mediapipe-nightly 0.10.21.post20250114__cp39-cp39-manylinux_2_28_x86_64.whl

mediapipe/tasks/python/vision/interactive_segmenter.py

@@ -0,0 +1,285 @@
+# Copyright 2023 The MediaPipe Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""MediaPipe interactive segmenter task."""
+
+import dataclasses
+import enum
+from typing import List, Optional
+
+from mediapipe.python import packet_creator
+from mediapipe.python import packet_getter
+from mediapipe.python._framework_bindings import image as image_module
+from mediapipe.tasks.cc.vision.image_segmenter.proto import image_segmenter_graph_options_pb2
+from mediapipe.tasks.cc.vision.image_segmenter.proto import segmenter_options_pb2
+from mediapipe.tasks.python.components.containers import keypoint as keypoint_module
+from mediapipe.tasks.python.core import base_options as base_options_module
+from mediapipe.tasks.python.core import task_info as task_info_module
+from mediapipe.tasks.python.core.optional_dependencies import doc_controls
+from mediapipe.tasks.python.vision.core import base_vision_task_api
+from mediapipe.tasks.python.vision.core import image_processing_options as image_processing_options_module
+from mediapipe.tasks.python.vision.core import vision_task_running_mode
+from mediapipe.util import render_data_pb2
+
+_BaseOptions = base_options_module.BaseOptions
+_RenderDataProto = render_data_pb2.RenderData
+_SegmenterOptionsProto = segmenter_options_pb2.SegmenterOptions
+_ImageSegmenterGraphOptionsProto = (
+    image_segmenter_graph_options_pb2.ImageSegmenterGraphOptions
+)
+_RunningMode = vision_task_running_mode.VisionTaskRunningMode
+_ImageProcessingOptions = image_processing_options_module.ImageProcessingOptions
+_TaskInfo = task_info_module.TaskInfo
+
+_CONFIDENCE_MASKS_STREAM_NAME = 'confidence_masks'
+_CONFIDENCE_MASKS_TAG = 'CONFIDENCE_MASKS'
+_CATEGORY_MASK_STREAM_NAME = 'category_mask'
+_CATEGORY_MASK_TAG = 'CATEGORY_MASK'
+_IMAGE_IN_STREAM_NAME = 'image_in'
+_IMAGE_OUT_STREAM_NAME = 'image_out'
+_ROI_STREAM_NAME = 'roi_in'
+_ROI_TAG = 'ROI'
+_NORM_RECT_STREAM_NAME = 'norm_rect_in'
+_NORM_RECT_TAG = 'NORM_RECT'
+_IMAGE_TAG = 'IMAGE'
+_TASK_GRAPH_NAME = (
+    'mediapipe.tasks.vision.interactive_segmenter.InteractiveSegmenterGraph'
+)
+
+
+@dataclasses.dataclass
+class InteractiveSegmenterResult:
+  """Output result of InteractiveSegmenter.
+
+  confidence_masks: multiple masks of float image where, for each mask, each
+  pixel represents the prediction confidence, usually in the [0, 1] range.
+
+  category_mask: a category mask of uint8 image where each pixel represents the
+  class which the pixel in the original image was predicted to belong to.
+  """
+
+  confidence_masks: Optional[List[image_module.Image]] = None
+  category_mask: Optional[image_module.Image] = None
+
+
+@dataclasses.dataclass
+class InteractiveSegmenterOptions:
+  """Options for the interactive segmenter task.
+
+  Attributes:
+    base_options: Base options for the interactive segmenter task.
+    output_confidence_masks: Whether to output confidence masks.
+    output_category_mask: Whether to output category mask.
+  """
+
+  base_options: _BaseOptions
+  output_confidence_masks: bool = True
+  output_category_mask: bool = False
+
+  @doc_controls.do_not_generate_docs
+  def to_pb2(self) -> _ImageSegmenterGraphOptionsProto:
+    """Generates an ImageSegmenterGraphOptions protobuf object."""
