188,8 @@ to visualize its associated subgraphs, please see
     [Real-Time 3D Object Detection on Mobile Devices with MediaPipe](https://ai.googleblog.com/2020/03/real-time-3d-object-detection-on-mobile.html)
 *   Paper: [MobilePose: Real-Time Pose Estimation for Unseen Objects with Weak
     Shape Supervision](https://arxiv.org/abs/2003.03522)
+*   Paper:
+    [Instant 3D Object Tracking with Applications in Augmented Reality](https://drive.google.com/open?id=1O_zHmlgXIzAdKljp20U_JUkEHOGG52R8)
+    ([presentation](https://www.youtube.com/watch?v=9ndF1AIo7h0))
 *   [TFLite model for shoes](https://github.com/google/mediapipe/tree/master/mediapipe/models/object_detection_3d_sneakers.tflite)
 *   [TFLite model for chairs](https://github.com/google/mediapipe/tree/master/mediapipe/models/object_detection_3d_chair.tflite)

Diff for: docs/tools/tracing_and_profiling.md

@@ -21,7 +21,16 @@ available on Linux, Android, or iOS.
 
 ## Enabling tracing and profiling
 
-To enable tracing/profiling of a mediapipe graph, the `CalculatorGraphConfig` (in
+To enable tracing and profiling of a mediapipe graph:
+
+   1. The profiling library must be linked to the framework.
+   2. Tracing and profiling must be enabled in the graph configuration.
+
+The profiling library is linked to the framework by default.  If needed,
+the profiling library can be omitted from the framework using the bazel
+command line option: `--define MEDIAPIPE_PROFILING=0`.
+
+To enable tracing and profiling, the `CalculatorGraphConfig` (in
 [calculator.proto](https://github.com/google/mediapipe/tree/master/mediapipe/framework/calculator.proto))
 representing the graph must have a `profiler_config` message at its root. Here
 is a simple setup that turns on a few extra options:

Diff for: mediapipe/calculators/image/bilateral_filter_calculator.cc

@@ -107,7 +107,7 @@ class BilateralFilterCalculator : public CalculatorBase {
   GLuint program_ = 0;
   GLuint vao_;
   GLuint vbo_[2];  // vertex storage
-#endif             // !MEDIAPIPE_DISABLE_GPU
+#endif  // !MEDIAPIPE_DISABLE_GPU
 };
 REGISTER_CALCULATOR(BilateralFilterCalculator);