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ict.lixian.three/Assets/OpenCVForUnity/Examples/MainModules/dnn/HandPoseEstimationExample/HandPoseEstimationExample.cs

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#if !(PLATFORM_LUMIN && !UNITY_EDITOR)
#if !UNITY_WSA_10_0
using System;
using System.Collections;
using System.Collections.Generic;
using System.Text;
using UnityEngine;
using UnityEngine.SceneManagement;
using OpenCVForUnity.CoreModule;
using OpenCVForUnity.DnnModule;
using OpenCVForUnity.ImgprocModule;
using OpenCVForUnity.ImgcodecsModule;
using OpenCVForUnity.UnityUtils;
using OpenCVForUnity.UnityUtils.Helper;
using OpenCVRect = OpenCVForUnity.CoreModule.Rect;
using OpenCVRange = OpenCVForUnity.CoreModule.Range;
namespace OpenCVForUnityExample
{
/// <summary>
/// Hand Pose Estimation Example
/// An example of using OpenCV dnn module with Hand Pose Estimation.
/// Referring to https://github.com/opencv/opencv_zoo/tree/master/models/handpose_estimation_mediapipe.
/// </summary>
[RequireComponent(typeof(WebCamTextureToMatHelper))]
public class HandPoseEstimationExample : MonoBehaviour
{
[Header("TEST")]
[TooltipAttribute("Path to test input image.")]
public string testInputImage;
/// <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 palm detector.
/// </summary>
PalmDetector palmDetector;
/// <summary>
/// The handpose estimator.
/// </summary>
HandPoseEstimator handPoseEstimator;
/// <summary>
/// The FPS monitor.
/// </summary>
FpsMonitor fpsMonitor;
/// <summary>
/// PALM_DETECTION_MODEL_FILENAME
/// </summary>
protected static readonly string PALM_DETECTION_MODEL_FILENAME = "OpenCVForUnity/dnn/palm_detection_mediapipe_2023feb.onnx";
/// <summary>
/// The palm detection model filepath.
/// </summary>
string palm_detection_model_filepath;
/// <summary>
/// HANDPOSE_ESTIMATION_MODEL_FILENAME
/// </summary>
protected static readonly string HANDPOSE_ESTIMATION_MODEL_FILENAME = "OpenCVForUnity/dnn/handpose_estimation_mediapipe_2023feb.onnx";
/// <summary>
/// The handpose estimation model filepath.
/// </summary>
string handpose_estimation_model_filepath;
#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
palm_detection_model_filepath = Utils.getFilePath(PALM_DETECTION_MODEL_FILENAME);
handpose_estimation_model_filepath = Utils.getFilePath(HANDPOSE_ESTIMATION_MODEL_FILENAME);
Run();
#endif
}
#if UNITY_WEBGL
private IEnumerator GetFilePath()
{
var getFilePathAsync_0_Coroutine = Utils.getFilePathAsync(PALM_DETECTION_MODEL_FILENAME, (result) =>
{
palm_detection_model_filepath = result;
});
yield return getFilePathAsync_0_Coroutine;
var getFilePathAsync_1_Coroutine = Utils.getFilePathAsync(HANDPOSE_ESTIMATION_MODEL_FILENAME, (result) =>
{
handpose_estimation_model_filepath = result;
});
yield return getFilePathAsync_1_Coroutine;
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(palm_detection_model_filepath))
{
Debug.LogError(PALM_DETECTION_MODEL_FILENAME + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
}
else
{
palmDetector = new PalmDetector(palm_detection_model_filepath, 0.3f, 0.6f);
}
if (string.IsNullOrEmpty(handpose_estimation_model_filepath))
{
Debug.LogError(HANDPOSE_ESTIMATION_MODEL_FILENAME + " is not loaded. Please read “StreamingAssets/OpenCVForUnity/dnn/setup_dnn_module.pdf” to make the necessary setup.");
}
else
{
handPoseEstimator = new HandPoseEstimator(handpose_estimation_model_filepath, 0.9f);
}
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 palms = palmDetector.infer(img);
tm.stop();
Debug.Log("PalmDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
List<Mat> hands = new List<Mat>();
// Estimate the pose of each hand
for (int i = 0; i < palms.rows(); ++i)
{
tm.reset();
tm.start();
// Handpose estimator inference
Mat hodpose = handPoseEstimator.infer(img, palms.row(i));
tm.stop();
Debug.Log("HandPoseEstimator Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
if (!hodpose.empty())
hands.Add(hodpose);
}
//palmDetector.visualize(img, palms, true, false);
handPoseEstimator.visualize(img, hands, 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 (palmDetector == null || handPoseEstimator == 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 palms = palmDetector.infer(bgrMat);
//tm.stop();
//Debug.Log("PalmDetector Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
List<Mat> hands = new List<Mat>();
// Estimate the pose of each hand
for (int i = 0; i < palms.rows(); ++i)
{
//tm.reset();
//tm.start();
// Handpose estimator inference
Mat hodpose = handPoseEstimator.infer(bgrMat, palms.row(i));
//tm.stop();
//Debug.Log("HandPoseEstimator Inference time (preprocess + infer + postprocess), ms: " + tm.getTimeMilli());
if (!hodpose.empty())
hands.Add(hodpose);
}
Imgproc.cvtColor(bgrMat, rgbaMat, Imgproc.COLOR_BGR2RGBA);
//palmDetector.visualize(rgbaMat, palms, false, true);
handPoseEstimator.visualize(rgbaMat, hands, false, true);
}
Utils.matToTexture2D(rgbaMat, texture);
}
}
/// <summary>
/// Raises the destroy event.
/// </summary>
void OnDestroy()
{
webCamTextureToMatHelper.Dispose();
if (palmDetector != null)
palmDetector.dispose();
if (handPoseEstimator != null)
handPoseEstimator.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;
}
private class PalmDetector
{
float nms_threshold;
float score_threshold;
int topK;
int backend;
int target;
Size input_size = new Size(192, 192);
Net palm_detection_net;
Mat anchors;
Mat input_sizeMat;
Mat maxSizeImg;
Mat boxesMat;
Mat boxes_m_c4;
Mat confidences_m;
MatOfRect2d boxes;
MatOfFloat confidences;
public PalmDetector(string modelFilepath, float nmsThreshold = 0.3f, float scoreThreshold = 0.5f, int topK = 5000, int backend = Dnn.DNN_BACKEND_OPENCV, int target = Dnn.DNN_TARGET_CPU)
{
// initialize
if (!string.IsNullOrEmpty(modelFilepath))
{
palm_detection_net = Dnn.readNet(modelFilepath);
}
nms_threshold = Mathf.Clamp01(nmsThreshold);
score_threshold = Mathf.Clamp01(scoreThreshold);
this.topK = topK;
this.backend = backend;
this.target = target;
palm_detection_net.setPreferableBackend(this.backend);
palm_detection_net.setPreferableTarget(this.target);
anchors = load_anchors();
}
protected virtual Mat preprocess(Mat image)
{
// Add padding to make it square.
