416 lines
16 KiB
C#
416 lines
16 KiB
C#
|
#if !UNITY_WSA_10_0
|
||
|
|
|
||
|
|
using OpenCVForUnity.CoreModule;
|
||
|
|
using OpenCVForUnity.ImgcodecsModule;
|
||
|
|
using OpenCVForUnity.ImgprocModule;
|
||
|
|
using OpenCVForUnity.UnityUtils;
|
||
|
|
using OpenCVForUnity.UnityUtils.Helper;
|
||
|
|
using OpenCVForUnityExample.DnnModel;
|
||
|
|
using System;
|
||
|
|
using System.Collections;
|
||
|
|
using UnityEngine;
|
||
|
|
using UnityEngine.SceneManagement;
|
||
|
|
|
||
|
|
namespace OpenCVForUnityExample
|
||
|
|
{
|
||
|
|
/// <summary>
|
||
|
|
/// Object Detection YOLOv4 Example
|
||
|
|
/// An example of using OpenCV dnn module with YOLOv4 Object Detection.
|
||
|
|
/// Referring to https://github.com/AlexeyAB/darknet.
|
||
|
|
/// https://gist.github.com/YashasSamaga/48bdb167303e10f4d07b754888ddbdcf
|
||
|
|
///
|
||
|
|
/// [Tested Models]
|
||
|
|
/// yolov4-tiny https://github.com/AlexeyAB/darknet/releases/download/yolov4/yolov4-tiny.weights, https://raw.githubusercontent.com/AlexeyAB/darknet/0faed3e60e52f742bbef43b83f6be51dd30f373e/cfg/yolov4-tiny.cfg
|
||
|
|
/// yolov4 https://github.com/AlexeyAB/darknet/releases/download/yolov4/yolov4.weights, https://raw.githubusercontent.com/AlexeyAB/darknet/0faed3e60e52f742bbef43b83f6be51dd30f373e/cfg/yolov4.cfg
|
||
|
|
/// </summary>
|
||
|
|
[RequireComponent(typeof(WebCamTextureToMatHelper))]
|
||
|
|
public class ObjectDetectionYOLOv4Example : MonoBehaviour
|
||
|
|
{
|
||
|
|
[TooltipAttribute("Path to a binary file of model contains trained weights. It could be a file with extensions .caffemodel (Caffe), .pb (TensorFlow), .t7 or .net (Torch), .weights (Darknet).")]
|
||
|
|
public string model = "yolov4-tiny.weights";
|
||
|
|
|
||
|
|
[TooltipAttribute("Path to a text file of model contains network configuration. It could be a file with extensions .prototxt (Caffe), .pbtxt (TensorFlow), .cfg (Darknet).")]
|
||
|
|
public string config = "yolov4-tiny.cfg";
|
||
|
|
|
||
|
|
[TooltipAttribute("Optional path to a text file with names of classes to label detected objects.")]
|
||
|
|
public string classes = "coco.names";
|
||
|
|
|
||
|
|
[TooltipAttribute("Confidence threshold.")]
|
||
|
|
public float confThreshold = 0.25f;
|
||
|
|
|
||
|
|
[TooltipAttribute("Non-maximum suppression threshold.")]
|
||
|
|
public float nmsThreshold = 0.45f;
|
||
|
|
|
||
|
|
//[TooltipAttribute("Maximum detections per image.")]
|
||
|
|
//public int topK = 1000;
|
||
|
|
|
||
|
|
[TooltipAttribute("Preprocess input image by resizing to a specific width.")]
|
||
|
|
public int inpWidth = 416;
|
||
|
|
|
||
|
|
[TooltipAttribute("Preprocess input image by resizing to a specific height.")]
|
||
|
|
public int inpHeight = 416;
|
||
|
|
|
||
|
|
|
||
|
|
[Header("TEST")]
|
||
|
|
|
||
|
|
[TooltipAttribute("Path to test input image.")]
|
||
|
|
public string testInputImage;
|
||
|
|
|
||
|
|
|
||
|
|
protected string classes_filepath;
|
||
|
|
protected string config_filepath;
|
||
|
|
protected string model_filepath;
|
||
|
|
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// The texture.
