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

using OpenCVForUnity.CoreModule;
using OpenCVForUnity.DnnModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.UnityUtils;
using OpenCVForUnity.UnityUtils.Helper;
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 int inpWidth = 416;
    //public int inpHeight = 416;
    //public float confThreshold = 0.35f;
    //public float nmsThreshold = 0.6f;
    //public int topK = 1000;
    //private double threshold = 0.5;

    private Net _net;
    private KeypointsModel _openPoseModel;

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

        //先用YOLOv7检测人体，再用OpenPose检测人体姿态
        //if (args.Length < 1)
        //    throw new ArgumentException("CVEstimator.Init: args.Length < 2");

        //_objectDetector = args[0] as YOLOv7ObjectDetector;
        //if (_objectDetector == null)
        //    throw new ArgumentException("CVEstimator.Init: args[0] is not YOLOv7ObjectDetector");

        //_openPoseModel = args[1] as KeypointsModel;
        //if (_openPoseModel == null)
        //    throw new ArgumentException("CVEstimator.Init: args[1] is not KeypointsModel");

        _mainThread = new Thread(new ThreadStart(MainThread));
        _mainThread.Start();

        IsInited = true;
    }

    public void StartEstimation()
    {
        if (!IsInited)
        {
            Debug.LogError("CVEstimator is not inited. ");
            return;
        }
        _estimateThread.Start();
        if (IsRunning)
        {
            return;
        }
        IsRunning = true;
    }

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

    private void MainThread()
    {
        //加载模型
        Utils.setDebugMode(true); //打印日志
        //解析数据
        _estimateThread = new Thread(new ThreadStart(Estimation));
    }

    private void Estimation()
    {
        DateTime startTime = DateTime.Now;
        Mat bgrMat = new Mat();
        while (IsRunning)
        {
            Mat rgbaMat = MotionCaptureManager.Instance.RgbaMat;
            if (rgbaMat == null)
            {
                Debug.Log("WebCamTexture is null. ");
                Debug.Log("Re-Estimation.");
                continue; //重新检测
            }
            Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);

            if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(bgrMat, rgbaMat, out Mat result))
            {
                continue; //重新检测
            }

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

            //更新关键点位检测结果
            MotionCaptureManager.Instance.CurrPersonPoints = 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));
            }
        }
        bgrMat.Dispose();
    }
}