int max = Mathf.Max(image.cols(), image.rows());
if (maxSizeImg == null)
maxSizeImg = new Mat(max, max, image.type(), Scalar.all(0));
if (maxSizeImg.width() != max || maxSizeImg.height() != max)
{
maxSizeImg.create(max, max, image.type());
Imgproc.rectangle(maxSizeImg, new OpenCVRect(0, 0, maxSizeImg.width(), maxSizeImg.height()), Scalar.all(0), -1);
}
Mat _maxSizeImg_roi = new Mat(maxSizeImg, new OpenCVRect((max - image.cols()) / 2, (max - image.rows()) / 2, image.cols(), image.rows()));
image.copyTo(_maxSizeImg_roi);
// Create a 4D blob from a frame.
int c = image.channels();
int h = (int)input_size.height;
int w = (int)input_size.width;
// HWC to NHWC, BGR to RGB
Mat blob = new Mat(new int[] { 1, h, w, c }, CvType.CV_32FC1);
Mat blob_hxw = blob.reshape(c, new int[] { h, w });// [h, w]
if (input_sizeMat == null)
input_sizeMat = new Mat(new Size(w, h), CvType.CV_8UC3);// [h, w]
Imgproc.resize(maxSizeImg, input_sizeMat, new Size(w, h));
Imgproc.cvtColor(input_sizeMat, input_sizeMat, Imgproc.COLOR_BGR2RGB);
input_sizeMat.convertTo(blob_hxw, CvType.CV_32F, 1.0 / 255.0);
return blob;// [1, 192, 192, 3]
}
public virtual Mat infer(Mat image)
{
// cheack
if (image.channels() != 3)
{
Debug.Log("The input image must be in BGR format.");
return new Mat();
}
// Preprocess
Mat input_blob = preprocess(image);
// Forward
palm_detection_net.setInput(input_blob);
List<Mat> output_blob = new List<Mat>();
palm_detection_net.forward(output_blob, palm_detection_net.getUnconnectedOutLayersNames());
// Postprocess
Mat results = postprocess(output_blob);
// scale_boxes
float maxSize = Mathf.Max((float)image.size().width, (float)image.size().height);
float x_factor = maxSize;
float y_factor = maxSize;
float x_shift = (maxSize - (float)image.size().width) / 2f;
float y_shift = (maxSize - (float)image.size().height) / 2f;
for (int i = 0; i < results.rows(); ++i)
{
float[] results_arr = new float[4];
results.get(i, 0, results_arr);
float x1 = Mathf.Floor(results_arr[0] * x_factor - x_shift);
float y1 = Mathf.Floor(results_arr[1] * y_factor - y_shift);
float x2 = Mathf.Floor(results_arr[2] * x_factor - x_shift);
float y2 = Mathf.Floor(results_arr[3] * y_factor - y_shift);
results.put(i, 0, new float[] { x1, y1, x2, y2 });
float[] landmarks_arr = new float[14];
results.get(i, 4, landmarks_arr);
for (int j = 0; j < 14; ++j)
{
if (j % 2 == 0)
{
landmarks_arr[j] = Mathf.Floor(landmarks_arr[j] * x_factor - x_shift);
}
else
{
landmarks_arr[j] = Mathf.Floor(landmarks_arr[j] * y_factor - y_shift);
}
}
results.put(i, 4, landmarks_arr);
}
input_blob.Dispose();
for (int i = 0; i < output_blob.Count; i++)
{
output_blob[i].Dispose();
}
return results;
}
protected virtual Mat postprocess(List<Mat> output_blob)
{
int num = output_blob[0].size(1);
Mat output_blob_1_numx1 = output_blob[1].reshape(1, num);
Mat score = output_blob_1_numx1.colRange(new OpenCVRange(0, 1));
Mat output_blob_0_numx18 = output_blob[0].reshape(1, num);
Mat box_delta = output_blob_0_numx18.colRange(new OpenCVRange(0, 4));
Mat landmark_delta = output_blob_0_numx18.colRange(new OpenCVRange(4, 18));
// get scores
Core.multiply(score, Scalar.all(1.0), score, -1.0);
Core.exp(score, score);
Core.add(score, Scalar.all(1.0), score);
Core.divide(1.0, score, score);
// get boxes
Mat cxy_delta = box_delta.colRange(new OpenCVRange(0, 2));
Mat _cxy_delta_numx1_c2 = cxy_delta.reshape(2, cxy_delta.rows());
Core.divide(_cxy_delta_numx1_c2, new Scalar(input_size.width, input_size.height), _cxy_delta_numx1_c2);
Mat wh_delta = box_delta.colRange(new OpenCVRange(2, 4));
Mat _wh_delta_numx1_c2 = wh_delta.reshape(2, wh_delta.rows());
Core.divide(_wh_delta_numx1_c2, new Scalar(input_size.width, input_size.height), _wh_delta_numx1_c2);
if (boxesMat == null)
boxesMat = new Mat(num, 4, CvType.CV_32FC1);
Mat xy1 = boxesMat.colRange(new OpenCVRange(0, 2));
Mat xy2 = boxesMat.colRange(new OpenCVRange(2, 4));
Core.divide(wh_delta, new Scalar(2.0), wh_delta);
Core.subtract(cxy_delta, wh_delta, xy1);
Core.add(xy1, anchors, xy1);
Core.add(cxy_delta, wh_delta, xy2);
Core.add(xy2, anchors, xy2);
// NMS
if (boxes_m_c4 == null)
boxes_m_c4 = new Mat(num, 1, CvType.CV_64FC4);
if (confidences_m == null)
confidences_m = new Mat(num, 1, CvType.CV_32FC1);
if (boxes == null)
boxes = new MatOfRect2d(boxes_m_c4);
if (confidences == null)
confidences = new MatOfFloat(confidences_m);
Mat boxes_m_c1 = boxes_m_c4.reshape(1, num);
boxesMat.convertTo(boxes_m_c1, CvType.CV_64F);
score.copyTo(confidences_m);
MatOfInt indices = new MatOfInt();
Dnn.NMSBoxes(boxes, confidences, score_threshold, nms_threshold, indices, 1f, topK);
// get landmarks
Mat results = new Mat(indices.rows(), 19, CvType.CV_32FC1);
for (int i = 0; i < indices.total(); ++i)
{
int idx = (int)indices.get(i, 0)[0];
float[] bbox_arr = new float[4];
boxesMat.get(idx, 0, bbox_arr);
results.put(i, 0, bbox_arr);
float[] confidence_arr = new float[1];
confidences.get(idx, 0, confidence_arr);
results.put(i, 18, confidence_arr);
float[] landmarks_arr = new float[14];
landmark_delta.get(idx, 0, landmarks_arr);
float[] anchors_arr = new float[2];
anchors.get(idx, 0, anchors_arr);
for (int j = 0; j < 14; ++j)
{
if (j % 2 == 0)
{
landmarks_arr[j] /= (float)input_size.width;
landmarks_arr[j] += anchors_arr[0];
}
else
{
landmarks_arr[j] /= (float)input_size.height;
landmarks_arr[j] += anchors_arr[1];
}
}
results.put(i, 4, landmarks_arr);
}
indices.Dispose();
// [
// [bbox_coords, landmarks_coords, score]
// ...