|
||
|
|
/// </summary>
|
||
|
|
Texture2D texture;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// The webcam texture to mat helper.
|
||
|
|
/// </summary>
|
||
|
|
WebCamTextureToMatHelper webCamTextureToMatHelper;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// The bgr mat.
|
||
|
|
/// </summary>
|
||
|
|
Mat bgrMat;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// The YOLOv4 ObjectDetector.
|
||
|
|
/// </summary>
|
||
|
|
YOLOv4ObjectDetector objectDetector;
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// The FPS monitor.
|
||
|
|
/// </summary>
|
||
|
|
FpsMonitor fpsMonitor;
|
||
|
|
|
||
|
|
|
||
|
|
#if UNITY_WEBGL
|
||
|
|
IEnumerator getFilePath_Coroutine;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Use this for initialization
|
||
|
|
void Start()
|
||
|
|
{
|
||
|
|
fpsMonitor = GetComponent<FpsMonitor>();
|
||
|
|
|
||
|
|
webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper>();
|
||
|
|
|
||
|
|
#if UNITY_WEBGL
|
||
|
|
getFilePath_Coroutine = GetFilePath();
|
||
|
|
StartCoroutine(getFilePath_Coroutine);
|
||
|
|
#else
|
||
|
|
if (!string.IsNullOrEmpty(classes))
|
||
|
|
{
|
||
|
|
classes_filepath = Utils.getFilePath("OpenCVForUnity/dnn/" + classes);
|
||
|
|
if (string.IsNullOrEmpty(classes_filepath)) Debug.Log("The file:" + classes + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
if (!string.IsNullOrEmpty(config))
|
||
|
|
{
|
||
|
|
config_filepath = Utils.getFilePath("OpenCVForUnity/dnn/" + config);
|
||
|
|
if (string.IsNullOrEmpty(config_filepath)) Debug.Log("The file:" + config + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
if (!string.IsNullOrEmpty(model))
|
||
|
|
{
|
||
|
|
model_filepath = Utils.getFilePath("OpenCVForUnity/dnn/" + model);
|
||
|
|
if (string.IsNullOrEmpty(model_filepath)) Debug.Log("The file:" + model + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
|
||
|
|
Run();
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if UNITY_WEBGL
|
||
|
|
private IEnumerator GetFilePath()
|
||
|
|
{
|
||
|
|
if (!string.IsNullOrEmpty(classes))
|
||
|
|
{
|
||
|
|
var getFilePathAsync_0_Coroutine = Utils.getFilePathAsync("OpenCVForUnity/dnn/" + classes, (result) =>
|
||
|
|
{
|
||
|
|
classes_filepath = result;
|
||
|
|
});
|
||
|
|
yield return getFilePathAsync_0_Coroutine;
|
||
|
|
|
||
|
|
if (string.IsNullOrEmpty(classes_filepath)) Debug.Log("The file:" + classes + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!string.IsNullOrEmpty(config))
|
||
|
|
{
|
||
|
|
var getFilePathAsync_1_Coroutine = Utils.getFilePathAsync("OpenCVForUnity/dnn/" + config, (result) =>
|
||
|
|
{
|
||
|
|
config_filepath = result;
|
||
|
|
});
|
||
|
|
yield return getFilePathAsync_1_Coroutine;
|
||
|
|
|
||
|
|
if (string.IsNullOrEmpty(config_filepath)) Debug.Log("The file:" + config + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!string.IsNullOrEmpty(model))
|
||
|
|
{
|
||
|
|
var getFilePathAsync_2_Coroutine = Utils.getFilePathAsync("OpenCVForUnity/dnn/" + model, (result) =>
|
||
|
|
{
|
||
|
|
model_filepath = result;
|
||
|
|
});
|
||
|
|
yield return getFilePathAsync_2_Coroutine;
|
||
|
|
|
||
|
|
if (string.IsNullOrEmpty(model_filepath)) Debug.Log("The file:" + model + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
}
|
||
|
|
|
||
|
|
getFilePath_Coroutine = null;
|
||
|
|
|
||
|
|
Run();
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Use this for initialization
|
||
|
|
void Run()
|
||
|
|
{
|
||
|
|
//if true, The error log of the Native side OpenCV will be displayed on the Unity Editor Console.
