422 lines
15 KiB
C#
422 lines
15 KiB
C#
#if !UNITY_WSA_10_0
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using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.ImgcodecsModule;
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using OpenCVForUnity.ImgprocModule;
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using OpenCVForUnity.UnityUtils;
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using OpenCVForUnity.UnityUtils.Helper;
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using OpenCVForUnityExample.DnnModel;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnityEngine.SceneManagement;
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namespace OpenCVForUnityExample
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{
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/// <summary>
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/// Hand Pose Estimation MediaPipe Example
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/// An example of using OpenCV dnn module with Hand Pose Estimation.
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/// Referring to https://github.com/opencv/opencv_zoo/tree/master/models/handpose_estimation_mediapipe
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/// </summary>
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[RequireComponent(typeof(WebCamTextureToMatHelper))]
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public class HandPoseEstimationMediaPipeExample : MonoBehaviour
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{
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[Header("TEST")]
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[TooltipAttribute("Path to test input image.")]
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public string testInputImage;
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/// <summary>
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/// The texture.
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/// </summary>
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Texture2D texture;
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/// <summary>
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/// The webcam texture to mat helper.
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/// </summary>
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WebCamTextureToMatHelper webCamTextureToMatHelper;
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/// <summary>
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/// The bgr mat.
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/// </summary>
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Mat bgrMat;
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/// <summary>
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/// The palm detector.
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/// </summary>
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MediaPipePalmDetector palmDetector;
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/// <summary>
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/// The handpose estimator.
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/// </summary>
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MediaPipeHandPoseEstimator handPoseEstimator;
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/// <summary>
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/// The FPS monitor.
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/// </summary>
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FpsMonitor fpsMonitor;
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/// <summary>
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/// PALM_DETECTION_MODEL_FILENAME
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/// </summary>
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protected static readonly string PALM_DETECTION_MODEL_FILENAME = "OpenCVForUnity/dnn/palm_detection_mediapipe_2023feb.onnx";
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/// <summary>
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/// The palm detection model filepath.
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/// </summary>
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string palm_detection_model_filepath;
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/// <summary>
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/// HANDPOSE_ESTIMATION_MODEL_FILENAME
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/// </summary>
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protected static readonly string HANDPOSE_ESTIMATION_MODEL_FILENAME = "OpenCVForUnity/dnn/handpose_estimation_mediapipe_2023feb.onnx";
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/// <summary>
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/// The handpose estimation model filepath.
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/// </summary>
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string handpose_estimation_model_filepath;
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#if UNITY_WEBGL
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IEnumerator getFilePath_Coroutine;
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#endif
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// Use this for initialization
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void Start()
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{
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fpsMonitor = GetComponent<FpsMonitor>();
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webCamTextureToMatHelper = gameObject.GetComponent<WebCamTextureToMatHelper>();
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#if UNITY_WEBGL
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getFilePath_Coroutine = GetFilePath();
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StartCoroutine(getFilePath_Coroutine);
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#else
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palm_detection_model_filepath = Utils.getFilePath(PALM_DETECTION_MODEL_FILENAME);
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handpose_estimation_model_filepath = Utils.getFilePath(HANDPOSE_ESTIMATION_MODEL_FILENAME);
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Run();
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#endif
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}
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#if UNITY_WEBGL
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private IEnumerator GetFilePath()
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{
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var getFilePathAsync_0_Coroutine = Utils.getFilePathAsync(PALM_DETECTION_MODEL_FILENAME, (result) =>
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{
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palm_detection_model_filepath = result;
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});
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yield return getFilePathAsync_0_Coroutine;
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var getFilePathAsync_1_Coroutine = Utils.getFilePathAsync(HANDPOSE_ESTIMATION_MODEL_FILENAME, (result) =>
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{
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handpose_estimation_model_filepath = result;
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});
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yield return getFilePathAsync_1_Coroutine;
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getFilePath_Coroutine = null;
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Run();
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}
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#endif
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// Use this for initialization
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void Run()
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{
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//if true, The error log of the Native side OpenCV will be displayed on the Unity Editor Console.