// [bbox_coords, landmarks_coords, score]
// ]
return results;
}
public virtual void visualize(Mat image, Mat results, bool print_results = false, bool isRGB = false)
{
if (image.IsDisposed)
return;
if (results.empty() || results.cols() < 19)
return;
StringBuilder sb = null;
if (print_results)
sb = new StringBuilder();
for (int i = 0; i < results.rows(); ++i)
{
float[] score = new float[1];
results.get(i, 18, score);
float[] palm_box = new float[4];
results.get(i, 0, palm_box);
float[] palm_landmarks = new float[14];
results.get(i, 4, palm_landmarks);
// put score
Imgproc.putText(image, String.Format("{0:0.0000}", score[0]), new Point(palm_box[0], palm_box[1] + 12), Imgproc.FONT_HERSHEY_DUPLEX, 0.5, new Scalar(0, 255, 0, 255));
// draw box
Imgproc.rectangle(image, new Point(palm_box[0], palm_box[1]), new Point(palm_box[2], palm_box[3]), new Scalar(0, 255, 0, 255), 2);
// draw points
for (int j = 0; j < 14; j += 2)
{
Imgproc.circle(image, new Point(palm_landmarks[j], palm_landmarks[j + 1]), 2, (isRGB) ? new Scalar(255, 0, 0, 255) : new Scalar(0, 0, 255, 255), 2);
}
// Print results
if (print_results)
{
sb.AppendLine(String.Format("-----------palm {0}-----------", i + 1));
sb.AppendLine(String.Format("score: {0:0.00}", score[0]));
sb.AppendLine(String.Format("palm box: {0:0} {1:0} {2:0} {3:0}", palm_box[0], palm_box[1], palm_box[2], palm_box[3]));
sb.Append("palm landmarks: ");
foreach (var p in palm_landmarks)
{
sb.Append(String.Format("{0:0} ", p));
}
sb.AppendLine();
}
}
if (print_results)
Debug.Log(sb);
}
public virtual void dispose()
{
if (palm_detection_net != null)
palm_detection_net.Dispose();
if (input_sizeMat != null)
input_sizeMat.Dispose();
input_sizeMat = null;
if (maxSizeImg != null)
maxSizeImg.Dispose();
maxSizeImg = null;
if (boxesMat != null)
boxesMat.Dispose();
boxesMat = null;
if (boxes_m_c4 != null)
boxes_m_c4.Dispose();
if (confidences_m != null)
confidences_m.Dispose();
if (boxes != null)
boxes.Dispose();
if (confidences != null)
confidences.Dispose();
boxes_m_c4 = null;
confidences_m = null;
boxes = null;
confidences = null;
}
protected virtual Mat load_anchors()
{
Mat anchors = new Mat(2016, 2, CvType.CV_32FC1);
float[] anchors_arr = new float[] {
0.02083333f, 0.02083333f,
0.02083333f, 0.02083333f,
0.0625f, 0.02083333f,
0.0625f, 0.02083333f,
0.10416666f, 0.02083333f,
0.10416666f, 0.02083333f,
0.14583333f, 0.02083333f,
0.14583333f, 0.02083333f,
0.1875f, 0.02083333f,
0.1875f, 0.02083333f,
0.22916667f, 0.02083333f,
0.22916667f, 0.02083333f,
0.27083334f, 0.02083333f,
0.27083334f, 0.02083333f,
0.3125f, 0.02083333f,
0.3125f, 0.02083333f,
0.35416666f, 0.02083333f,
0.35416666f, 0.02083333f,
0.39583334f, 0.02083333f,
0.39583334f, 0.02083333f,
0.4375f, 0.02083333f,
0.4375f, 0.02083333f,
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0.45833334f, 0.5416667f,
0.45833334f, 0.5416667f,
0.45833334f, 0.5416667f,
0.45833334f, 0.5416667f,
0.45833334f, 0.5416667f,
0.5416667f, 0.5416667f,
0.5416667f, 0.5416667f,
0.5416667f, 0.5416667f,
0.5416667f, 0.5416667f,
0.5416667f, 0.5416667f,
0.5416667f, 0.5416667f,
0.625f, 0.5416667f,
0.625f, 0.5416667f,
0.625f, 0.5416667f,
0.625f, 0.5416667f,
0.625f, 0.5416667f,
0.625f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7083333f, 0.5416667f,
0.7916667f, 0.5416667f,
0.7916667f, 0.5416667f,
0.7916667f, 0.5416667f,
0.7916667f, 0.5416667f,
0.7916667f, 0.5416667f,
0.7916667f, 0.5416667f,
0.875f, 0.5416667f,
0.875f, 0.5416667f,
0.875f, 0.5416667f,
0.875f, 0.5416667f,
0.875f, 0.5416667f,
0.875f, 0.5416667f,
0.9583333f, 0.5416667f,
0.9583333f, 0.5416667f,
0.9583333f, 0.5416667f,
0.9583333f, 0.5416667f,
0.9583333f, 0.5416667f,
0.9583333f, 0.5416667f,
0.04166667f, 0.625f,
0.04166667f, 0.625f,
0.04166667f, 0.625f,
0.04166667f, 0.625f,
0.04166667f, 0.625f,
0.04166667f, 0.625f,
0.125f, 0.625f,
0.125f, 0.625f,
0.125f, 0.625f,
0.125f, 0.625f,
0.125f, 0.625f,
0.125f, 0.625f,
0.20833333f, 0.625f,
0.20833333f, 0.625f,
0.20833333f, 0.625f,
0.20833333f, 0.625f,
0.20833333f, 0.625f,
0.20833333f, 0.625f,
0.29166666f, 0.625f,
0.29166666f, 0.625f,
0.29166666f, 0.625f,
0.29166666f, 0.625f,
0.29166666f, 0.625f,
0.29166666f, 0.625f,
0.375f, 0.625f,
0.375f, 0.625f,
0.375f, 0.625f,
0.375f, 0.625f,
0.375f, 0.625f,
0.375f, 0.625f,
0.45833334f, 0.625f,
0.45833334f, 0.625f,
0.45833334f, 0.625f,
0.45833334f, 0.625f,
0.45833334f, 0.625f,
0.45833334f, 0.625f,
0.5416667f, 0.625f,
0.5416667f, 0.625f,
0.5416667f, 0.625f,
0.5416667f, 0.625f,
0.5416667f, 0.625f,
0.5416667f, 0.625f,
0.625f, 0.625f,
0.625f, 0.625f,
0.625f, 0.625f,
0.625f, 0.625f,
0.625f, 0.625f,
0.625f, 0.625f,
0.7083333f, 0.625f,
0.7083333f, 0.625f,
0.7083333f, 0.625f,
0.7083333f, 0.625f,
0.7083333f, 0.625f,
0.7083333f, 0.625f,
0.7916667f, 0.625f,
0.7916667f, 0.625f,
0.7916667f, 0.625f,
0.7916667f, 0.625f,
0.7916667f, 0.625f,
0.7916667f, 0.625f,
0.875f, 0.625f,
0.875f, 0.625f,
0.875f, 0.625f,
0.875f, 0.625f,
0.875f, 0.625f,
0.875f, 0.625f,
0.9583333f, 0.625f,
0.9583333f, 0.625f,
0.9583333f, 0.625f,
0.9583333f, 0.625f,
0.9583333f, 0.625f,
0.9583333f, 0.625f,