+    base_options_proto = self.base_options.to_pb2()
+    base_options_proto.use_stream_mode = False
+    segmenter_options_proto = _SegmenterOptionsProto()
+    return _ImageSegmenterGraphOptionsProto(
+        base_options=base_options_proto,
+        segmenter_options=segmenter_options_proto,
+    )
+
+
+@dataclasses.dataclass
+class RegionOfInterest:
+  """The Region-Of-Interest (ROI) to interact with."""
+
+  class Format(enum.Enum):
+    UNSPECIFIED = 0
+    KEYPOINT = 1
+
+  format: Format
+  keypoint: Optional[keypoint_module.NormalizedKeypoint] = None
+
+
+def _convert_roi_to_render_data(roi: RegionOfInterest) -> _RenderDataProto:
+  """Converts region of interest to render data proto."""
+  result = _RenderDataProto()
+
+  if roi is not None:
+    if roi.format == RegionOfInterest.Format.UNSPECIFIED:
+      raise ValueError('RegionOfInterest format not specified.')
+
+    elif roi.format == RegionOfInterest.Format.KEYPOINT:
+      if roi.keypoint is not None:
+        annotation = result.render_annotations.add()
+        annotation.color.r = 255
+        point = annotation.point
+        point.normalized = True
+        point.x = roi.keypoint.x
+        point.y = roi.keypoint.y
+        return result
+  else:
+    raise ValueError('Please specify the Region-of-interest for segmentation.')
+
+  raise ValueError('Unrecognized format.')
+
+
+class InteractiveSegmenter(base_vision_task_api.BaseVisionTaskApi):
+  """Class that performs interactive segmentation on images.
+
+  Users can represent user interaction through `RegionOfInterest`, which gives
+  a hint to InteractiveSegmenter to perform segmentation focusing on the given
+  region of interest.
+
+  The API expects a TFLite model with mandatory TFLite Model Metadata.
+
+  Input tensor:
+    (kTfLiteUInt8/kTfLiteFloat32)
+    - image input of size `[batch x height x width x channels]`.
+    - batch inference is not supported (`batch` is required to be 1).
+    - RGB and greyscale inputs are supported (`channels` is required to be
+      1 or 3).
+    - if type is kTfLiteFloat32, NormalizationOptions are required to be
+      attached to the metadata for input normalization.
+  Output tensors:
+    (kTfLiteUInt8/kTfLiteFloat32)
+    - list of segmented masks.
+    - if `output_type` is CATEGORY_MASK, uint8 Image, Image vector of size 1.
+    - if `output_type` is CONFIDENCE_MASK, float32 Image list of size
+      `channels`.
+    - batch is always 1
+
+  An example of such model can be found at:
+  https://tfhub.dev/tensorflow/lite-model/deeplabv3/1/metadata/2
+  """
+
+  @classmethod
+  def create_from_model_path(cls, model_path: str) -> 'InteractiveSegmenter':
+    """Creates an `InteractiveSegmenter` object from a TensorFlow Lite model and the default `InteractiveSegmenterOptions`.
+
+    Note that the created `InteractiveSegmenter` instance is in image mode, for
+    performing image segmentation on single image inputs.
+
+    Args:
+      model_path: Path to the model.
+
+    Returns:
+      `InteractiveSegmenter` object that's created from the model file and the
+      default `InteractiveSegmenterOptions`.
+
+    Raises:
+      ValueError: If failed to create `InteractiveSegmenter` object from the
+        provided file such as invalid file path.
+      RuntimeError: If other types of error occurred.
+    """
+    base_options = _BaseOptions(model_asset_path=model_path)
+    options = InteractiveSegmenterOptions(base_options=base_options)
+    return cls.create_from_options(options)
+
+  @classmethod
+  def create_from_options(
+      cls, options: InteractiveSegmenterOptions
+  ) -> 'InteractiveSegmenter':
+    """Creates the `InteractiveSegmenter` object from interactive segmenter options.
+
+    Args:
+      options: Options for the interactive segmenter task.
