void Start()
{
model_ = ModelLoader.LoadFromStreamingAssets("F:\\2Unity\\RollerBall\\Assets\\RollerBallBrain.nn");
worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.ComputePrecompiled, model_);
rBody = GetComponent <Rigidbody>();
FxFz = new float[2];
}
// Start is called before the first frame update
void Start()
{
body = GetComponent <Rigidbody>();
navigator = GetComponent <PathNavigator>();
autopilot = GetComponent <Autopilot>();
vehicle = GetComponent <Vehicle>();
workers = new List <IWorker>();
int[] inputShape = null;
for (int i = 0; i < 5; i++)
{
var model = ModelLoader.LoadFromStreamingAssets(modelName + i + ".nn");
workers.Add(WorkerFactory.CreateWorker(WorkerFactory.Type.CSharpBurst, model));
inputShape = model.inputs[0].shape;
}
classificationWorker = WorkerFactory.CreateWorker(WorkerFactory.Type.CSharpBurst, ModelLoader.LoadFromStreamingAssets(modelName + "C" + ".nn"));
numObservations = (inputShape.Last() - 1) / 3;
inputs = new Tensor(new TensorShape(inputShape));
estimations = new List <float>();
curvature = new float[numObservations];
camber = new float[numObservations];
inclination = new float[numObservations];
rearLeft = vehicle.wheels.Where(w => w.localAttachmentPosition.z < 0).Where(w => w.localAttachmentPosition.x < 0).ToArray();
rearRight = vehicle.wheels.Where(w => w.localAttachmentPosition.z < 0).Where(w => w.localAttachmentPosition.x > 0).ToArray();
}
///<summary>
///Loads model into memory
///<param>Path to the model</param>
///</summary>
public CoachModel GetModel(string path, int workers = 1, string input = "input", string output = "output")
{
var modelPath = Path.Combine(path, "unity.bytes");
var labelPath = Path.Combine(path, "manifest.json");
// Load the model
Model model = ModelLoader.LoadFromStreamingAssets(modelPath);
var manifest = ReadManifest(labelPath);
string[] labels = manifest.labels;
string baseModule = manifest.module;
float coachVersion = manifest.coachVersion;
return(new CoachModel(model, labels, baseModule, coachVersion, workers, input, output));
}
// Start is called before the first frame update
void Start()
{
// モデルのロード
m_Model = ModelLoader.LoadFromStreamingAssets(m_ModelName + ".nn");
// ワーカーの作成
m_Worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.ComputePrecompiled, m_Model);
// テクスチャーペイントの準備
Texture2D mainTexture = (Texture2D)m_Plane.GetComponent <Renderer>().material.mainTexture;
Color[] pixels = mainTexture.GetPixels();
m_Buffer = new Color[pixels.Length];
pixels.CopyTo(m_Buffer, 0);
m_DrawTexture = new Texture2D(mainTexture.width, mainTexture.height, TextureFormat.ARGB32, false);
m_DrawTexture.filterMode = FilterMode.Point;
}
// Start is called before the first frame update
void Start()
{
var model = ModelLoader.LoadFromStreamingAssets(modelName + ".bytes");
var worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.Compute, model);
foreach (var layer in model.layers)
{
Debug.Log("Layer " + layer.name + " does: " + layer.inputs);
}
var inputs = new Dictionary <string, Tensor>();
Texture2D img = Resources.Load("tennis_in_crowd") as Texture2D;
// Texture2D img = testImage.mainTexture as Texture2D;
var tensor = new Tensor(img, 3);
inputs.Add("image", tensor);
worker.ExecuteAndWaitForCompletion(inputs);
var Heatmap = worker.Fetch("heatmap");
var Offset = worker.Fetch("offset_2");
var Dis_fwd = worker.Fetch("displacement_fwd_2");
var Dis_bwd = worker.Fetch("displacement_bwd_2");
poses = posenet.DecodeMultiplePosesOG(Heatmap, Offset, Dis_fwd, Dis_bwd,
outputStride: 16, maxPoseDetections: 2, scoreThreshold: 0.02f, nmsRadius: 20);
gl = GameObject.Find("GLRenderer").GetComponent <GLRenderer>();
Debug.Log(poses.Length);
// Debug.Log(Heatmap.height);
Heatmap.Dispose();
Offset.Dispose();
Dis_fwd.Dispose();
Dis_bwd.Dispose();
worker.Dispose();
}
// Start is called before the first frame update
void Start()
{
// 動作確認のサンプルなので, すべて Start() 上で実行しています.