0.04166667f, 0.7083333f,
0.04166667f, 0.7083333f,
0.04166667f, 0.7083333f,
0.04166667f, 0.7083333f,
0.04166667f, 0.7083333f,
0.04166667f, 0.7083333f,
0.125f, 0.7083333f,
0.125f, 0.7083333f,
0.125f, 0.7083333f,
0.125f, 0.7083333f,
0.125f, 0.7083333f,
0.125f, 0.7083333f,
0.20833333f, 0.7083333f,
0.20833333f, 0.7083333f,
0.20833333f, 0.7083333f,
0.20833333f, 0.7083333f,
0.20833333f, 0.7083333f,
0.20833333f, 0.7083333f,
0.29166666f, 0.7083333f,
0.29166666f, 0.7083333f,
0.29166666f, 0.7083333f,
0.29166666f, 0.7083333f,
0.29166666f, 0.7083333f,
0.29166666f, 0.7083333f,
0.375f, 0.7083333f,
0.375f, 0.7083333f,
0.375f, 0.7083333f,
0.375f, 0.7083333f,
0.375f, 0.7083333f,
0.375f, 0.7083333f,
0.45833334f, 0.7083333f,
0.45833334f, 0.7083333f,
0.45833334f, 0.7083333f,
0.45833334f, 0.7083333f,
0.45833334f, 0.7083333f,
0.45833334f, 0.7083333f,
0.5416667f, 0.7083333f,
0.5416667f, 0.7083333f,
0.5416667f, 0.7083333f,
0.5416667f, 0.7083333f,
0.5416667f, 0.7083333f,
0.5416667f, 0.7083333f,
0.625f, 0.7083333f,
0.625f, 0.7083333f,
0.625f, 0.7083333f,
0.625f, 0.7083333f,
0.625f, 0.7083333f,
0.625f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7083333f, 0.7083333f,
0.7916667f, 0.7083333f,
0.7916667f, 0.7083333f,
0.7916667f, 0.7083333f,
0.7916667f, 0.7083333f,
0.7916667f, 0.7083333f,
0.7916667f, 0.7083333f,
0.875f, 0.7083333f,
0.875f, 0.7083333f,
0.875f, 0.7083333f,
0.875f, 0.7083333f,
0.875f, 0.7083333f,
0.875f, 0.7083333f,
0.9583333f, 0.7083333f,
0.9583333f, 0.7083333f,
0.9583333f, 0.7083333f,
0.9583333f, 0.7083333f,
0.9583333f, 0.7083333f,
0.9583333f, 0.7083333f,
0.04166667f, 0.7916667f,
0.04166667f, 0.7916667f,
0.04166667f, 0.7916667f,
0.04166667f, 0.7916667f,
0.04166667f, 0.7916667f,
0.04166667f, 0.7916667f,
0.125f, 0.7916667f,
0.125f, 0.7916667f,
0.125f, 0.7916667f,
0.125f, 0.7916667f,
0.125f, 0.7916667f,
0.125f, 0.7916667f,
0.20833333f, 0.7916667f,
0.20833333f, 0.7916667f,
0.20833333f, 0.7916667f,
0.20833333f, 0.7916667f,
0.20833333f, 0.7916667f,
0.20833333f, 0.7916667f,
0.29166666f, 0.7916667f,
0.29166666f, 0.7916667f,
0.29166666f, 0.7916667f,
0.29166666f, 0.7916667f,
0.29166666f, 0.7916667f,
0.29166666f, 0.7916667f,
0.375f, 0.7916667f,
0.375f, 0.7916667f,
0.375f, 0.7916667f,
0.375f, 0.7916667f,
0.375f, 0.7916667f,
0.375f, 0.7916667f,
0.45833334f, 0.7916667f,
0.45833334f, 0.7916667f,
0.45833334f, 0.7916667f,
0.45833334f, 0.7916667f,
0.45833334f, 0.7916667f,
0.45833334f, 0.7916667f,
0.5416667f, 0.7916667f,
0.5416667f, 0.7916667f,
0.5416667f, 0.7916667f,
0.5416667f, 0.7916667f,
0.5416667f, 0.7916667f,
0.5416667f, 0.7916667f,
0.625f, 0.7916667f,
0.625f, 0.7916667f,
0.625f, 0.7916667f,
0.625f, 0.7916667f,
0.625f, 0.7916667f,
0.625f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7083333f, 0.7916667f,
0.7916667f, 0.7916667f,
0.7916667f, 0.7916667f,
0.7916667f, 0.7916667f,
0.7916667f, 0.7916667f,
0.7916667f, 0.7916667f,
0.7916667f, 0.7916667f,
0.875f, 0.7916667f,
0.875f, 0.7916667f,
0.875f, 0.7916667f,
0.875f, 0.7916667f,
0.875f, 0.7916667f,
0.875f, 0.7916667f,
0.9583333f, 0.7916667f,
0.9583333f, 0.7916667f,
0.9583333f, 0.7916667f,
0.9583333f, 0.7916667f,
0.9583333f, 0.7916667f,
0.9583333f, 0.7916667f,
0.04166667f, 0.875f,
0.04166667f, 0.875f,
0.04166667f, 0.875f,
0.04166667f, 0.875f,
0.04166667f, 0.875f,
0.04166667f, 0.875f,
0.125f, 0.875f,
0.125f, 0.875f,
0.125f, 0.875f,
0.125f, 0.875f,
0.125f, 0.875f,
0.125f, 0.875f,
0.20833333f, 0.875f,
0.20833333f, 0.875f,
0.20833333f, 0.875f,
0.20833333f, 0.875f,
0.20833333f, 0.875f,
0.20833333f, 0.875f,
0.29166666f, 0.875f,
0.29166666f, 0.875f,
0.29166666f, 0.875f,
0.29166666f, 0.875f,
0.29166666f, 0.875f,
0.29166666f, 0.875f,
0.375f, 0.875f,
0.375f, 0.875f,
0.375f, 0.875f,
0.375f, 0.875f,
0.375f, 0.875f,
0.375f, 0.875f,
0.45833334f, 0.875f,
0.45833334f, 0.875f,
0.45833334f, 0.875f,
0.45833334f, 0.875f,
0.45833334f, 0.875f,
0.45833334f, 0.875f,
0.5416667f, 0.875f,
0.5416667f, 0.875f,
0.5416667f, 0.875f,
0.5416667f, 0.875f,
0.5416667f, 0.875f,
0.5416667f, 0.875f,
0.625f, 0.875f,
0.625f, 0.875f,
0.625f, 0.875f,
0.625f, 0.875f,
0.625f, 0.875f,
0.625f, 0.875f,
0.7083333f, 0.875f,
0.7083333f, 0.875f,
0.7083333f, 0.875f,
0.7083333f, 0.875f,
0.7083333f, 0.875f,
0.7083333f, 0.875f,
0.7916667f, 0.875f,
0.7916667f, 0.875f,
0.7916667f, 0.875f,
0.7916667f, 0.875f,
0.7916667f, 0.875f,
0.7916667f, 0.875f,
0.875f, 0.875f,
0.875f, 0.875f,
0.875f, 0.875f,
0.875f, 0.875f,
0.875f, 0.875f,
0.875f, 0.875f,
0.9583333f, 0.875f,
0.9583333f, 0.875f,
0.9583333f, 0.875f,
0.9583333f, 0.875f,
0.9583333f, 0.875f,
0.9583333f, 0.875f,
0.04166667f, 0.9583333f,
0.04166667f, 0.9583333f,
0.04166667f, 0.9583333f,
0.04166667f, 0.9583333f,
0.04166667f, 0.9583333f,
0.04166667f, 0.9583333f,
0.125f, 0.9583333f,
0.125f, 0.9583333f,
0.125f, 0.9583333f,
0.125f, 0.9583333f,
0.125f, 0.9583333f,
0.125f, 0.9583333f,
0.20833333f, 0.9583333f,
0.20833333f, 0.9583333f,
0.20833333f, 0.9583333f,
0.20833333f, 0.9583333f,
0.20833333f, 0.9583333f,
0.20833333f, 0.9583333f,
0.29166666f, 0.9583333f,
0.29166666f, 0.9583333f,
0.29166666f, 0.9583333f,
0.29166666f, 0.9583333f,