+
+    Returns:
+      `InteractiveSegmenter` object that's created from `options`.
+
+    Raises:
+      ValueError: If failed to create `InteractiveSegmenter` object from
+        `InteractiveSegmenterOptions` such as missing the model.
+      RuntimeError: If other types of error occurred.
+    """
+
+    output_streams = [
+        ':'.join([_IMAGE_TAG, _IMAGE_OUT_STREAM_NAME]),
+    ]
+
+    if options.output_confidence_masks:
+      output_streams.append(
+          ':'.join([_CONFIDENCE_MASKS_TAG, _CONFIDENCE_MASKS_STREAM_NAME])
+      )
+
+    if options.output_category_mask:
+      output_streams.append(
+          ':'.join([_CATEGORY_MASK_TAG, _CATEGORY_MASK_STREAM_NAME])
+      )
+
+    task_info = _TaskInfo(
+        task_graph=_TASK_GRAPH_NAME,
+        input_streams=[
+            ':'.join([_IMAGE_TAG, _IMAGE_IN_STREAM_NAME]),
+            ':'.join([_ROI_TAG, _ROI_STREAM_NAME]),
+            ':'.join([_NORM_RECT_TAG, _NORM_RECT_STREAM_NAME]),
+        ],
+        output_streams=output_streams,
+        task_options=options,
+    )
+    return cls(
+        task_info.generate_graph_config(enable_flow_limiting=False),
+        _RunningMode.IMAGE,
+        None,
+    )
+
+  def segment(
+      self,
+      image: image_module.Image,
+      roi: RegionOfInterest,
+      image_processing_options: Optional[_ImageProcessingOptions] = None,
+  ) -> InteractiveSegmenterResult:
+    """Performs the actual segmentation task on the provided MediaPipe Image.
+
+    The image can be of any size with format RGB.
+
+    Args:
+      image: MediaPipe Image.
+      roi: Optional user-specified region of interest for segmentation.
+      image_processing_options: Options for image processing.
+
+    Returns:
+      If the output_type is CATEGORY_MASK, the returned vector of images is
+      per-category segmented image mask.
+      If the output_type is CONFIDENCE_MASK, the returned vector of images
+      contains only one confidence image mask. A segmentation result object that
+      contains a list of segmentation masks as images.
+
+    Raises:
+      ValueError: If any of the input arguments is invalid.
+      RuntimeError: If image segmentation failed to run.
+    """
+    normalized_rect = self.convert_to_normalized_rect(
+        image_processing_options, image, roi_allowed=False
+    )
+    render_data_proto = _convert_roi_to_render_data(roi)
+    output_packets = self._process_image_data({
+        _IMAGE_IN_STREAM_NAME: packet_creator.create_image(image),
+        _ROI_STREAM_NAME: packet_creator.create_proto(render_data_proto),
+        _NORM_RECT_STREAM_NAME: packet_creator.create_proto(
+            normalized_rect.to_pb2()
+        ),
+    })
+    segmentation_result = InteractiveSegmenterResult()
+
+    if _CONFIDENCE_MASKS_STREAM_NAME in output_packets:
+      segmentation_result.confidence_masks = packet_getter.get_image_list(
+          output_packets[_CONFIDENCE_MASKS_STREAM_NAME]
+      )
+
+    if _CATEGORY_MASK_STREAM_NAME in output_packets:
+      segmentation_result.category_mask = packet_getter.get_image(
+          output_packets[_CATEGORY_MASK_STREAM_NAME]
+      )
+
+    return segmentation_result

mediapipe/tasks/python/vision/object_detector.py

@@ -0,0 +1,389 @@
+# Copyright 2022 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.
+"""MediaPipe object detector task."""