// モデルのロード
var model = ModelLoader.LoadFromStreamingAssets(m_ModelName + ".nn");
// ワーカー (推論エンジン) の作成
var worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.ComputePrecompiled, model);
// 入力の作成. 第2引数はチャンネル数.
var tensor = new Tensor(m_InputTexture, 1);
// 推論の実行
worker.Execute(tensor);
// 推論結果の取得
var O = worker.Peek();
// 結果の表示
int pred = 0;
float maxVal = float.MinValue;
for (int i = 0; i < 10; ++i)
{
if (maxVal < O.readonlyArray[i])
{
pred = i;
maxVal = O.readonlyArray[i];
}
}
Debug.Log("Pred: " + pred.ToString());
// 後片付け (メモリの解放など)
O.Dispose();
worker.Dispose();
}
private void Start()
{
// デバッグ用ファイルを開く
//Encoding enc = Encoding.GetEncoding("Shift_JIS");
//var csvPath = System.IO.Path.Combine(Application.streamingAssetsPath, "data.csv");
//writer = new StreamWriter(csvPath, false, enc);
if (DebugMode)
{
if (User3Input)
{
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNectAsync);
}
else
{
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNect);
}
/*
* var streamingPath = System.IO.Path.Combine(Application.streamingAssetsPath, HighQualityModelName);
* var writer = new BinaryWriter(new FileStream(streamingPath, FileMode.Create));
* writer.Write(NNModel.modelData.Value);
* writer.Close();
*/
_model = ModelLoader.Load(NNModel, Verbose);
}
else
{
var streamingPath = System.IO.Path.Combine(Application.streamingAssetsPath, HighQualityModelName);
if (!File.Exists(streamingPath))
{
ModelQuality = 0;
}
if (ModelQuality == 0)
{
InputImageSize = 224;
HeatMapCol = 14;
User3Input = false;
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNect);
_model = ModelLoader.Load(NNModel, Verbose);
}
else
{
InputImageSize = 448;
HeatMapCol = 28;
User3Input = true;
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNectAsync);
_model = ModelLoader.LoadFromStreamingAssets(streamingPath);
}
}
// Init VideoCapture
videoCapture.Init(InputImageSize, InputImageSize);
videoCapture.VideoReady += videoCapture_VideoReady;
HeatMapCol_Half = HeatMapCol / 2;
HeatMapCol_Squared = HeatMapCol * HeatMapCol;
HeatMapCol_Cube = HeatMapCol * HeatMapCol * HeatMapCol;
HeatMapCol_JointNum = HeatMapCol * JointNum;
heatMap2D = new float[JointNum * HeatMapCol_Squared];
offset2D = new float[JointNum * HeatMapCol_Squared * 2];
heatMap3D = new float[JointNum * HeatMapCol_Cube];
offset3D = new float[JointNum * HeatMapCol_Cube * 3];
InputImageSizeF = InputImageSize;
InputImageSizeHalf = InputImageSizeF / 2f;
unit = 1f / (float)HeatMapCol;
cubeOffsetLinear = HeatMapCol * JointNum_Cube;
cubeOffsetSquared = HeatMapCol_Squared * JointNum_Cube;
// Disabel sleep
Screen.sleepTimeout = SleepTimeout.NeverSleep;
_worker = WorkerFactory.CreateWorker(WorkerType, _model, Verbose);
StartCoroutine("WaitLoad");
var texture = new RenderTexture(InputImageSize, InputImageSize, 0, RenderTextureFormat.RGB565, RenderTextureReadWrite.sRGB)
{
useMipMap = false,
autoGenerateMips = false,
wrapMode = TextureWrapMode.Clamp,
filterMode = FilterMode.Point,
};
if (User3Input)
{
inputs[inputName_1] = new Tensor(texture, 3);
inputs[inputName_2] = new Tensor(texture, 3);
inputs[inputName_3] = new Tensor(texture, 3);
_worker.Execute(inputs);
inputs[inputName_1].Dispose();
inputs[inputName_2].Dispose();
inputs[inputName_3].Dispose();
}
else
{
input = new Tensor(texture, 3);
_worker.Execute(input);
input.Dispose();
}
}
private void Start()
{
if (DebugMode)
{
if (User3Input)
{
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNectAsync);
}
else
{
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNect);
}
/*
* var streamingPath = System.IO.Path.Combine(Application.streamingAssetsPath, HighQualityModelName);
* var writer = new BinaryWriter(new FileStream(streamingPath, FileMode.Create));