|
||
|
|
Utils.setDebugMode(true);
|
||
|
|
|
||
|
|
|
||
|
|
if (string.IsNullOrEmpty(model_filepath) || string.IsNullOrEmpty(classes_filepath))
|
||
|
|
{
|
||
|
|
Debug.LogError("model: " + model + " or " + "config: " + config + " or " + "classes: " + classes + " is not loaded.");
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
objectDetector = new YOLOv4ObjectDetector(model_filepath, config_filepath, classes_filepath, new Size(inpWidth, inpHeight), confThreshold, nmsThreshold/*, topK*/);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (string.IsNullOrEmpty(testInputImage))
|
||
|
|
{
|
||
|
|
#if UNITY_ANDROID && !UNITY_EDITOR
|
||
|
|
// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
|
||
|
|
webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
|
||
|
|
#endif
|
||
|
|
webCamTextureToMatHelper.Initialize();
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/////////////////////
|
||
|
|
// TEST
|
||
|
|
|
||
|
|
var getFilePathAsync_0_Coroutine = Utils.getFilePathAsync("OpenCVForUnity/dnn/" + testInputImage, (result) =>
|
||
|
|
{
|
||
|
|
string test_input_image_filepath = result;
|
||
|
|
if (string.IsNullOrEmpty(test_input_image_filepath)) Debug.Log("The file:" + testInputImage + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
|
||
|
|
|
||
|
|
Mat img = Imgcodecs.imread(test_input_image_filepath);
|
||
|
|
if (img.empty())
|
||
|
|
{
|
||
|
|
img = new Mat(424, 640, CvType.CV_8UC3, new Scalar(0, 0, 0));
|
||
|
|
Imgproc.putText(img, testInputImage + " is not loaded.", new Point(5, img.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||
|
|
Imgproc.putText(img, "Please read console message.", new Point(5, img.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TickMeter tm = new TickMeter();
|
||
|
|
tm.start();
|
||
|
|
|
||
|
|
Mat results = objectDetector.infer(img);
|
||
|
|
|
||
|
|
tm.stop();
|
||
|
|
Debug.Log("YOLOv4ObjectDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
|
||
|
|
|
||
|
|
objectDetector.visualize(img, results, true, false);
|
||
|
|
}
|
||
|
|
|
||
|
|
gameObject.transform.localScale = new Vector3(img.width(), img.height(), 1);
|
||
|
|
float imageWidth = img.width();
|
||
|
|
float imageHeight = img.height();
|
||
|
|
float widthScale = (float)Screen.width / imageWidth;
|
||
|
|
float heightScale = (float)Screen.height / imageHeight;
|
||
|
|
if (widthScale < heightScale)
|
||
|
|
{
|
||
|
|
Camera.main.orthographicSize = (imageWidth * (float)Screen.height / (float)Screen.width) / 2;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Camera.main.orthographicSize = imageHeight / 2;
|
||
|
|
}
|
||
|
|
|
||
|
|
Imgproc.cvtColor(img, img, Imgproc.COLOR_BGR2RGB);
|
||
|
|
Texture2D texture = new Texture2D(img.cols(), img.rows(), TextureFormat.RGB24, false);
|
||
|
|
Utils.matToTexture2D(img, texture);
|
||
|
|
gameObject.GetComponent<Renderer>().material.mainTexture = texture;
|
||
|
|
|
||
|
|
});
|
||
|
|
StartCoroutine(getFilePathAsync_0_Coroutine);
|
||
|
|
|
||
|
|
/////////////////////
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the webcam texture to mat helper initialized event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnWebCamTextureToMatHelperInitialized()
|
||
|
|
{
|
||
|
|
Debug.Log("OnWebCamTextureToMatHelperInitialized");
|
||
|
|
|
||
|
|
Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
|
||
|
|
|
||
|
|
texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
|
||
|
|
Utils.matToTexture2D(webCamTextureMat, texture);
|
||
|
|
|
||
|
|
gameObject.GetComponent<Renderer>().material.mainTexture = texture;
|
||
|
|
|
||
|
|
gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);
|
||
|
|
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
|
||
|
|
|
||
|
|
if (fpsMonitor != null)
|
||
|
|
{
|
||
|
|
fpsMonitor.Add("width", webCamTextureMat.width().ToString());
|
||
|
|
fpsMonitor.Add("height", webCamTextureMat.height().ToString());
|
||
|
|
fpsMonitor.Add("orientation", Screen.orientation.ToString());
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
float width = webCamTextureMat.width();