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Utils.setDebugMode(true);
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if (string.IsNullOrEmpty(palm_detection_model_filepath))
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{
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Debug.LogError(PALM_DETECTION_MODEL_FILENAME + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
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}
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else
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{
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palmDetector = new MediaPipePalmDetector(palm_detection_model_filepath, 0.3f, 0.6f);
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}
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if (string.IsNullOrEmpty(handpose_estimation_model_filepath))
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{
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Debug.LogError(HANDPOSE_ESTIMATION_MODEL_FILENAME + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
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}
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else
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{
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handPoseEstimator = new MediaPipeHandPoseEstimator(handpose_estimation_model_filepath, 0.9f);
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}
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if (string.IsNullOrEmpty(testInputImage))
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{
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#if UNITY_ANDROID && !UNITY_EDITOR
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// Avoids the front camera low light issue that occurs in only some Android devices (e.g. Google Pixel, Pixel2).
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webCamTextureToMatHelper.avoidAndroidFrontCameraLowLightIssue = true;
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#endif
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webCamTextureToMatHelper.Initialize();
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}
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else
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{
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/////////////////////
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// TEST
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var getFilePathAsync_0_Coroutine = Utils.getFilePathAsync("OpenCVForUnity/dnn/" + testInputImage, (result) =>
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{
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string test_input_image_filepath = result;
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if (string.IsNullOrEmpty(test_input_image_filepath)) Debug.Log("The file:" + testInputImage + " did not exist in the folder “Assets/StreamingAssets/OpenCVForUnity/dnn”.");
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Mat img = Imgcodecs.imread(test_input_image_filepath);
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if (img.empty())
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{
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img = new Mat(424, 640, CvType.CV_8UC3, new Scalar(0, 0, 0));
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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);
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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);
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}
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else
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{
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TickMeter tm = new TickMeter();
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tm.start();
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Mat palms = palmDetector.infer(img);
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tm.stop();
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Debug.Log("MediaPipePalmDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
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List<Mat> hands = new List<Mat>();
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// Estimate the pose of each hand
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for (int i = 0; i < palms.rows(); ++i)
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{
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tm.reset();
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tm.start();
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// Handpose estimator inference
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Mat handpose = handPoseEstimator.infer(img, palms.row(i));
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tm.stop();
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Debug.Log("MediaPipeHandPoseEstimator Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
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if (!handpose.empty())
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hands.Add(handpose);
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}
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//palmDetector.visualize(img, palms, true, false);
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handPoseEstimator.visualize(img, hands, true, false);
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}
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gameObject.transform.localScale = new Vector3(img.width(), img.height(), 1);
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float imageWidth = img.width();
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float imageHeight = img.height();
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float widthScale = (float)Screen.width / imageWidth;
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float heightScale = (float)Screen.height / imageHeight;
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if (widthScale < heightScale)
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{
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Camera.main.orthographicSize = (imageWidth * (float)Screen.height / (float)Screen.width) / 2;
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}
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else
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{
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Camera.main.orthographicSize = imageHeight / 2;
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}
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Imgproc.cvtColor(img, img, Imgproc.COLOR_BGR2RGB);
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Texture2D texture = new Texture2D(img.cols(), img.rows(), TextureFormat.RGB24, false);
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Utils.matToTexture2D(img, texture);
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gameObject.GetComponent<Renderer>().material.mainTexture = texture;
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});
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StartCoroutine(getFilePathAsync_0_Coroutine);
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/////////////////////
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}
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}
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/// <summary>
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/// Raises the webcam texture to mat helper initialized event.
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/// </summary>
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public void OnWebCamTextureToMatHelperInitialized()
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{
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Debug.Log("OnWebCamTextureToMatHelperInitialized");
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Mat webCamTextureMat = webCamTextureToMatHelper.GetMat();
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texture = new Texture2D(webCamTextureMat.cols(), webCamTextureMat.rows(), TextureFormat.RGBA32, false);
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Utils.matToTexture2D(webCamTextureMat, texture);
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gameObject.GetComponent<Renderer>().material.mainTexture = texture;
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gameObject.transform.localScale = new Vector3(webCamTextureMat.cols(), webCamTextureMat.rows(), 1);
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Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
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if (fpsMonitor != null)
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{
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fpsMonitor.Add("width", webCamTextureMat.width().ToString());
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fpsMonitor.Add("height", webCamTextureMat.height().ToString());
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fpsMonitor.Add("orientation", Screen.orientation.ToString());
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}
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float width = webCamTextureMat.width();
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float height = webCamTextureMat.height();
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float widthScale = (float)Screen.width / width;
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float heightScale = (float)Screen.height / height;
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if (widthScale < heightScale)
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{
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Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
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}
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else
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{
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Camera.main.orthographicSize = height / 2;
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}
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bgrMat = new Mat(webCamTextureMat.rows(), webCamTextureMat.cols(), CvType.CV_8UC3);
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}
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/// <summary>
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/// Raises the webcam texture to mat helper disposed event.