* writer.Write(NNModel.Value);
* writer.Close();
*/
_model = ModelLoader.Load(NNModel, Verbose);
}
else
{
var streamingPath = System.IO.Path.Combine(Application.streamingAssetsPath, HighQualityModelName);
if (!File.Exists(streamingPath))
{
ModelQuality = 0;
}
if (ModelQuality == 0)
{
InputImageSize = 224;
HeatMapCol = 14;
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNect);
_model = ModelLoader.Load(NNModel, Verbose);
}
else
{
InputImageSize = 448;
HeatMapCol = 28;
UpdateVNectModel = new UpdateVNectModelDelegate(UpdateVNectAsync);
_model = ModelLoader.LoadFromStreamingAssets(streamingPath);
}
}
HeatMapCol_Half = HeatMapCol / 2;
HeatMapCol_Squared = HeatMapCol * HeatMapCol;
HeatMapCol_Cube = HeatMapCol * HeatMapCol * HeatMapCol;
HeatMapCol_JointNum = HeatMapCol * JointNum;
heatMap2D = new float[JointNum * HeatMapCol_Squared];
offset2D = new float[JointNum * HeatMapCol_Squared * 2];
heatMap3D = new float[JointNum * HeatMapCol_Cube];
offset3D = new float[JointNum * HeatMapCol_Cube * 3];
InputImageSizeF = InputImageSize;
InputImageSizeHalf = InputImageSizeF / 2f;
unit = 1f / (float)HeatMapCol;
cubeOffsetLinear = HeatMapCol * JointNum_Cube;
cubeOffsetSquared = HeatMapCol_Squared * JointNum_Cube;
// Disabel sleep
Screen.sleepTimeout = SleepTimeout.NeverSleep;
_worker = WorkerFactory.CreateWorker(WorkerType, _model, Verbose);
StartCoroutine("WaitLoad");
// Init VideoCapture
videoCapture.Init(InputImageSize, InputImageSize);
videoCapture.VideoReady += videoCapture_VideoReady;
}
// Start is called before the first frame update
void Start()
{
var model = ModelLoader.LoadFromStreamingAssets(RollerBallBrain + ".nn");
var worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.ComputePrecompiled, model);
}
IEnumerator PoseUpdateNoTex(NativeArray <Color32> buffer, int width, int height, float secondsToWait)
{
// isPosing = true;
var _model = ModelLoader.LoadFromStreamingAssets(modelName + ".bytes");
//var _model = model;
var _worker = BarracudaWorkerFactory.CreateWorker(BarracudaWorkerFactory.Type.Compute, _model);
//var _worker = worker;
var frame = new Texture2D(width, height, TextureFormat.RGB24, false);
frame.SetPixels32(buffer.ToArray());
frame.Apply();
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
//frame.ResizePro(Width, Height, false, false);
posenet.scale(frame, Width, Height, FilterMode.Bilinear);
// Save frame image jpg to disk for debugging
/// var randomInt = UnityEngine.Random.Range(0, 100000000000000000);
/// File.WriteAllBytes(Application.persistentDataPath + "/pose-" + randomInt + ".jpg", frame.EncodeToJPG());
/// Debug.Log("Saved size converted image path: " + Application.persistentDataPath + "/pose-" + randomInt + ".jpg");
var inputs = new Dictionary <string, Tensor>();
var tensor = new Tensor(frame, 3);
inputs.Add("image", tensor);
_worker.ExecuteAndWaitForCompletion(inputs);
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
var Heatmap = _worker.Fetch("heatmap");
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
var Offset = _worker.Fetch("offset_2");
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
var Dis_fwd = _worker.Fetch("displacement_fwd_2");
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
var Dis_bwd = _worker.Fetch("displacement_bwd_2");
//yield return new WaitForSeconds(secondsToWait);
yield return(new WaitForEndOfFrame());
poses = posenet.DecodeMultiplePosesOG(Heatmap, Offset, Dis_fwd, Dis_bwd,
outputStride: 16, maxPoseDetections: 1, scoreThreshold: 0.8f, nmsRadius: 30);
Offset.Dispose();
Dis_fwd.Dispose();
Dis_bwd.Dispose();
Heatmap.Dispose();
_worker.Dispose();
isPosing = false;
frame = null;
inputs = null;
// Resources.UnloadUnusedAssets();
yield return(null);
}