0.29166666f, 0.9583333f,
0.29166666f, 0.9583333f,
0.375f, 0.9583333f,
0.375f, 0.9583333f,
0.375f, 0.9583333f,
0.375f, 0.9583333f,
0.375f, 0.9583333f,
0.375f, 0.9583333f,
0.45833334f, 0.9583333f,
0.45833334f, 0.9583333f,
0.45833334f, 0.9583333f,
0.45833334f, 0.9583333f,
0.45833334f, 0.9583333f,
0.45833334f, 0.9583333f,
0.5416667f, 0.9583333f,
0.5416667f, 0.9583333f,
0.5416667f, 0.9583333f,
0.5416667f, 0.9583333f,
0.5416667f, 0.9583333f,
0.5416667f, 0.9583333f,
0.625f, 0.9583333f,
0.625f, 0.9583333f,
0.625f, 0.9583333f,
0.625f, 0.9583333f,
0.625f, 0.9583333f,
0.625f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7083333f, 0.9583333f,
0.7916667f, 0.9583333f,
0.7916667f, 0.9583333f,
0.7916667f, 0.9583333f,
0.7916667f, 0.9583333f,
0.7916667f, 0.9583333f,
0.7916667f, 0.9583333f,
0.875f, 0.9583333f,
0.875f, 0.9583333f,
0.875f, 0.9583333f,
0.875f, 0.9583333f,
0.875f, 0.9583333f,
0.875f, 0.9583333f,
0.9583333f, 0.9583333f,
0.9583333f, 0.9583333f,
0.9583333f, 0.9583333f,
0.9583333f, 0.9583333f,
0.9583333f, 0.9583333f,
0.9583333f, 0.9583333f
};
anchors.put(0, 0, anchors_arr);
return anchors;
}
}
private class HandPoseEstimator
{
float conf_threshold;
int backend;
int target;
Net handpose_estimation_net;
Size input_size = new Size(224, 224);
//int[] PALM_LANDMARK_IDS = new int[] { 0, 5, 9, 13, 17, 1, 2 };
int PALM_LANDMARKS_INDEX_OF_PALM_BASE = 0;
int PALM_LANDMARKS_INDEX_OF_MIDDLE_FINGER_BASE = 2;
Point PALM_BOX_SHIFT_VECTOR = new Point(0, -0.4);
double PALM_BOX_ENLARGE_FACTOR = 3.0;
Point HAND_BOX_SHIFT_VECTOR = new Point(0, -0.1);
double HAND_BOX_ENLARGE_FACTOR = 1.65;
Mat tmpImage;
public HandPoseEstimator(string modelFilepath, float confThreshold = 0.8f, int backend = Dnn.DNN_BACKEND_OPENCV, int target = Dnn.DNN_TARGET_CPU)
{
// initialize
if (!string.IsNullOrEmpty(modelFilepath))
{
handpose_estimation_net = Dnn.readNet(modelFilepath);
}
conf_threshold = Mathf.Clamp01(confThreshold);
this.backend = backend;
this.target = target;
handpose_estimation_net.setPreferableBackend(this.backend);
handpose_estimation_net.setPreferableTarget(this.target);
}
protected virtual Mat preprocess(Mat image, Mat palm, out Mat rotated_palm_bbox, out double angle, out Mat rotation_matrix)
{
// Rotate input to have vertically oriented hand image
// compute rotation
Mat palm_bbox = palm.colRange(new OpenCVRange(0, 4)).reshape(1, 2);
Mat palm_landmarks = palm.colRange(new OpenCVRange(4, 18)).reshape(1, 7);
Mat p1 = palm_landmarks.row(PALM_LANDMARKS_INDEX_OF_PALM_BASE);
Mat p2 = palm_landmarks.row(PALM_LANDMARKS_INDEX_OF_MIDDLE_FINGER_BASE);
float[] p1_arr = new float[2];
p1.get(0, 0, p1_arr);
float[] p2_arr = new float[2];
p2.get(0, 0, p2_arr);
double radians = Math.PI / 2 - Math.Atan2(-(p2_arr[1] - p1_arr[1]), p2_arr[0] - p1_arr[0]);
radians = radians - 2 * Math.PI * Math.Floor((radians + Math.PI) / (2 * Math.PI));
angle = Mathf.Rad2Deg * radians;
// get bbox center
float[] palm_bbox_arr = new float[4];
palm_bbox.get(0, 0, palm_bbox_arr);
Point center_palm_bbox = new Point((palm_bbox_arr[0] + palm_bbox_arr[2]) / 2, (palm_bbox_arr[1] + palm_bbox_arr[3]) / 2);
// get rotation matrix
rotation_matrix = Imgproc.getRotationMatrix2D(center_palm_bbox, angle, 1.0);
// get rotated image
Mat rotated_image = new Mat();
Imgproc.warpAffine(image, rotated_image, rotation_matrix, image.size());
// get bounding boxes from rotated palm landmarks
Mat rotated_palm_landmarks = new Mat(2, 7, CvType.CV_32FC1);
Mat _a = new Mat(1, 3, CvType.CV_64FC1);
Mat _b = new Mat(1, 3, CvType.CV_64FC1);
float[] _a_arr = new float[2];
double[] _b_arr = new double[3];
Point[] rotated_palm_landmarks_points = new Point[7];
for (int i = 0; i < 7; ++i)
{
palm_landmarks.get(i, 0, _a_arr);
_a.put(0, 0, new double[] { _a_arr[0], _a_arr[1], 1f });
rotation_matrix.get(0, 0, _b_arr);
_b.put(0, 0, new double[] { _b_arr[0], _b_arr[1], _b_arr[2] });
double x = _a.dot(_b);
rotated_palm_landmarks.put(0, i, new float[] { (float)x });
rotation_matrix.get(1, 0, _b_arr);
_b.put(0, 0, new double[] { _b_arr[0], _b_arr[1], _b_arr[2] });
double y = _a.dot(_b);
rotated_palm_landmarks.put(1, i, new float[] { (float)y });
rotated_palm_landmarks_points[i] = new Point(x, y);
}
// get landmark bounding box
MatOfPoint points = new MatOfPoint(rotated_palm_landmarks_points);
OpenCVRect _rotated_palm_bbox = Imgproc.boundingRect(points);
rotated_palm_bbox = new Mat(2, 2, CvType.CV_64FC1);
// shift bounding box
Point _rotated_palm_bbox_tl = _rotated_palm_bbox.tl();
Point _rotated_palm_bbox_br = _rotated_palm_bbox.br();
Point wh_rotated_palm_bbox = _rotated_palm_bbox_br - _rotated_palm_bbox_tl;
Point shift_vector = new Point(PALM_BOX_SHIFT_VECTOR.x * wh_rotated_palm_bbox.x, PALM_BOX_SHIFT_VECTOR.y * wh_rotated_palm_bbox.y);
_rotated_palm_bbox_tl = _rotated_palm_bbox_tl + shift_vector;
_rotated_palm_bbox_br = _rotated_palm_bbox_br + shift_vector;
// squarify bounding boxx
Point center_rotated_plam_bbox = new Point((_rotated_palm_bbox_tl.x + _rotated_palm_bbox_br.x) / 2, (_rotated_palm_bbox_tl.y + _rotated_palm_bbox_br.y) / 2);
