private List <AiliaPoseEstimator.AILIAPoseEstimatorObjectPose> ComputePoseFromImageWithFormat(Color32[] camera, int tex_width, int tex_height, uint format)
{
if (ailia_pose_estimator == IntPtr.Zero)
{
return(null);
}
//バッファの固定
GCHandle preview_handle = GCHandle.Alloc(camera, GCHandleType.Pinned);
IntPtr preview_buf_ptr = preview_handle.AddrOfPinnedObject();
//画像認識を行ってカテゴリを表示
//Unityのカメラ画像は上下反転しているのでAILIA_IMAGE_FORMAT_RGBA_B2Tを指定
int status = AiliaPoseEstimator.ailiaPoseEstimatorCompute(ailia_pose_estimator, preview_buf_ptr, (UInt32)tex_width * 4, (UInt32)tex_width, (UInt32)tex_height, format);
if (status != Ailia.AILIA_STATUS_SUCCESS)
{
if (logging)
{
Debug.Log("ailiaPoseEstimatorCompute failed " + status);
}
return(null);
}
//推論結果を表示
List <AiliaPoseEstimator.AILIAPoseEstimatorObjectPose> result_list = new List <AiliaPoseEstimator.AILIAPoseEstimatorObjectPose>();
uint count = 0;
AiliaPoseEstimator.ailiaPoseEstimatorGetObjectCount(ailia_pose_estimator, ref count);
for (int i = 0; i < count; i++)
{
AiliaPoseEstimator.AILIAPoseEstimatorObjectPose classifier_obj = new AiliaPoseEstimator.AILIAPoseEstimatorObjectPose();
status = AiliaPoseEstimator.ailiaPoseEstimatorGetObjectPose(ailia_pose_estimator, classifier_obj, (uint)i, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_OBJECT_POSE_VERSION);
if (status != Ailia.AILIA_STATUS_SUCCESS)
{
if (logging)
{
Debug.Log("ailiaPoseEstimatorGetObjectPose failed" + status);
}
break;
}
result_list.Add(classifier_obj);
}
//バッファの開放
preview_handle.Free();
return(result_list);
}
public void DrawBone(Color32 color, int tex_width, int tex_height, AiliaPoseEstimator.AILIAPoseEstimatorObjectPose obj, uint from, uint to, int r)
{
float th = 0.1f;
if (obj.points[from].score <= th || obj.points[to].score <= th)
{
return;
}
int from_x = (int)(tex_width * obj.points[from].x);
int from_y = (int)(tex_height * obj.points[from].y);
int to_x = (int)(tex_width * obj.points[to].x);
int to_y = (int)(tex_height * obj.points[to].y);
int len = (to_x - from_x) * (to_x - from_x) + (to_y - from_y) * (to_y - from_y);
len = (int)Mathf.Sqrt(len);
DrawLine(color, from_x, from_y, obj.points[from].z_local, to_x, to_y, obj.points[to].z_local, tex_width, tex_height);
}
// Update is called once per frame
void Update()
{
if (!ailia_camera.IsEnable())
{
return;
}
if (!FileOpened)
{
return;
}
//Clear label
Clear();
//Capture
int tex_width = ailia_camera.GetWidth();
int tex_height = ailia_camera.GetHeight();
if (preview_texture == null)
{
preview_texture = new Texture2D(tex_width, tex_height);
raw_image.texture = preview_texture;
}
Color32[] camera = ailia_camera.GetPixels32();
//Pose estimation
long start_time = DateTime.UtcNow.Ticks / TimeSpan.TicksPerMillisecond;;
List <AiliaPoseEstimator.AILIAPoseEstimatorObjectPose> pose = ailia_pose.ComputePoseFromImageB2T(camera, tex_width, tex_height);
long end_time = DateTime.UtcNow.Ticks / TimeSpan.TicksPerMillisecond;;
for (int i = 0; i < pose.Count; i++)
{
AiliaPoseEstimator.AILIAPoseEstimatorObjectPose obj = pose[i];
if (obj.total_score < 0)
{
continue;
}
int r = 2;
DrawBone(Color.red, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_NOSE, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_CENTER, r);
DrawBone(Color.yellow, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_CENTER, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_CENTER, r);
DrawBone(Color.red, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EYE_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_NOSE, r);
DrawBone(Color.red, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EYE_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_NOSE, r);
DrawBone(Color.red, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EAR_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EYE_LEFT, r);
DrawBone(Color.red, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EAR_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_EYE_RIGHT, r);
DrawBone(Color.yellow, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ELBOW_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_LEFT, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ELBOW_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_RIGHT, r);
DrawBone(Color.yellow, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_WRIST_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ELBOW_LEFT, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_WRIST_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ELBOW_RIGHT, r);
DrawBone(Color.blue, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_HIP_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_CENTER, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_HIP_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_SHOULDER_CENTER, r);
DrawBone(Color.blue, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_KNEE_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_HIP_LEFT, r);
DrawBone(Color.blue, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ANKLE_LEFT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_KNEE_LEFT, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_KNEE_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_HIP_RIGHT, r);
DrawBone(Color.green, tex_width, tex_height, obj, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_ANKLE_RIGHT, AiliaPoseEstimator.AILIA_POSE_ESTIMATOR_POSE_KEYPOINT_KNEE_RIGHT, r);
}
//Apply
preview_texture.SetPixels32(camera);
preview_texture.Apply();
if (label_text != null)
{
label_text.text = "" + (end_time - start_time) + "ms\n" + ailia_pose.EnvironmentName();
}
}
