抬手动作+切换mediapipe模型

Assets/OpenCVForUnity/Examples/MainModules/dnn/PoseEstimationMediaPipeExample/MediaPipePoseEstimator.cs

@@ -462,7 +462,6 @@ namespace OpenCVForUnityExample.DnnModel
             float[] landmarks_presence = new float[(39 - auxiliary_points_num)];
             results_col4_199_39x5.colRange(new OpenCVRange(4, 5)).get(0, 0, landmarks_presence);
 
-
             Mat results_col199_316_39x3 = results.rowRange(new OpenCVRange(199, 316 - (3 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
             float[] landmarks_world = new float[(39 - auxiliary_points_num) * 3];
             results_col199_316_39x3.get(0, 0, landmarks_world);

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-    bottomRight: {r: 1, g: 1, b: 1, a: 1}
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Assets/Scripts/PoseCheck/EstimateModel/CVEstimator.cs

@@ -100,7 +100,6 @@ public class CVEstimator : Singleton<CVEstimator>
     {
         DateTime startTime = DateTime.Now;
         Mat bgrMat = new Mat();
-
         while (IsRunning)
         {
             Mat rgbaMat = MotionCaptureManager.Instance.RgbaMat;
@@ -112,15 +111,12 @@ public class CVEstimator : Singleton<CVEstimator>
             }
             Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);
 
-            if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(rgbaMat, bgrMat, out List<float[]> voloResultBox))
+            if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(bgrMat, rgbaMat, out Mat result))
             {
                 continue; //重新检测
             }
 
-            //更新人物框检测结果
+            if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, rgbaMat, result, out List<Point> points))
-            MotionCaptureManager.Instance.VoloResult = voloResultBox;
-
-            if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, voloResultBox, out List<Point> points))
             {
                 Debug.LogWarning("Pose estimation failed. Re-Estimating.");
                 continue; //重新检测

Assets/Scripts/PoseCheck/EstimateModel/Estimator.cs

@@ -37,9 +37,9 @@ public abstract class Estimator
     public abstract void DisposeModel();
 
     //检测到的人体框 默认使用VOLO7
-    public virtual bool TryGetROIRegionMat(Mat rgbaMat, Mat bgrMat, out List<float[]> voloResult)
+    public virtual bool TryGetROIRegionMat(Mat bgrMat, Mat rgbaMat, out Mat result)
     {
-        voloResult = null;
+        result = null;
         if (_objectDetector == null)
         {
             Debug.LogWarning("ObjectDetector is not ready. ");
@@ -47,37 +47,8 @@ public abstract class Estimator
         }
 
         //获取数据
-        Mat results = _objectDetector.infer(bgrMat);
+        result = _objectDetector.infer(bgrMat);
-        var voloResultBox = new List<float[]>();
-        bool hasValidObject = false;
-        for (int i = results.rows() - 1; i >= 0; --i)
-        {
-            float[] box = new float[4];
-            results.get(i, 0, box); //方框
-            float[] conf = new float[1];
-            results.get(i, 4, conf); //检测数据
-            float[] cls = new float[1];
-            results.get(i, 5, cls); //类别
 
-            if (!IsObjectValid(box, conf, cls, rgbaMat))
-            {
-                return false;
-            }
-            hasValidObject = true;
-            voloResultBox.Clear();
-            voloResultBox.Add(box);
-            voloResultBox.Add(conf);
-            voloResultBox.Add(cls);
-            break;
-        }
-
-        if (!hasValidObject) //没有检测到人体
-        {
-            Debug.Log("No person block found. Re-Estimation.");
-            return false; //重新检测
-        }
-
-        voloResult = voloResultBox;
         return true;
     }
 
@@ -128,7 +99,7 @@ public abstract class Estimator
         Imgproc.putText(image, label, new Point(left, top), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, Scalar.all(255), 1, Imgproc.LINE_AA);
     }
 