|
||
|
|
float height = webCamTextureMat.height();
|
||
|
|
|
||
|
|
float widthScale = (float)Screen.width / width;
|
||
|
|
float heightScale = (float)Screen.height / height;
|
||
|
|
if (widthScale < heightScale)
|
||
|
|
{
|
||
|
|
Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Camera.main.orthographicSize = height / 2;
|
||
|
|
}
|
||
|
|
|
||
|
|
bgrMat = new Mat(webCamTextureMat.rows(), webCamTextureMat.cols(), CvType.CV_8UC3);
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the webcam texture to mat helper disposed event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnWebCamTextureToMatHelperDisposed()
|
||
|
|
{
|
||
|
|
Debug.Log("OnWebCamTextureToMatHelperDisposed");
|
||
|
|
|
||
|
|
if (bgrMat != null)
|
||
|
|
bgrMat.Dispose();
|
||
|
|
|
||
|
|
if (texture != null)
|
||
|
|
{
|
||
|
|
Texture2D.Destroy(texture);
|
||
|
|
texture = null;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the webcam texture to mat helper error occurred event.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="errorCode">Error code.</param>
|
||
|
|
public void OnWebCamTextureToMatHelperErrorOccurred(WebCamTextureToMatHelper.ErrorCode errorCode)
|
||
|
|
{
|
||
|
|
Debug.Log("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update is called once per frame
|
||
|
|
void Update()
|
||
|
|
{
|
||
|
|
|
||
|
|
if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
|
||
|
|
{
|
||
|
|
|
||
|
|
Mat rgbaMat = webCamTextureToMatHelper.GetMat();
|
||
|
|
|
||
|
|
if (objectDetector == null)
|
||
|
|
{
|
||
|
|
Imgproc.putText(rgbaMat, "model file is not loaded.", new Point(5, rgbaMat.rows() - 30), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||
|
|
Imgproc.putText(rgbaMat, "Please read console message.", new Point(5, rgbaMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.7, new Scalar(255, 255, 255, 255), 2, Imgproc.LINE_AA, false);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);
|
||
|
|
|
||
|
|
//TickMeter tm = new TickMeter();
|
||
|
|
//tm.start();
|
||
|
|
|
||
|
|
Mat results = objectDetector.infer(bgrMat);
|
||
|
|
|
||
|
|
//tm.stop();
|
||
|
|
//Debug.Log("YOLOv4ObjectDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
|
||
|
|
|
||
|
|
Imgproc.cvtColor(bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
|
||
|
|
|
||
|
|
objectDetector.visualize(rgbaMat, results, false, true);
|
||
|
|
}
|
||
|
|
|
||
|
|
Utils.matToTexture2D(rgbaMat, texture);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the destroy event.
|
||
|
|
/// </summary>
|
||
|
|
void OnDestroy()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Dispose();
|
||
|
|
|
||
|
|
if (objectDetector != null)
|
||
|
|
objectDetector.dispose();
|
||
|
|
|
||
|
|
Utils.setDebugMode(false);
|
||
|
|
|
||
|
|
#if UNITY_WEBGL
|
||
|
|
if (getFilePath_Coroutine != null)
|
||
|
|
{
|
||
|
|
StopCoroutine(getFilePath_Coroutine);
|
||
|
|
((IDisposable)getFilePath_Coroutine).Dispose();
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the back button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnBackButtonClick()
|
||
|
|
{
|
||
|
|
SceneManager.LoadScene("OpenCVForUnityExample");
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the play button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPlayButtonClick()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Play();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the pause button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnPauseButtonClick()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Pause();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the stop button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnStopButtonClick()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.Stop();
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Raises the change camera button click event.
|
||
|
|
/// </summary>
|
||
|
|
public void OnChangeCameraButtonClick()
|
||
|
|
{
|
||
|
|
webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.requestedIsFrontFacing;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|