public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeyPoint,
float alphaHeatMap,
int defaultPartToRender) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
defaultPartToRender,
"models/")
{
}
public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeyPoint,
float alphaHeatMap,
int defaultPartToRender,
string modelFolder,
IEnumerable <HeatMapType> heatMapTypes) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
defaultPartToRender,
modelFolder,
heatMapTypes,
ScaleMode.ZeroToOne)
{
}
// Pose parameter configuration (with default value)
// Please refer to OpenPose documentation for parameter explanation
public static void OPConfigurePose(
PoseMode poseMode = PoseMode.Enabled, Vector2Int?netInputSize = null, Vector2Int?outputSize = null,
ScaleMode keypointScaleMode = ScaleMode.InputResolution,
int gpuNumber = -1, int gpuNumberStart = 0, int scalesNumber = 1, float scaleGap = 0.25f,
RenderMode renderMode = RenderMode.Auto, PoseModel poseModel = PoseModel.BODY_25,
bool blendOriginalFrame = true, float alphaKeypoint = 0.6f, float alphaHeatMap = 0.7f,
int defaultPartToRender = 0, string modelFolder = null,
HeatMapType heatMapTypes = HeatMapType.None, ScaleMode heatMapScaleMode = ScaleMode.ZeroToOne,
bool addPartCandidates = false, float renderThreshold = 0.05f, int numberPeopleMax = -1,
bool maximizePositives = false, double fpsMax = -1.0,
string protoTxtPath = "", string caffeModelPath = "", float upsamplingRatio = 0f)
{
// Other default values
Vector2Int _netRes = netInputSize ?? new Vector2Int(-1, 368);
Vector2Int _outputRes = outputSize ?? new Vector2Int(-1, -1);
modelFolder = modelFolder ?? Environment.CurrentDirectory + "/models/";
Bind._OPConfigurePose(
(byte)poseMode, _netRes.x, _netRes.y, // Point
_outputRes.x, _outputRes.y, // Point
(byte)keypointScaleMode, // ScaleMode
gpuNumber, gpuNumberStart, scalesNumber, scaleGap,
(byte)renderMode, // RenderMode
(byte)poseModel, // PoseModel
blendOriginalFrame, alphaKeypoint, alphaHeatMap, defaultPartToRender, modelFolder,
Convert.ToBoolean(heatMapTypes & HeatMapType.Parts),
Convert.ToBoolean(heatMapTypes & HeatMapType.Background),
Convert.ToBoolean(heatMapTypes & HeatMapType.PAFs), // vector<HeatMapType>
(byte)heatMapScaleMode, // ScaleMode
addPartCandidates, renderThreshold, numberPeopleMax,
maximizePositives, fpsMax, protoTxtPath, caffeModelPath, upsamplingRatio
);
}
public static uint[] GetPoseMapIndex(PoseModel poseModel)
{
var ret = NativeMethods.op_getPoseMapIndex(poseModel);
using (var vector = new StdVector <uint>(ret))
return(vector.ToArray());
}
public static extern IntPtr op_wrapperStructPose_new(PoseMode poseMode,
IntPtr netInputSize,
IntPtr outputSize,
ScaleMode keypointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeypoint,
float alphaHeatMap,
int defaultPartToRender,
byte[] modelFolder,
IntPtr heatMapTypes,
ScaleMode heatMapScale,
bool addPartCandidates,
float renderThreshold,
int numberPeopleMax,
bool maximizePositives,
double fpsMax,
byte[] protoTxtPath,
byte[] caffeModelPath,
float upsamplingRatio,
bool enableGoogleLogging);
public static uint[] GetPosePartPairs(PoseModel poseModel)
{
var ret = Native.op_getPosePartPairs(poseModel);
using (var vector = new StdVector <uint>(ret))
return(vector.ToArray());
}
public static extern IntPtr op_PoseGpuRenderer_new(PoseModel poseModel,
IntPtr poseExtractorNet,
float renderThreshold,
bool blendOriginalFrame,
float alphaKeyPoint,
float alphaHeatMap,
uint elementToRender);
public PoseExtractorCaffe(PoseModel poseModel,
string modelFolder,
int gpuId,
HeatMapType[] heatMapTypes = null,
ScaleMode heatMapScale = ScaleMode.ZeroToOne,
bool addPartCandidates = false,
bool maximizePositives = false,
bool enableGoogleLogging = true)
{
if (!Directory.Exists(modelFolder))
{
throw new DirectoryNotFoundException($"{modelFolder} is not found.");
}
var modelFolderBytes = Encoding.UTF8.GetBytes(modelFolder);
using (var types = new StdVector <HeatMapType>(heatMapTypes ?? new HeatMapType[0]))