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/// </summary>
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public void OnWebCamTextureToMatHelperDisposed()
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{
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Debug.Log("OnWebCamTextureToMatHelperDisposed");
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if (bgrMat != null)
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bgrMat.Dispose();
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if (texture != null)
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{
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Texture2D.Destroy(texture);
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texture = null;
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}
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}
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/// <summary>
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/// Raises the webcam texture to mat helper error occurred event.
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/// </summary>
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/// <param name="errorCode">Error code.</param>
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public void OnWebCamTextureToMatHelperErrorOccurred(WebCamTextureToMatHelper.ErrorCode errorCode)
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{
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Debug.Log("OnWebCamTextureToMatHelperErrorOccurred " + errorCode);
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}
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// Update is called once per frame
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void Update()
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{
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if (webCamTextureToMatHelper.IsPlaying() && webCamTextureToMatHelper.DidUpdateThisFrame())
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{
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Mat rgbaMat = webCamTextureToMatHelper.GetMat();
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if (palmDetector == null || handPoseEstimator == null)
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{
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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);
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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);
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}
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else
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{
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Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);
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//TickMeter tm = new TickMeter();
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//tm.start();
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Mat palms = palmDetector.infer(bgrMat);
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//tm.stop();
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//Debug.Log("MediaPipePalmDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
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List<Mat> hands = new List<Mat>();
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// Estimate the pose of each hand
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for (int i = 0; i < palms.rows(); ++i)
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{
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//tm.reset();
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//tm.start();
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// Handpose estimator inference
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Mat handpose = handPoseEstimator.infer(bgrMat, palms.row(i));
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//tm.stop();
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//Debug.Log("MediaPipeHandPoseEstimator Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
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if (!handpose.empty())
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hands.Add(handpose);
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}
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Imgproc.cvtColor(bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
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//palmDetector.visualize(rgbaMat, palms, false, true);
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handPoseEstimator.visualize(rgbaMat, hands, false, true);
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}
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Utils.matToTexture2D(rgbaMat, texture);
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}
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}
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/// <summary>
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/// Raises the destroy event.
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/// </summary>
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void OnDestroy()
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{
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webCamTextureToMatHelper.Dispose();
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if (palmDetector != null)
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palmDetector.dispose();
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if (handPoseEstimator != null)
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handPoseEstimator.dispose();
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Utils.setDebugMode(false);
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#if UNITY_WEBGL
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if (getFilePath_Coroutine != null)
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{
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StopCoroutine(getFilePath_Coroutine);
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((IDisposable)getFilePath_Coroutine).Dispose();
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}
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#endif
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}
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/// <summary>
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/// Raises the back button click event.
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/// </summary>
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public void OnBackButtonClick()
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{
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SceneManager.LoadScene("OpenCVForUnityExample");
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}
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/// <summary>
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/// Raises the play button click event.
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/// </summary>
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public void OnPlayButtonClick()
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{
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webCamTextureToMatHelper.Play();
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}
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/// <summary>
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/// Raises the pause button click event.
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/// </summary>
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public void OnPauseButtonClick()
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{
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webCamTextureToMatHelper.Pause();
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}
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/// <summary>
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/// Raises the stop button click event.
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/// </summary>
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public void OnStopButtonClick()
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{
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webCamTextureToMatHelper.Stop();
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}
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/// <summary>
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/// Raises the change camera button click event.
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/// </summary>
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public void OnChangeCameraButtonClick()
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{
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webCamTextureToMatHelper.requestedIsFrontFacing = !webCamTextureToMatHelper.requestedIsFrontFacing;
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}
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}
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}
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#endif |