wh_rotated_palm_bbox = _rotated_palm_bbox_br - _rotated_palm_bbox_tl;
double new_half_size = Math.Max(wh_rotated_palm_bbox.x, wh_rotated_palm_bbox.y) / 2.0;
_rotated_palm_bbox_tl = new Point(center_rotated_plam_bbox.x - new_half_size, center_rotated_plam_bbox.y - new_half_size);
_rotated_palm_bbox_br = new Point(center_rotated_plam_bbox.x + new_half_size, center_rotated_plam_bbox.y + new_half_size);
// enlarge bounding box
center_rotated_plam_bbox = new Point((_rotated_palm_bbox_tl.x + _rotated_palm_bbox_br.x) / 2, (_rotated_palm_bbox_tl.y + _rotated_palm_bbox_br.y) / 2);
wh_rotated_palm_bbox = _rotated_palm_bbox_br - _rotated_palm_bbox_tl;
Point new_half_size2 = new Point(wh_rotated_palm_bbox.x * PALM_BOX_ENLARGE_FACTOR / 2.0, wh_rotated_palm_bbox.y * PALM_BOX_ENLARGE_FACTOR / 2.0);
_rotated_palm_bbox_tl = new Point(center_rotated_plam_bbox.x - new_half_size2.x, center_rotated_plam_bbox.y - new_half_size2.x);
_rotated_palm_bbox_br = new Point(center_rotated_plam_bbox.x + new_half_size2.x, center_rotated_plam_bbox.y + new_half_size2.x);
rotated_palm_bbox.put(0, 0, new double[] { _rotated_palm_bbox_tl.x, _rotated_palm_bbox_tl.y, _rotated_palm_bbox_br.x, _rotated_palm_bbox_br.y });
// Crop and resize the rotated image by the bounding box
int[] diff = new int[] {
Math.Max((int)-_rotated_palm_bbox_tl.x, 0),
Math.Max((int)-_rotated_palm_bbox_tl.y, 0),
Math.Max((int)_rotated_palm_bbox_br.x - rotated_image.width(), 0),
Math.Max((int)_rotated_palm_bbox_br.y - rotated_image.height(), 0)
};
Point tl = new Point(_rotated_palm_bbox_tl.x + diff[0], _rotated_palm_bbox_tl.y + diff[1]);
Point br = new Point(_rotated_palm_bbox_br.x + diff[2], _rotated_palm_bbox_br.y + diff[3]);
OpenCVRect rotated_palm_bbox_rect = new OpenCVRect(tl, br);
OpenCVRect rotated_image_rect = new OpenCVRect(0, 0, rotated_image.width(), rotated_image.height());
Mat crop = new Mat(rotated_image, rotated_image_rect.intersect(rotated_palm_bbox_rect));
//
//Core.copyMakeBorder(crop, crop, diff[1], diff[3], diff[0], diff[2], Core.BORDER_CONSTANT, Scalar.all(0));
//Mat blob = Dnn.blobFromImage(crop, 1.0 / 255.0, input_size, new Scalar(0, 0, 0), true, false, CvType.CV_32F);
//
// or
//
int tmpImageSize = (int)(Math.Max(image.width(), image.height()) * 1.5);
if (tmpImage != null && (tmpImage.width() != tmpImageSize || tmpImage.height() != tmpImageSize))
{
tmpImage.Dispose();
tmpImage = null;
}
if (tmpImage == null)
{
tmpImage = new Mat(tmpImageSize, tmpImageSize, image.type(), Scalar.all(0));
}
Mat _tmpImage_crop = new Mat(tmpImage, new OpenCVRect(0, 0, diff[0] + crop.width() + diff[2], diff[1] + crop.height() + diff[3]));
Imgproc.rectangle(_tmpImage_crop, new OpenCVRect(0, 0, _tmpImage_crop.width(), _tmpImage_crop.height()), Scalar.all(0));
Mat _tmpImage_crop2 = new Mat(tmpImage, new OpenCVRect(diff[0], diff[1], crop.width(), crop.height()));
crop.copyTo(_tmpImage_crop2);
Mat blob = Dnn.blobFromImage(_tmpImage_crop, 1.0 / 255.0, input_size, new Scalar(0, 0, 0), true, false, CvType.CV_32F);
//
// NCHW => NHWC
Core.transposeND(blob, new MatOfInt(0, 2, 3, 1), blob);
rotated_image.Dispose();
return blob;
}
public virtual Mat infer(Mat image, Mat palm)
{
// Preprocess
Mat rotated_palm_bbox;
double angle;
Mat rotation_matrix;
Mat input_blob = preprocess(image, palm, out rotated_palm_bbox, out angle, out rotation_matrix);
// Forward
handpose_estimation_net.setInput(input_blob);
List<Mat> output_blob = new List<Mat>();
handpose_estimation_net.forward(output_blob, handpose_estimation_net.getUnconnectedOutLayersNames());
// Postprocess
Mat results = postprocess(output_blob, rotated_palm_bbox, angle, rotation_matrix);
input_blob.Dispose();
for (int i = 0; i < output_blob.Count; i++)
{
output_blob[i].Dispose();
}
return results;// [bbox_coords, landmarks_coords, landmarks_coords_world, handedness, conf]
}
protected virtual Mat postprocess(List<Mat> output_blob, Mat rotated_palm_bbox, double angle, Mat rotation_matrix)
{
Mat landmarks = output_blob[0];
float conf = (float)output_blob[1].get(0, 0)[0];
float handedness = (float)output_blob[2].get(0, 0)[0];
Mat landmarks_world = output_blob[3];
if (conf < conf_threshold)
return new Mat();
landmarks = landmarks.reshape(1, 21); // shape: (1, 63) -> (21, 3)
landmarks_world = landmarks_world.reshape(1, 21); // shape: (1, 63) -> (21, 3)
// transform coords back to the input coords
double[] rotated_palm_bbox_arr = new double[4];
rotated_palm_bbox.get(0, 0, rotated_palm_bbox_arr);
Point _rotated_palm_bbox_tl = new Point(rotated_palm_bbox_arr[0], rotated_palm_bbox_arr[1]);
Point _rotated_palm_bbox_br = new Point(rotated_palm_bbox_arr[2], rotated_palm_bbox_arr[3]);
Point wh_rotated_palm_bbox = _rotated_palm_bbox_br - _rotated_palm_bbox_tl;
Point scale_factor = new Point(wh_rotated_palm_bbox.x / input_size.width, wh_rotated_palm_bbox.y / input_size.height);
Mat _landmarks_21x1_c3 = landmarks.reshape(3, 21);
Core.subtract(_landmarks_21x1_c3, new Scalar(input_size.width / 2.0, input_size.height / 2.0, 0.0), _landmarks_21x1_c3);
double max_scale_factor = Math.Max(scale_factor.x, scale_factor.y);