-    public abstract bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points);
+    public abstract bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat result, out List<Point> points);
 
     public virtual void Check(ref Mat img) { }
 }

Assets/Scripts/PoseCheck/EstimateModel/MediaPipeEstimator.cs

@@ -1,21 +1,148 @@
 using OpenCVForUnity.CoreModule;
+using OpenCVForUnity.ImgprocModule;
+using OpenCVForUnity.UnityUtils;
+using OpenCVForUnityExample.DnnModel;
 using System;
 using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Experimental.GlobalIllumination;
+using static UnityEngine.Networking.UnityWebRequest;
+using OpenCVRange = OpenCVForUnity.CoreModule.Range;
 
 public class MediaPipeEstimator : Estimator
 {
+    private MediaPipePersonDetector _personDetector;
+    private MediaPipePoseEstimator _poseEstimator;
+    private bool _mask = false;
     public override void InitModel()
     {
-        throw new NotImplementedException();
+        var personDetectModelPath = Utils.getFilePath(YogaConfig.MODEL_PATHS[ModelType.MediapipePersonDetect]);
+        if (string.IsNullOrEmpty(personDetectModelPath))
+        {
+            Debug.LogError(YogaConfig.MODEL_PATHS[ModelType.MediapipePersonDetect] + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
+        }
+        else
+        {
+            _personDetector = new MediaPipePersonDetector(personDetectModelPath, 0.3f, 0.6f, 5000);
+        }
+
+        var poseModelPath = Utils.getFilePath(YogaConfig.MODEL_PATHS[ModelType.MediapipePose]);
+        if (string.IsNullOrEmpty(poseModelPath))
+        {
+            Debug.LogError(YogaConfig.MODEL_PATHS[ModelType.MediapipePose] + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
+        }
+        else
+        {
+            _poseEstimator = new MediaPipePoseEstimator(poseModelPath, 0.9f);
+        }
     }
 
-    public override bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points)
+    public override void Check(ref Mat img)
     {
-        throw new NotImplementedException();
+        if (_personDetector == null || _poseEstimator == null)
+        {
+            Imgproc.putText(img, "model file 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);
+        }
+    }
+
+    public override bool TryGetROIRegionMat(Mat bgrMat, Mat rgbaMat, out Mat result)
+    {
+        result = _personDetector.infer(bgrMat);
+
+        if (result.rows() == 0)
+        {
+            return false;
+        }
+
+        return true;
+    }
+
+    public override bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat result, out List<Point> points)
+    {
+        points = null;
+        for (int i = 0; i < result.rows(); ++i)
+        {
+            List<Mat> results = _poseEstimator.infer(bgrMat, result.row(i));
+
+            //_poseEstimator.visualize(rgbaMat, results[0], false, false);
+
+            points = GetKeypoints(results[0]);
+            if (points != null && YogaManager.Instance.ActionCheckPoints(points))
+            {
+                return true;
+            }
+        }
+        //没有检测到人体
+        return false;
+    }
+
+    private List<Point> GetKeypoints(Mat result)
+    {
+        var retVal = new List<Point>();
+        if (result.empty() || result.rows() < 317)
+            return retVal;
+
+        //获取关键点
+        float[] conf = new float[1];
+        result.get(316, 0, conf);
+        float[] bbox = new float[4];
+        result.get(0, 0, bbox);
+
+        int auxiliary_points_num = 6;
+        Mat results_col4_199_39x5 = result.rowRange(new OpenCVRange(4, 199 - (5 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
+        float[] landmarks_screen_xy = new float[(39 - auxiliary_points_num) * 2];
+        results_col4_199_39x5.colRange(new OpenCVRange(0, 2)).get(0, 0, landmarks_screen_xy);
+
+        float[] landmarks_screen_xyz = new float[(39 - auxiliary_points_num) * 3];
+        results_col4_199_39x5.colRange(new OpenCVRange(0, 3)).get(0, 0, landmarks_screen_xyz);
+
+        // # only show visible keypoints which presence bigger than 0.8
+        float[] landmarks_presence = new float[(39 - auxiliary_points_num)];
+        results_col4_199_39x5.colRange(new OpenCVRange(4, 5)).get(0, 0, landmarks_presence);
+
+
+        Mat results_col199_316_39x3 = result.rowRange(new OpenCVRange(199, 316 - (3 * auxiliary_points_num))).reshape(1, 39 - auxiliary_points_num);
+        float[] landmarks_world = new float[(39 - auxiliary_points_num) * 3];
+        results_col199_316_39x3.get(0, 0, landmarks_world);
+
+
+
+        //将关键点映射到现有的open pose关键点上
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 0)); //Nose
+        retVal.Add(new Point(-1, -1)); //Neck
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 11)); //LShoulder
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 13)); //LElbow
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 15)); //LWrist
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 12)); //RShoulder
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 14)); //RElbow
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 16)); //RWrist
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 23)); //LHip
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 25)); //LKnee
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 27)); //LAnkle
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 24)); //RHip
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 26)); //RKnee
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 28)); //RAnkle
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 2)); //LEye
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 5)); //REye
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 7)); //LEar
+        retVal.Add(GetPointData(landmarks_screen_xy, landmarks_presence, 8)); //REar
+        retVal.Add(new Point(-1, -1)); //Background
+
+        return retVal;
+    }
+
+    private Point GetPointData(float[] landmarks, float[] _landmarks_presence, int index)
+    {
+        if (_landmarks_presence[index] < 0.8f)
+            return null;
+        
+        index = index * 2;
+        return new Point(landmarks[index], landmarks[index + 1]);
     }
 
