#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 { ///

/// 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. ///

[RequireComponent(typeof(WebCamTextureToMatHelper))] public class HandPoseEstimationExample : MonoBehaviour { [Header("TEST")] [TooltipAttribute("Path to test input image.")] public string testInputImage; ///

/// The texture. ///

Texture2D texture; ///

/// The webcam texture to mat helper. ///

WebCamTextureToMatHelper webCamTextureToMatHelper; ///

/// The bgr mat. ///

Mat bgrMat; ///

/// The palm detector. ///

PalmDetector palmDetector; ///

/// The handpose estimator. ///

HandPoseEstimator handPoseEstimator; ///

/// The FPS monitor. ///

FpsMonitor fpsMonitor; ///

/// PALM_DETECTION_MODEL_FILENAME ///

protected static readonly string PALM_DETECTION_MODEL_FILENAME = "OpenCVForUnity/dnn/palm_detection_mediapipe_2023feb.onnx"; ///

/// The palm detection model filepath. ///

string palm_detection_model_filepath; ///

/// HANDPOSE_ESTIMATION_MODEL_FILENAME ///

protected static readonly string HANDPOSE_ESTIMATION_MODEL_FILENAME = "OpenCVForUnity/dnn/handpose_estimation_mediapipe_2023feb.onnx"; ///

/// The handpose estimation model filepath. ///

string handpose_estimation_model_filepath; #if UNITY_WEBGL IEnumerator getFilePath_Coroutine; #endif // Use this for initialization void Start() { fpsMonitor = GetComponent(); webCamTextureToMatHelper = gameObject.GetComponent(); #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 hands = new List(); // 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().material.mainTexture = texture; }); StartCoroutine(getFilePathAsync_0_Coroutine); ///////////////////// } } ///

/// Raises the webcam texture to mat helper initialized event. ///

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().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); } ///

/// Raises the webcam texture to mat helper disposed event. ///

public void OnWebCamTextureToMatHelperDisposed() { Debug.Log("OnWebCamTextureToMatHelperDisposed"); if (bgrMat != null) bgrMat.Dispose(); if (texture != null) { Texture2D.Destroy(texture); texture = null; } } ///

/// Raises the webcam texture to mat helper error occurred event. ///

/// Error code. 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 hands = new List(); // 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); } } ///

/// Raises the destroy event. ///

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 } ///

/// Raises the back button click event. ///

public void OnBackButtonClick() { SceneManager.LoadScene("OpenCVForUnityExample"); } ///

/// Raises the play button click event. ///

public void OnPlayButtonClick() { webCamTextureToMatHelper.Play(); } ///

/// Raises the pause button click event. ///

public void OnPauseButtonClick() { webCamTextureToMatHelper.Pause(); } ///

/// Raises the stop button click event. ///

public void OnStopButtonClick() { webCamTextureToMatHelper.Stop(); } ///

/// Raises the change camera button click event. ///

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 output_blob = new List(); 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 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, 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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 output_blob = new List(); 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 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 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