Core.multiply(_landmarks_21x1_c3, new Scalar(scale_factor.x, scale_factor.y, max_scale_factor), _landmarks_21x1_c3); // # depth scaling
Mat coords_rotation_matrix = Imgproc.getRotationMatrix2D(new Point(0, 0), angle, 1.0);
Mat rotated_landmarks = landmarks.clone();
Mat _a = new Mat(1, 2, CvType.CV_64FC1);
Mat _b = new Mat(1, 2, CvType.CV_64FC1);
float[] _a_arr = new float[2];
double[] _b_arr = new double[6];
coords_rotation_matrix.get(0, 0, _b_arr);
for (int i = 0; i < 21; ++i)
{
landmarks.get(i, 0, _a_arr);
_a.put(0, 0, new double[] { _a_arr[0], _a_arr[1] });
_b.put(0, 0, new double[] { _b_arr[0], _b_arr[3] });
rotated_landmarks.put(i, 0, new float[] { (float)_a.dot(_b) });
_b.put(0, 0, new double[] { _b_arr[1], _b_arr[4] });
rotated_landmarks.put(i, 1, new float[] { (float)_a.dot(_b) });
}
Mat rotated_landmarks_world = landmarks_world.clone();
for (int i = 0; i < 21; ++i)
{
landmarks_world.get(i, 0, _a_arr);
_a.put(0, 0, new double[] { _a_arr[0], _a_arr[1] });
_b.put(0, 0, new double[] { _b_arr[0], _b_arr[3] });
rotated_landmarks_world.put(i, 0, new float[] { (float)_a.dot(_b) });
_b.put(0, 0, new double[] { _b_arr[1], _b_arr[4] });
rotated_landmarks_world.put(i, 1, new float[] { (float)_a.dot(_b) });
}
// invert rotation
double[] rotation_matrix_arr = new double[6];
rotation_matrix.get(0, 0, rotation_matrix_arr);
Mat rotation_component = new Mat(2, 2, CvType.CV_64FC1);
rotation_component.put(0, 0, new double[] { rotation_matrix_arr[0], rotation_matrix_arr[3], rotation_matrix_arr[1], rotation_matrix_arr[4] });
Mat translation_component = new Mat(2, 1, CvType.CV_64FC1);
translation_component.put(0, 0, new double[] { rotation_matrix_arr[2], rotation_matrix_arr[5] });
Mat inverted_translation = new Mat(2, 1, CvType.CV_64FC1);
inverted_translation.put(0, 0, new double[] { -rotation_component.row(0).dot(translation_component.reshape(1, 1)), -rotation_component.row(1).dot(translation_component.reshape(1, 1)) });
Mat inverse_rotation_matrix = new Mat(2, 3, CvType.CV_64FC1);
rotation_component.copyTo(inverse_rotation_matrix.colRange(new OpenCVRange(0, 2)));
inverted_translation.copyTo(inverse_rotation_matrix.colRange(new OpenCVRange(2, 3)));
// get box center
Mat center = new Mat(3, 1, CvType.CV_64FC1);
center.put(0, 0, new double[] { (rotated_palm_bbox_arr[0] + rotated_palm_bbox_arr[2]) / 2.0, (rotated_palm_bbox_arr[1] + rotated_palm_bbox_arr[3]) / 2.0, 1.0 });
Mat original_center = new Mat(2, 1, CvType.CV_64FC1);
original_center.put(0, 0, new double[] { inverse_rotation_matrix.row(0).dot(center.reshape(1, 1)), inverse_rotation_matrix.row(1).dot(center.reshape(1, 1)) });
Core.add(rotated_landmarks.reshape(3, 21), new Scalar(original_center.get(0, 0)[0], original_center.get(1, 0)[0], 0.0), landmarks.reshape(3, 21));
// get bounding box from rotated_landmarks
Point[] landmarks_points = new Point[21];
for (int i = 0; i < 21; ++i)
{
landmarks.get(i, 0, _a_arr);
landmarks_points[i] = new Point(_a_arr[0], _a_arr[1]);
}
MatOfPoint points = new MatOfPoint(landmarks_points);
OpenCVRect bbox = Imgproc.boundingRect(points);
// shift bounding box
Point wh_bbox = bbox.br() - bbox.tl();
Point shift_vector = new Point(HAND_BOX_SHIFT_VECTOR.x * wh_bbox.x, HAND_BOX_SHIFT_VECTOR.y * wh_bbox.y);
bbox = bbox + shift_vector;
// enlarge bounding box
Point center_bbox = new Point((bbox.tl().x + bbox.br().x) / 2, (bbox.tl().y + bbox.br().y) / 2);
wh_bbox = bbox.br() - bbox.tl();
Point new_half_size = new Point(wh_bbox.x * HAND_BOX_ENLARGE_FACTOR / 2.0, wh_bbox.y * HAND_BOX_ENLARGE_FACTOR / 2.0);
bbox = new OpenCVRect(new Point(center_bbox.x - new_half_size.x, center_bbox.y - new_half_size.y), new Point(center_bbox.x + new_half_size.x, center_bbox.y + new_half_size.y));
Mat results = new Mat(132, 1, CvType.CV_32FC1);
results.put(0, 0, new float[] { (float)bbox.tl().x, (float)bbox.tl().y, (float)bbox.br().x, (float)bbox.br().y });
Mat results_col4_67_21x3 = results.rowRange(new OpenCVRange(4, 67)).reshape(1, 21);
landmarks.colRange(new OpenCVRange(0, 3)).copyTo(results_col4_67_21x3);
Mat results_col67_130_21x3 = results.rowRange(new OpenCVRange(67, 130)).reshape(1, 21);
rotated_landmarks_world.colRange(new OpenCVRange(0, 3)).copyTo(results_col67_130_21x3);
results.put(130, 0, new float[] { handedness });
results.put(131, 0, new float[] { conf });
// # [0: 4]: hand bounding box found in image of format [x1, y1, x2, y2] (top-left and bottom-right points)
// # [4: 67]: screen landmarks with format [x1, y1, z1, x2, y2 ... x21, y21, z21], z value is relative to WRIST
// # [67: 130]: world landmarks with format [x1, y1, z1, x2, y2 ... x21, y21, z21], 3D metric x, y, z coordinate
// # [130]: handedness, (left)[0, 1](right) hand
// # [131]: confidence
return results;//np.r_[bbox.reshape(-1), landmarks.reshape(-1), rotated_landmarks_world.reshape(-1), handedness[0][0], conf]
}
public virtual void visualize(Mat image, List<Mat> results, bool print_results = false, bool isRGB = false)
{
if (image.IsDisposed)
return;
if (results.Count < 1)
return;
StringBuilder sb = null;