+
+import dataclasses
+from typing import Callable, List, Mapping, Optional
+
+from mediapipe.python import packet_creator
+from mediapipe.python import packet_getter
+from mediapipe.python._framework_bindings import image as image_module
+from mediapipe.python._framework_bindings import packet as packet_module
+from mediapipe.tasks.cc.vision.object_detector.proto import object_detector_options_pb2
+from mediapipe.tasks.python.components.containers import detections as detections_module
+from mediapipe.tasks.python.components.containers import rect
+from mediapipe.tasks.python.core import base_options as base_options_module
+from mediapipe.tasks.python.core import task_info as task_info_module
+from mediapipe.tasks.python.core.optional_dependencies import doc_controls
+from mediapipe.tasks.python.vision.core import base_vision_task_api
+from mediapipe.tasks.python.vision.core import image_processing_options as image_processing_options_module
+from mediapipe.tasks.python.vision.core import vision_task_running_mode as running_mode_module
+
+ObjectDetectorResult = detections_module.DetectionResult
+_NormalizedRect = rect.NormalizedRect
+_BaseOptions = base_options_module.BaseOptions
+_ObjectDetectorOptionsProto = object_detector_options_pb2.ObjectDetectorOptions
+_RunningMode = running_mode_module.VisionTaskRunningMode
+_ImageProcessingOptions = image_processing_options_module.ImageProcessingOptions
+_TaskInfo = task_info_module.TaskInfo
+
+_DETECTIONS_OUT_STREAM_NAME = 'detections_out'
+_DETECTIONS_TAG = 'DETECTIONS'
+_IMAGE_IN_STREAM_NAME = 'image_in'
+_IMAGE_OUT_STREAM_NAME = 'image_out'
+_IMAGE_TAG = 'IMAGE'
+_NORM_RECT_STREAM_NAME = 'norm_rect_in'
+_NORM_RECT_TAG = 'NORM_RECT'
+_TASK_GRAPH_NAME = 'mediapipe.tasks.vision.ObjectDetectorGraph'
+_MICRO_SECONDS_PER_MILLISECOND = 1000
+
+
+@dataclasses.dataclass
+class ObjectDetectorOptions:
+  """Options for the object detector task.
+
+  Attributes:
+    base_options: Base options for the object detector task.
+    running_mode: The running mode of the task. Default to the image mode.
+      Object detector task has three running modes: 1) The image mode for
+      detecting objects on single image inputs. 2) The video mode for detecting
+      objects on the decoded frames of a video. 3) The live stream mode for
+      detecting objects on a live stream of input data, such as from camera.
+    display_names_locale: The locale to use for display names specified through
+      the TFLite Model Metadata.
+    max_results: The maximum number of top-scored classification results to
+      return.
+    score_threshold: Overrides the ones provided in the model metadata. Results
+      below this value are rejected.
+    category_allowlist: Allowlist of category names. If non-empty, detection
+      results whose category name is not in this set will be filtered out.
+      Duplicate or unknown category names are ignored. Mutually exclusive with
+      `category_denylist`.
+    category_denylist: Denylist of category names. If non-empty, detection
+      results whose category name is in this set will be filtered out. Duplicate
+      or unknown category names are ignored. Mutually exclusive with
+      `category_allowlist`.
+    result_callback: The user-defined result callback for processing live stream
+      data. The result callback should only be specified when the running mode
+      is set to the live stream mode.
+  """
+
+  base_options: _BaseOptions
+  running_mode: _RunningMode = _RunningMode.IMAGE
+  display_names_locale: Optional[str] = None
+  max_results: Optional[int] = None
+  score_threshold: Optional[float] = None
+  category_allowlist: Optional[List[str]] = None
+  category_denylist: Optional[List[str]] = None
+  result_callback: Optional[
+      Callable[[ObjectDetectorResult, image_module.Image, int], None]
+  ] = None
+
+  @doc_controls.do_not_generate_docs
+  def to_pb2(self) -> _ObjectDetectorOptionsProto:
+    """Generates an ObjectDetectorOptions protobuf object."""
