Change 3D demo to use pre-trained detector

examples/minimal_hand/demo3D.py

@@ -4,6 +4,7 @@
 from matplotlib.animation import FuncAnimation
 from paz.backend.camera import Camera, VideoPlayer
 from paz.applications import MinimalHandPoseEstimation
+from paz.applications import SSD512MinimalHandPose
 from paz.backend.image import resize_image, show_image
 from paz.datasets import MINIMAL_HAND_CONFIG
 
@@ -13,7 +14,8 @@
                     help='Camera device ID')
 args = parser.parse_args()
 
-pipeline = MinimalHandPoseEstimation(right_hand=False)
+# pipeline = MinimalHandPoseEstimation(right_hand=False)
+pipeline = SSD512MinimalHandPose()
 camera = Camera(args.camera_id)
 player = VideoPlayer((640, 480), pipeline, camera)
 
@@ -62,6 +64,9 @@ def wrapped_animate(i):
         show_image(image, 'inference', wait=False)
 
         keypoints3D = output['keypoints3D']
+        if len(keypoints3D) == 0:
+            return
+        keypoints3D = keypoints3D[0]  # TAKE ONLY THE FIRST PREDICTION
         xs, ys, zs = np.split(keypoints3D, 3, axis=1)
 
         plt.cla()