this.NativePtr = PoseExtractorCaffeNative.op_PoseExtractorCaffe_new(poseModel,
modelFolderBytes,
gpuId,
types.NativePtr,
heatMapScale,
addPartCandidates,
maximizePositives,
enableGoogleLogging);
}
public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeyPoint) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
OpenPose.PoseDefaultAlphaKeyPoint)
{
}
public async static Task <bool> WithinCuboid(
[InputPin(PropertyMode = PropertyMode.Never)] PoseModel source,
[InputPin(PropertyMode = PropertyMode.Default, Editor = "Pose")] PoseProperty center,
[InputPin(PropertyMode = PropertyMode.Default)] double width = 0.1,
[InputPin(PropertyMode = PropertyMode.Default)] double height = 0.1,
[InputPin(PropertyMode = PropertyMode.Default)] double depth = 0.1,
CancellationToken cancel = default(CancellationToken))
{
if (center == null)
{
throw new ArgumentNullException(nameof(center), "Required property 'center' of CheckCurrentPose module was not specified.");
}
if (source == null)
{
throw new ArgumentNullException(nameof(source), "Required property 'source' of CheckCurrentPose module was not specified.");
}
var centerPose = await ResolveProperty(center);
var currentPose = source.ToPose();
var dist = Vector3.Abs(Vector3.Subtract(centerPose.Translation, currentPose.Translation));
return(dist.X < width && dist.Y < height && dist.Z < depth);
}
public static extern IntPtr op_PoseExtractorCaffe_new(PoseModel poseModel,
byte[] modelFolder,
int gpuId,
IntPtr heatMapTypes,
ScaleMode heatMapScale,
bool addPartCandidates,
bool maximizePositives,
bool enableGoogleLogging);
private void OnDataCollectionStop()
{
isCollectingData = false;
PoseModel model = new PoseModel(rotations);
model.SaveModel("output.txt");
timerText.text = "Todo fué correcto";
}
public WrapperStructPose(bool enable = false,
Point <int> netInputSize = default(Point <int>),
Point <int> outputSize = default(Point <int>),
ScaleMode keyPointScale = ScaleMode.InputResolution,
int gpuNumber = -1,
int gpuNumberStart = 0,
int scalesNumber = 1,
float scaleGap = 0.15f,
RenderMode renderMode = RenderMode.Gpu,
PoseModel poseModel = PoseModel.Body25,
bool blendOriginalFrame = true,
float alphaKeyPoint = OpenPose.PoseDefaultAlphaKeyPoint,
float alphaHeatMap = OpenPose.PoseDefaultAlphaKeyPoint,
int defaultPartToRender = 0,
string modelFolder = "models/",
IEnumerable <HeatMapType> heatMapTypes = null,
ScaleMode heatMapScale = ScaleMode.ZeroToOne,
bool addPartCandidates = false,
float renderThreshold = 0.05f,
int numberPeopleMax = -1,
bool maximizePositives = false,
double fpsMax = -1d,
bool enableGoogleLogging = true)
{
var modelFolderBytes = Encoding.UTF8.GetBytes(modelFolder ?? "");
using (var nativeNetInputSize = netInputSize.ToNative())
using (var nativeOutputSize = outputSize.ToNative())
using (var vector = new StdVector <HeatMapType>(heatMapTypes ?? new HeatMapType[0]))
this.NativePtr = Native.op_wrapperStructPose_new(enable,
nativeNetInputSize.NativePtr,
nativeOutputSize.NativePtr,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
defaultPartToRender,
modelFolderBytes,
vector.NativePtr,
heatMapScale,
addPartCandidates,
renderThreshold,
numberPeopleMax,
maximizePositives,
fpsMax,
enableGoogleLogging);
}
public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeyPoint,
float alphaHeatMap,
int defaultPartToRender,
string modelFolder,
IEnumerable <HeatMapType> heatMapTypes,
ScaleMode heatMapScale,
bool addPartCandidates,
float renderThreshold,
int numberPeopleMax,
bool maximizePositives,
double fpsMax,
string prototxtPath,
string caffeModelPath,
float upsamplingRatio) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
defaultPartToRender,
modelFolder,
heatMapTypes,
heatMapScale,
addPartCandidates,
renderThreshold,
numberPeopleMax,
maximizePositives,
fpsMax,
prototxtPath,
caffeModelPath,
upsamplingRatio,
true)
{
}
public static string GetPoseTrainedModel(PoseModel poseModel)
{
string str = null;
var ret = Native.op_getPoseTrainedModel(poseModel);
if (ret != IntPtr.Zero)
{