+    base_options_proto = self.base_options.to_pb2()
+    base_options_proto.use_stream_mode = (
+        False if self.running_mode == _RunningMode.IMAGE else True
+    )
+    return _ObjectDetectorOptionsProto(
+        base_options=base_options_proto,
+        display_names_locale=self.display_names_locale,
+        max_results=self.max_results,
+        score_threshold=self.score_threshold,
+        category_allowlist=self.category_allowlist,
+        category_denylist=self.category_denylist,
+    )
+
+
+class ObjectDetector(base_vision_task_api.BaseVisionTaskApi):
+  """Class that performs object detection on images.
+
+  The API expects a TFLite model with mandatory TFLite Model Metadata.
+
+  Input tensor:
+    (kTfLiteUInt8/kTfLiteFloat32)
+    - image input of size `[batch x height x width x channels]`.
+    - batch inference is not supported (`batch` is required to be 1).
+    - only RGB inputs are supported (`channels` is required to be 3).
+    - if type is kTfLiteFloat32, NormalizationOptions are required to be
+      attached to the metadata for input normalization.
+  Output tensors must be the 4 outputs of a `DetectionPostProcess` op, i.e:
+    (kTfLiteFloat32)
+    - locations tensor of size `[num_results x 4]`, the inner array
+      representing bounding boxes in the form [top, left, right, bottom].
+    - BoundingBoxProperties are required to be attached to the metadata
+      and must specify type=BOUNDARIES and coordinate_type=RATIO.
+    (kTfLiteFloat32)
+    - classes tensor of size `[num_results]`, each value representing the
+      integer index of a class.
+    - optional (but recommended) label map(s) can be attached as
+      AssociatedFile-s with type TENSOR_VALUE_LABELS, containing one label per
+      line. The first such AssociatedFile (if any) is used to fill the
+      `class_name` field of the results. The `display_name` field is filled
+      from the AssociatedFile (if any) whose locale matches the
+      `display_names_locale` field of the `ObjectDetectorOptions` used at
+      creation time ("en" by default, i.e. English). If none of these are
+      available, only the `index` field of the results will be filled.
+    (kTfLiteFloat32)
+    - scores tensor of size `[num_results]`, each value representing the score
+      of the detected object.
+    - optional score calibration can be attached using ScoreCalibrationOptions
+      and an AssociatedFile with type TENSOR_AXIS_SCORE_CALIBRATION. See
+      metadata_schema.fbs [1] for more details.
+    (kTfLiteFloat32)
+    - integer num_results as a tensor of size `[1]`
+
+  An example of such model can be found at:
+  https://tfhub.dev/google/lite-model/object_detection/mobile_object_localizer_v1/1/metadata/1
+
+  [1]:
+  https://github.com/google/mediapipe/blob/6cdc6443b6a7ed662744e2a2ce2d58d9c83e6d6f/mediapipe/tasks/metadata/metadata_schema.fbs#L456
+  """
+
+  @classmethod
+  def create_from_model_path(cls, model_path: str) -> 'ObjectDetector':
+    """Creates an `ObjectDetector` object from a TensorFlow Lite model and the default `ObjectDetectorOptions`.
+
+    Note that the created `ObjectDetector` instance is in image mode, for
+    detecting objects on single image inputs.
+
+    Args:
+      model_path: Path to the model.
+
+    Returns:
+      `ObjectDetector` object that's created from the model file and the default
+      `ObjectDetectorOptions`.
+
+    Raises:
+      ValueError: If failed to create `ObjectDetector` object from the provided
+        file such as invalid file path.
+      RuntimeError: If other types of error occurred.
+    """
+    base_options = _BaseOptions(model_asset_path=model_path)
+    options = ObjectDetectorOptions(
+        base_options=base_options, running_mode=_RunningMode.IMAGE
+    )
+    return cls.create_from_options(options)
+
+  @classmethod
+  def create_from_options(
+      cls, options: ObjectDetectorOptions
+  ) -> 'ObjectDetector':
+    """Creates the `ObjectDetector` object from object detector options.
+
+    Args:
+      options: Options for the object detector task.
+
+    Returns:
+      `ObjectDetector` object that's created from `options`.
+
+    Raises:
+      ValueError: If failed to create `ObjectDetector` object from
+        `ObjectDetectorOptions` such as missing the model.