     public override void DisposeModel()
     {
-        throw new NotImplementedException();
+        
     }
 }

Assets/Scripts/PoseCheck/EstimateModel/OpenPoseEsimater.cs

@@ -6,6 +6,7 @@ using System;
 using System.Collections.Generic;
 using UnityEngine;
 using Yoga;
+using static UnityEngine.Networking.UnityWebRequest;
 
 public class OpenPoseEsimater : Estimator
 {
@@ -39,8 +40,42 @@ public class OpenPoseEsimater : Estimator
             _net.Dispose();
     }
 
-    public override bool Esitmate(Mat bgrMat, List<float[]> voloResultBox, out List<Point> points)
+    public override bool Esitmate(Mat bgrMat, Mat rgbaMat, Mat results, out List<Point> points)
     {
+        var voloResultBox = new List<float[]>();
+        points = null;
+        bool hasValidObject = false;
+
+        for (int i = results.rows() - 1; i >= 0; --i)
+        {
+            float[] box = new float[4];
+            results.get(i, 0, box); //方框
+            float[] conf = new float[1];
+            results.get(i, 4, conf); //检测数据
+            float[] cls = new float[1];
+            results.get(i, 5, cls); //类别
+
+            if (!IsObjectValid(box, conf, cls, rgbaMat))
+            {
+                return false;
+            }
+            hasValidObject = true;
+            voloResultBox.Clear();
+            voloResultBox.Add(box);
+            voloResultBox.Add(conf);
+            voloResultBox.Add(cls);
+            break;
+        }
+
+        if (!hasValidObject) //没有检测到人体
+        {
+            Debug.Log("No person block found. Re-Estimation.");
+            return false; //重新检测
+        }
+
+        //更新人物框检测结果
+        MotionCaptureManager.Instance.VoloResult = voloResultBox;
+
         points = null;
 
         if (_openPoseModel == null)

Assets/Scripts/PoseCheck/HandsUp.cs

@@ -1,11 +1,13 @@
 using OpenCVForUnity.CoreModule;
+using System;
 using System.Collections.Generic;
+using UnityEngine;
 
 public class HandsUp : PoseBase
 {
     public override bool CheckPose(List<Point> points)
     {
-        // 必须包含 Neck 和 LEar 和 Neck 的点位
+        // 必须包含 "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" 点位
         if (!YogaManager.Instance.ActionCheckPoints(points))
             return false;
 
