144 lines
4.0 KiB
C#
144 lines
4.0 KiB
C#
using OpenCVForUnity.CoreModule;
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using OpenCVForUnity.DnnModule;
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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 System;
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using System.Collections.Generic;
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using System.Threading;
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using UnityEngine;
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using Yoga;
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public class CVEstimator : Singleton<CVEstimator>
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{
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private bool isInited = false;
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public bool IsInited { get => isInited; private set => isInited = value; }
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public bool IsRunning { get; private set; }
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private Thread _mainThread;
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private Thread _estimateThread;
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private static readonly TimeSpan _refreshRate = TimeSpan.FromSeconds(1 / 30);
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//public int inpWidth = 416;
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//public int inpHeight = 416;
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//public float confThreshold = 0.35f;
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//public float nmsThreshold = 0.6f;
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//public int topK = 1000;
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//private double threshold = 0.5;
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private Net _net;
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private KeypointsModel _openPoseModel;
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public void Init(params object[] args)
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{
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if (IsInited)
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{
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return;
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}
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if (_mainThread != null)
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{
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_mainThread.Abort();
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_mainThread = null;
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}
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//先用YOLOv7检测人体，再用OpenPose检测人体姿态
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//if (args.Length < 1)
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// throw new ArgumentException("CVEstimator.Init: args.Length < 2");
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//_objectDetector = args[0] as YOLOv7ObjectDetector;
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//if (_objectDetector == null)
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// throw new ArgumentException("CVEstimator.Init: args[0] is not YOLOv7ObjectDetector");
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//_openPoseModel = args[1] as KeypointsModel;
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//if (_openPoseModel == null)
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// throw new ArgumentException("CVEstimator.Init: args[1] is not KeypointsModel");
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_mainThread = new Thread(new ThreadStart(MainThread));
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_mainThread.Start();
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IsInited = true;
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}
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public void StartEstimation()
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{
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if (!IsInited)
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{
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Debug.LogError("CVEstimator is not inited. ");
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return;
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}
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_estimateThread.Start();
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if (IsRunning)
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{
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return;
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}
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IsRunning = true;
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}
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public void Dispose()
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{
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if (!IsInited)
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{
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return;
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}
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IsRunning = false;
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_estimateThread.Abort();
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_mainThread.Abort();
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IsInited = false;
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}
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private void MainThread()
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{
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//加载模型
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Utils.setDebugMode(true); //打印日志
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//解析数据
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_estimateThread = new Thread(new ThreadStart(Estimation));
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}
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private void Estimation()
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{
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DateTime startTime = DateTime.Now;
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Mat bgrMat = new Mat();
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while (IsRunning)
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{
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Mat rgbaMat = MotionCaptureManager.Instance.RgbaMat;
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if (rgbaMat == null)
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{
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Debug.Log("WebCamTexture is null. ");
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Debug.Log("Re-Estimation.");
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continue; //重新检测
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}
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Imgproc.cvtColor(rgbaMat, bgrMat, Imgproc.COLOR_RGBA2BGR);
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if (!YogaManager.Instance.CurrentEstimator.TryGetROIRegionMat(rgbaMat, bgrMat, out List<float[]> voloResultBox))
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{
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continue; //重新检测
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}
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//更新人物框检测结果
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MotionCaptureManager.Instance.VoloResult = voloResultBox;
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if (!YogaManager.Instance.CurrentEstimator.Esitmate(bgrMat, voloResultBox, out List<Point> points))
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{
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Debug.LogWarning("Pose estimation failed. Re-Estimating.");
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continue; //重新检测
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}
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//更新关键点位检测结果
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MotionCaptureManager.Instance.CurrPersonPoints = points;
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//等待到下一个更新周期
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if (DateTime.Now - startTime > _refreshRate)
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{
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startTime = DateTime.Now;
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}
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else
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{
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Thread.Sleep(_refreshRate - (DateTime.Now - startTime));
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}
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}
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bgrMat.Dispose();
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}
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} |