+      RuntimeError: If other types of error occurred.
+    """
+
+    def packets_callback(output_packets: Mapping[str, packet_module.Packet]):
+      if output_packets[_IMAGE_OUT_STREAM_NAME].is_empty():
+        return
+      image = packet_getter.get_image(output_packets[_IMAGE_OUT_STREAM_NAME])
+      if output_packets[_DETECTIONS_OUT_STREAM_NAME].is_empty():
+        empty_packet = output_packets[_DETECTIONS_OUT_STREAM_NAME]
+        options.result_callback(
+            ObjectDetectorResult([]),
+            image,
+            empty_packet.timestamp.value // _MICRO_SECONDS_PER_MILLISECOND,
+        )
+        return
+      detection_proto_list = packet_getter.get_proto_list(
+          output_packets[_DETECTIONS_OUT_STREAM_NAME]
+      )
+      detection_result = ObjectDetectorResult(
+          [
+              detections_module.Detection.create_from_pb2(result)
+              for result in detection_proto_list
+          ]
+      )
+      timestamp = output_packets[_IMAGE_OUT_STREAM_NAME].timestamp
+      options.result_callback(
+          detection_result,
+          image,
+          timestamp.value // _MICRO_SECONDS_PER_MILLISECOND,
+      )
+
+    task_info = _TaskInfo(
+        task_graph=_TASK_GRAPH_NAME,
+        input_streams=[
+            ':'.join([_IMAGE_TAG, _IMAGE_IN_STREAM_NAME]),
+            ':'.join([_NORM_RECT_TAG, _NORM_RECT_STREAM_NAME]),
+        ],
+        output_streams=[
+            ':'.join([_DETECTIONS_TAG, _DETECTIONS_OUT_STREAM_NAME]),
+            ':'.join([_IMAGE_TAG, _IMAGE_OUT_STREAM_NAME]),
+        ],
+        task_options=options,
+    )
+    return cls(
+        task_info.generate_graph_config(
+            enable_flow_limiting=options.running_mode
+            == _RunningMode.LIVE_STREAM
+        ),
+        options.running_mode,
+        packets_callback if options.result_callback else None,
+    )
+
+  # TODO: Create an Image class for MediaPipe Tasks.
+  def detect(
+      self,
+      image: image_module.Image,
+      image_processing_options: Optional[_ImageProcessingOptions] = None,
+  ) -> ObjectDetectorResult:
+    """Performs object detection on the provided MediaPipe Image.
+
+    Only use this method when the ObjectDetector is created with the image
+    running mode.
+
+    Args:
+      image: MediaPipe Image.
+      image_processing_options: Options for image processing.
+
+    Returns:
+      A detection result object that contains a list of detections, each
+      detection has a bounding box that is expressed in the unrotated input
+      frame of reference coordinates system, i.e. in `[0,image_width) x [0,
+      image_height)`, which are the dimensions of the underlying image data.
+
+    Raises:
+      ValueError: If any of the input arguments is invalid.
+      RuntimeError: If object detection failed to run.
+    """
+    normalized_rect = self.convert_to_normalized_rect(
+        image_processing_options, image, roi_allowed=False
+    )
+    output_packets = self._process_image_data({
+        _IMAGE_IN_STREAM_NAME: packet_creator.create_image(image),
+        _NORM_RECT_STREAM_NAME: packet_creator.create_proto(
+            normalized_rect.to_pb2()
+        ),
+    })
+    if output_packets[_DETECTIONS_OUT_STREAM_NAME].is_empty():
+      return ObjectDetectorResult([])
+    detection_proto_list = packet_getter.get_proto_list(
+        output_packets[_DETECTIONS_OUT_STREAM_NAME]
+    )
+    return ObjectDetectorResult(
+        [
+            detections_module.Detection.create_from_pb2(result)
+            for result in detection_proto_list
+        ]
+    )
+
+  def detect_for_video(
+      self,
+      image: image_module.Image,
+      timestamp_ms: int,
+      image_processing_options: Optional[_ImageProcessingOptions] = None,
+  ) -> ObjectDetectorResult:
+    """Performs object detection on the provided video frames.