str = StringHelper.FromStdString(ret, true);
}
return(str);
}
public static string GetPoseProtoTxt(PoseModel poseModel)
{
string str = null;
var ret = NativeMethods.op_getPoseProtoTxt(poseModel);
if (ret != IntPtr.Zero)
{
str = StringHelper.FromStdString(ret, true);
}
return(str);
}
public PoseCpuRenderer(PoseModel poseModel,
float renderThreshold,
bool blendOriginalFrame = true,
float alphaKeyPoint = OpenPose.PoseDefaultAlphaKeyPoint,
float alphaHeatMap = OpenPose.PoseDefaultAlphaHeatMap,
uint elementToRender = 0u)
{
this.NativePtr = NativeMethods.op_PoseCpuRenderer_new(poseModel,
renderThreshold,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
elementToRender);
}
public PoseGpuRenderer(PoseModel poseModel,
StdSharedPtr <PoseExtractorCaffe> poseExtractorNet,
float renderThreshold,
bool blendOriginalFrame = true,
float alphaKeyPoint = OpenPose.PoseDefaultAlphaKeyPoint,
float alphaHeatMap = OpenPose.PoseDefaultAlphaHeatMap,
uint elementToRender = 0u)
{
this.NativePtr = NativeMethods.op_PoseGpuRenderer_new(poseModel,
poseExtractorNet.NativePtr,
renderThreshold,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
elementToRender);
}
void Start()
{
Application.targetFrameRate = 30;
Screen.SetResolution(1280, 720, true);
NuitrackManager.GestureRecognizer.OnNewGesturesEvent += AttendGestures;
gestureModels = new PoseModel[1];
BetterStreamingAssets.Initialize();
gestureModels[0] = new PoseModel();
gestureModels[0].LoadModel(modelPaths[0]);
gestureModel.Add(CustomGestureType.HandsUp, gestureModels[0]);
}
public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel,
bool blendOriginalFrame,
float alphaKeyPoint,
float alphaHeatMap,
int defaultPartToRender,
string modelFolder,
IEnumerable <HeatMapType> heatMapTypes,
ScaleMode heatMapScale,
bool addPartCandidates,
float renderThreshold,
int numberPeopleMax) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
blendOriginalFrame,
alphaKeyPoint,
alphaHeatMap,
defaultPartToRender,
modelFolder,
heatMapTypes,
heatMapScale,
addPartCandidates,
renderThreshold,
numberPeopleMax,
false)
{
}
public static Pose ToPose(this PoseModel model, bool normalizeRotation = false)
{
if (model.Translation == null || model.Rotation == null)
{
return(new Pose(
new Vector3(float.NaN, float.NaN, float.NaN),
new Quaternion(float.NaN, float.NaN, float.NaN, float.NaN),
model.Frame
));
}
else
{
return(new Pose(
new Vector3((float)model.Translation[0], (float)model.Translation[1], (float)model.Translation[2]),
new Quaternion((float)model.Rotation[0], (float)model.Rotation[1], (float)model.Rotation[2], (float)model.Rotation[3]),
model.Frame,
normalizeRotation
));
}
}
public WrapperStructPose(PoseMode poseMode,
Point <int> netInputSize,
Point <int> outputSize,
ScaleMode keyPointScale,
int gpuNumber,
int gpuNumberStart,
int scalesNumber,
float scaleGap,
RenderMode renderMode,
PoseModel poseModel) :
this(poseMode,
netInputSize,
outputSize,
keyPointScale,
gpuNumber,
gpuNumberStart,
scalesNumber,
scaleGap,
renderMode,
poseModel,
true)
{
}
public double Compare(PoseModel other)
{
NDtw.Dtw dtw;
double[][] firstSeries;
double[][] secondSeries;
double error = 0;
char[] components = { 'x', 'y', 'z', 'w' };
foreach (char component in components)
{
firstSeries = GetAllComponents(component);
secondSeries = other.GetAllComponents(component);
for (int i = 0; i < numberOfJoints; i++)
{
dtw = new NDtw.Dtw(firstSeries[i], secondSeries[i]);
error += dtw.GetCost();
}
}
return(error);
}
public static extern IntPtr op_getPosePartPairs(PoseModel poseModel);
public static extern uint op_getPoseNumberBodyParts(PoseModel poseModel);
public static extern IntPtr op_getPoseMapIndex(PoseModel poseModel);
public static extern IntPtr op_getPoseProtoTxt(PoseModel poseModel);
public static extern bool op_addBkgChannel(PoseModel poseModel);
public static extern float op_getPoseDefaultConnectInterThreshold(PoseModel poseModel, bool maximizePositives);
public static extern float op_getPoseNetDecreaseFactor(PoseModel poseModel);
