Health/Assets/Scripts/PoseCheck/EstimateModel/CVEstimator.cs

using OpenCVForUnity.CoreModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.UnityUtils;
using System;
using System.Collections.Generic;
using System.Threading;
using UnityEngine;
using Yoga;

public class CVEstimator : Singleton<CVEstimator>
{
    private bool isInited = false;

    public bool IsInited { get => isInited; private set => isInited = value; }
    public bool IsRunning { get; private set; }

    private Thread _mainThread;
    private Thread _estimateThread;

    private static readonly TimeSpan _refreshRate = TimeSpan.FromSeconds(1 / 30);

    public void Init(params object[] args)
    {
        if (IsInited)
        {
            return;
        }
        if (_mainThread != null)
        {
            _mainThread.Abort();
            _mainThread = null;
        }

        //加载模型
        switch (YogaManager.Instance.LevelData.ModelType)
        {
            case ModelType.OpenPose:
                YogaManager.Instance.CurrentEstimator = new OpenPoseEsimater();
                break;
            case ModelType.MediapipePose:
                YogaManager.Instance.CurrentEstimator = new MediaPipeEstimator();
                break;
        }
        YogaManager.Instance.CurrentEstimator.Init();

        IsRunning = false;
        _mainThread = new Thread(new ThreadStart(MainThread));
        _mainThread.Start();
        IsInited = true;
    }

    private void MainThread()
    {
        //解析数据
        _estimateThread = new Thread(new ThreadStart(Estimation));
        LogPrint.Log("MainThread Executed");
    }

    public void StartEstimation()
    {
        if (IsRunning)
        {
            LogPrint.Log("Estimation running");
            return;
        }
        if (!IsInited)
        {
            Init();
            LogPrint.Log("CVEstimator is not inited. ", PrintLevel.Normal);
        }

        if (_estimateThread == null)
        {
            LogPrint.Error("Estimate Thread fail to load!", PrintLevel.Important);
            LogPrint.Error($"Main Thread: {_mainThread.ThreadState}");
            return;
        }
        _estimateThread.Start();
        LogPrint.Log("EstimateThread Start");
        IsRunning = true;
    }

    public void Dispose()
    {
        if (!IsInited)
        {
            return;
        }
        IsRunning = false;
        _estimateThread.Abort();
        _mainThread.Abort();
        IsInited = false;
    }

    private void Estimation()
    {
        DateTime startTime = DateTime.Now;
        Mat bgrMat = new Mat();
        LogPrint.Log("IsRunning: " + IsRunning);
        while (IsRunning)
        {
            try
            {
                LogPrint.Log("Estimation Thread Running!IsRunning: " + IsRunning);
                Mat rgbaMat = YogaManager.Instance.RgbaMat;
                if (rgbaMat == null)
                {
                    LogPrint.Log("WebCamTexture is null. ");
                    LogPrint.Log("Re-Estimation.");
                    continue; //重新检测
                }
                Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);

                if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, rgbaMat, out List<Point> points))
                {
                    LogPrint.Log("Pose estimation failed. Re-Estimating.");
                    continue; //重新检测
                }

                //更新关键点位检测结果
                YogaManager.Instance.AddCurrEstimateKeyPoints(points);

                //等待到下一个更新周期
                if (DateTime.Now - startTime > _refreshRate)
                {
                    startTime = DateTime.Now;
                }
                else
                {
                    Thread.Sleep(_refreshRate - (DateTime.Now - startTime));
                }
            }
            catch (Exception e)
            {
                LogPrint.Exception(e);
            }
            
        }
        bgrMat.Dispose();
    }
}