+
+    Only use this method when the ObjectDetector is created with the video
+    running mode. It's required to provide the video frame's timestamp (in
+    milliseconds) along with the video frame. The input timestamps should be
+    monotonically increasing for adjacent calls of this method.
+
+    Args:
+      image: MediaPipe Image.
+      timestamp_ms: The timestamp of the input video frame in milliseconds.
+      image_processing_options: Options for image processing.
+
+    Returns:
+      A detection result object that contains a list of detections, each
+      detection has a bounding box that is expressed in the unrotated input
+      frame of reference coordinates system, i.e. in `[0,image_width) x [0,
+      image_height)`, which are the dimensions of the underlying image data.
+
+    Raises:
+      ValueError: If any of the input arguments is invalid.
+      RuntimeError: If object detection failed to run.
+    """
+    normalized_rect = self.convert_to_normalized_rect(
+        image_processing_options, image, roi_allowed=False
+    )
+    output_packets = self._process_video_data({
+        _IMAGE_IN_STREAM_NAME: packet_creator.create_image(image).at(
+            timestamp_ms * _MICRO_SECONDS_PER_MILLISECOND
+        ),
+        _NORM_RECT_STREAM_NAME: packet_creator.create_proto(
+            normalized_rect.to_pb2()
+        ).at(timestamp_ms * _MICRO_SECONDS_PER_MILLISECOND),
+    })
+    if output_packets[_DETECTIONS_OUT_STREAM_NAME].is_empty():
+      return ObjectDetectorResult([])
+    detection_proto_list = packet_getter.get_proto_list(
+        output_packets[_DETECTIONS_OUT_STREAM_NAME]
+    )
+    return ObjectDetectorResult(
+        [
+            detections_module.Detection.create_from_pb2(result)
+            for result in detection_proto_list
+        ]
+    )
+
+  def detect_async(
+      self,
+      image: image_module.Image,
+      timestamp_ms: int,
+      image_processing_options: Optional[_ImageProcessingOptions] = None,
+  ) -> None:
+    """Sends live image data (an Image with a unique timestamp) to perform object detection.
+
+    Only use this method when the ObjectDetector is created with the live stream
+    running mode. The input timestamps should be monotonically increasing for
+    adjacent calls of this method. This method will return immediately after the
+    input image is accepted. The results will be available via the
+    `result_callback` provided in the `ObjectDetectorOptions`. The
+    `detect_async` method is designed to process live stream data such as camera
+    input. To lower the overall latency, object detector may drop the input
+    images if needed. In other words, it's not guaranteed to have output per
+    input image.
+
+    The `result_callback` prvoides:
+      - A detection result object that contains a list of detections, each
+        detection has a bounding box that is expressed in the unrotated input
+        frame of reference coordinates system, i.e. in `[0,image_width) x [0,
+        image_height)`, which are the dimensions of the underlying image data.
+      - The input image that the object detector runs on.
+      - The input timestamp in milliseconds.
+
+    Args:
+      image: MediaPipe Image.
+      timestamp_ms: The timestamp of the input image in milliseconds.
+      image_processing_options: Options for image processing.
+
+    Raises:
+      ValueError: If the current input timestamp is smaller than what the object
+        detector has already processed.
+    """
+    normalized_rect = self.convert_to_normalized_rect(
+        image_processing_options, image, roi_allowed=False
+    )
+    self._send_live_stream_data({
+        _IMAGE_IN_STREAM_NAME: packet_creator.create_image(image).at(
+            timestamp_ms * _MICRO_SECONDS_PER_MILLISECOND
+        ),
+        _NORM_RECT_STREAM_NAME: packet_creator.create_proto(
+            normalized_rect.to_pb2()
+        ).at(timestamp_ms * _MICRO_SECONDS_PER_MILLISECOND),
+    })