@@ -13,6 +15,21 @@ public class HandsUp : PoseBase
         if (!YogaManager.Instance.ActionCheckPoints(basePoint))
             return false;
 
-        return false;
+
+        var rArmVector = ("RElbow".vector(points) - "RShoulder".vector(points)).normalized;
+        var lArmVector = ("LElbow".vector(points) - "LShoulder".vector(points)).normalized;
+
+        var rArmBaseVector = ("RElbow".vector(basePoint) - "RShoulder".vector(basePoint)).normalized;
+        var lArmBaseVector = ("LElbow".vector(basePoint) - "LShoulder".vector(basePoint)).normalized;
+
+        var angleR = Vector3.Angle(rArmVector, rArmBaseVector);
+        var angleL = Vector3.Angle(lArmVector, lArmBaseVector);
+
+        Debug.LogWarning("angleR:" + angleR + " angleL:" + angleL);
+
+        if (angleR < 10 || angleL < 10)
+            return false;
+
+        return true;
     }
 }

Assets/Scripts/PoseCheck/MotionCaptureManager.cs

@@ -61,6 +61,12 @@ namespace Yoga
             base.Init();
 
             _webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper>();
+
+#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();
 
             UIManager.Instance.LoadReset();
@@ -78,7 +84,7 @@ namespace Yoga
                 case ModelType.OpenPose:
                     YogaManager.Instance.CurrentEstimator = new OpenPoseEsimater();
                     break;
-                case ModelType.Mediapipe:
+                case ModelType.MediapipePose:
                     YogaManager.Instance.CurrentEstimator = new MediaPipeEstimator();
                     break;
             }

Assets/Scripts/YogaConfig.cs

@@ -57,6 +57,8 @@ public static class YogaConfig
     public static readonly Dictionary<ModelType, string> MODEL_PATHS = new Dictionary<ModelType, string>()
     {
         {ModelType.OpenPose,"OpenCVForUnity/dnn/lightweight_pose_estimation_201912.onnx" },
+        {ModelType.MediapipePersonDetect,"OpenCVForUnity/dnn/person_detection_mediapipe_2023mar.onnx" },
+        {ModelType.MediapipePose,"OpenCVForUnity/dnn/pose_estimation_mediapipe_2023mar.onnx" },
         //{"","" },
     };
 

Assets/Scripts/YogaDataLoader.cs

@@ -13,12 +13,12 @@ public class YogaDataLoader
 #if UNITY_EDITOR
         data[-1] = new YogaData()
         {
-            VideoPath = "Video/Action2",
+            VideoPath = "Video/Action3",
-            Action = AvatarAction.Nod,
+            Action = AvatarAction.HandsUp,
-            ModelType = ModelType.OpenPose,
+            ModelType = ModelType.MediapipePose,
             MaxActionCount = 1000,
             TotalSeconds = 20.0f,
-            MustPoints = new List<string>() { "Nose", "REye", "LEye", "Neck" },
+            MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" },
             //AnyPoints = new List<string>() { "RWrist", "LWrist" }
         };
 #endif
@@ -44,10 +44,10 @@ public class YogaDataLoader
         {
             VideoPath = "Video/Action3",
             Action = AvatarAction.HandsUp,
-            ModelType = ModelType.OpenPose,
+            ModelType = ModelType.MediapipePose,
             MaxActionCount = 4,
             TotalSeconds = 12.66f,
-            MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RightWrist" }
+            MustPoints = new List<string>() { "Nose", "RShoulder", "LShoulder", "RElbow", "LElbow" }
         };
 
         if (data.ContainsKey(index))
@@ -76,6 +76,7 @@ public enum ModelType
 {
     OpenPose,
     YoloV7,
-    Mediapipe,
+    MediapipePose,
+    MediapipePersonDetect,
     //,
 }

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Assets/UI/Img/seat.png.meta

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