if (print_results)
sb = new StringBuilder();
Scalar line_color = new Scalar(255, 255, 255, 255);
Scalar point_color = (isRGB) ? new Scalar(255, 0, 0, 255) : new Scalar(0, 0, 255, 255);
for (int i = 0; i < results.Count; ++i)
{
Mat result = results[i];
if (result.empty() || result.rows() < 132)
continue;
float[] conf = new float[1];
result.get(131, 0, conf);
float[] handedness = new float[1];
result.get(130, 0, handedness);
string handedness_text = (handedness[0] <= 0.5f) ? "Left" : "Right";
float[] bbox = new float[4];
result.get(0, 0, bbox);
Mat results_col4_67_21x3 = result.rowRange(new OpenCVRange(4, 67)).reshape(1, 21);
float[] landmarks_screen_xy = new float[42];
results_col4_67_21x3.colRange(new OpenCVRange(0, 2)).get(0, 0, landmarks_screen_xy);
float[] landmarks_screen_xyz = new float[63];
results_col4_67_21x3.get(0, 0, landmarks_screen_xyz);
Mat results_col67_130_21x3 = result.rowRange(new OpenCVRange(67, 130)).reshape(1, 21);
float[] landmarks_world = new float[63];
results_col67_130_21x3.get(0, 0, landmarks_world);
// # draw box
Imgproc.rectangle(image, new Point(bbox[0], bbox[1]), new Point(bbox[2], bbox[3]), new Scalar(0, 255, 0, 255), 2);
// # draw handedness
Imgproc.putText(image, handedness_text, new Point(bbox[0], bbox[1] + 12), Imgproc.FONT_HERSHEY_DUPLEX, 0.5, point_color);
// # Draw line between each key points
draw_lines(landmarks_screen_xy, false);
// # z value is relative to WRIST
for (int j = 0; j < 63; j += 3)
{
int r = Mathf.Max((int)(5 - landmarks_screen_xyz[j + 2] / 5), 0);
r = Mathf.Min(r, 14);
Imgproc.circle(image, new Point(landmarks_screen_xyz[j], landmarks_screen_xyz[j + 1]), r, point_color, -1);
}
// Print results
if (print_results)
{
sb.AppendLine(String.Format("-----------hand {0}-----------", i + 1));
sb.AppendLine(String.Format("conf: {0:0.00}", conf[0]));
sb.AppendLine("handedness: " + handedness_text);
sb.AppendLine(String.Format("hand box: {0:0} {1:0} {2:0} {3:0}", bbox[0], bbox[1], bbox[2], bbox[3]));
sb.AppendLine("hand landmarks: ");
foreach (var p in landmarks_screen_xyz)
{
sb.Append(String.Format("{0:0} ", p));
}
sb.AppendLine();
sb.AppendLine("hand world landmarks: ");
foreach (var p in landmarks_world)
{
sb.Append(String.Format("{0:0.000000} ", p));
}
}
}
if (print_results)
Debug.Log(sb);
void draw_lines(float[] landmarks, bool is_draw_point = true, int thickness = 2)
{
// Draw line between each key points
Imgproc.line(image, new Point(landmarks[0], landmarks[1]), new Point(landmarks[2], landmarks[3]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[2], landmarks[3]), new Point(landmarks[4], landmarks[5]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[4], landmarks[5]), new Point(landmarks[6], landmarks[7]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[6], landmarks[7]), new Point(landmarks[8], landmarks[9]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[0], landmarks[1]), new Point(landmarks[10], landmarks[11]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[10], landmarks[11]), new Point(landmarks[12], landmarks[13]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[12], landmarks[13]), new Point(landmarks[14], landmarks[15]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[14], landmarks[15]), new Point(landmarks[16], landmarks[17]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[0], landmarks[1]), new Point(landmarks[18], landmarks[19]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[18], landmarks[19]), new Point(landmarks[20], landmarks[21]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[20], landmarks[21]), new Point(landmarks[22], landmarks[23]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[22], landmarks[23]), new Point(landmarks[24], landmarks[25]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[0], landmarks[1]), new Point(landmarks[26], landmarks[27]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[26], landmarks[27]), new Point(landmarks[28], landmarks[29]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[28], landmarks[29]), new Point(landmarks[30], landmarks[31]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[30], landmarks[31]), new Point(landmarks[32], landmarks[33]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[0], landmarks[1]), new Point(landmarks[34], landmarks[35]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[34], landmarks[35]), new Point(landmarks[36], landmarks[37]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[36], landmarks[37]), new Point(landmarks[38], landmarks[39]), line_color, thickness);
Imgproc.line(image, new Point(landmarks[38], landmarks[39]), new Point(landmarks[40], landmarks[41]), line_color, thickness);
if (is_draw_point)
{
for (int j = 0; j < 42; j += 2)
{
Imgproc.circle(image, new Point(landmarks[j], landmarks[j + 1]), 2, point_color, -1);
}
}
}
}
public virtual void dispose()
{
if (handpose_estimation_net != null)
handpose_estimation_net.Dispose();
if (tmpImage != null)
tmpImage.Dispose();
}
}
}
}
#endif
#endif
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