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inference-engine-blaze-pose

Object Detection
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ONNX
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  49. Assets/Scripts/ImagePreview.cs.meta +2 -0
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1930
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1932
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1934
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1935
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1936
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1938
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1939
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1940
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1941
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1943
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1944
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1945
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1946
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1948
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1949
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1950
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1951
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1953
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1954
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1955
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1956
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1957
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1958
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1959
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1960
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1961
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1962
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1963
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1964
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1965
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1966
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1967
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1970
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1971
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1975
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
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1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2002
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2003
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2005
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2010
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2011
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2012
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1
+ #pragma kernel ImageSample
2
+
3
+ Texture2D X_tex2D;
4
+ SamplerState LinearClampSampler;
5
+ RWStructuredBuffer<float> Optr;
6
+
7
+ uint O_width;
8
+ uint O_height;
9
+ uint O_channels;
10
+ uint X_width;
11
+ uint X_height;
12
+ float4x4 affineMatrix;
13
+
14
+ [numthreads(8, 8, 1)]
15
+ void ImageSample(uint3 dispatchThreadID : SV_DispatchThreadID)
16
+ {
17
+ uint2 O_pos = dispatchThreadID.yx;
18
+
19
+ if (O_pos.x >= O_width || O_pos.y >= O_height)
20
+ return;
21
+
22
+ float4 uv = mul(affineMatrix, float4(O_pos.x, O_pos.y, 1, 1)) / float4(X_width, X_height, 1, 1);
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+
24
+ bool mask = uv.x >= 0 && uv.x <= 1 && uv.y >= 0 && uv.y <= 1;
25
+ float4 c = mask * X_tex2D.SampleLevel(LinearClampSampler, uv.xy, 0);
26
+ // SRGB conversion
27
+ bool3 maskRGB = c.rgb > 0.0031308f;
28
+ c.rgb = lerp(12.92f * c.rgb, 1.055f * (pow(abs(c.rgb), 0.41666666666f) - 0.055f), maskRGB);
29
+
30
+ Optr[(O_pos.y * O_width + O_pos.x) * O_channels + 0] = c.x;
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+ Optr[(O_pos.y * O_width + O_pos.x) * O_channels + 1] = c.y;
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+ Optr[(O_pos.y * O_width + O_pos.x) * O_channels + 2] = c.z;
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+ }
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1
+ using System;
2
+ using System.Globalization;
3
+ using Unity.Mathematics;
4
+ using Unity.Sentis;
5
+ using UnityEngine;
6
+
7
+ public static class BlazeUtils
8
+ {
9
+ // matrix utility
10
+ public static float2x3 mul(float2x3 a, float2x3 b)
11
+ {
12
+ return new float2x3(
13
+ a[0][0] * b[0][0] + a[1][0] * b[0][1],
14
+ a[0][0] * b[1][0] + a[1][0] * b[1][1],
15
+ a[0][0] * b[2][0] + a[1][0] * b[2][1] + a[2][0],
16
+ a[0][1] * b[0][0] + a[1][1] * b[0][1],
17
+ a[0][1] * b[1][0] + a[1][1] * b[1][1],
18
+ a[0][1] * b[2][0] + a[1][1] * b[2][1] + a[2][1]
19
+ );
20
+ }
21
+
22
+ public static float2 mul(float2x3 a, float2 b)
23
+ {
24
+ return new float2(
25
+ a[0][0] * b.x + a[1][0] * b.y + a[2][0],
26
+ a[0][1] * b.x + a[1][1] * b.y + a[2][1]
27
+ );
28
+ }
29
+
30
+ public static float2x3 RotationMatrix(float theta)
31
+ {
32
+ var sinTheta = math.sin(theta);
33
+ var cosTheta = math.cos(theta);
34
+ return new float2x3(
35
+ cosTheta, -sinTheta, 0,
36
+ sinTheta, cosTheta, 0
37
+ );
38
+ }
39
+
40
+ public static float2x3 TranslationMatrix(float2 delta)
41
+ {
42
+ return new float2x3(
43
+ 1, 0, delta.x,
44
+ 0, 1, delta.y
45
+ );
46
+ }
47
+
48
+ public static float2x3 ScaleMatrix(float2 scale)
49
+ {
50
+ return new float2x3(
51
+ scale.x, 0, 0,
52
+ 0, scale.y, 0
53
+ );
54
+ }
55
+
56
+ // model filtering utility
57
+ static FunctionalTensor ScoreFiltering(FunctionalTensor rawScores, float scoreThreshold)
58
+ {
59
+ return Functional.Sigmoid(Functional.Clamp(rawScores, -scoreThreshold, scoreThreshold));
60
+ }
61
+
62
+ public static (FunctionalTensor, FunctionalTensor, FunctionalTensor) ArgMaxFiltering(FunctionalTensor rawBoxes, FunctionalTensor rawScores)
63
+ {
64
+ var detectionScores = ScoreFiltering(rawScores, 100f); // (1, 2254, 1)
65
+ var bestScoreIndex = Functional.ArgMax(rawScores, 1).Squeeze();
66
+
67
+ var selectedBoxes = Functional.IndexSelect(rawBoxes, 1, bestScoreIndex).Unsqueeze(0); // (1, 1, 16)
68
+ var selectedScores = Functional.IndexSelect(detectionScores, 1, bestScoreIndex).Unsqueeze(0); // (1, 1, 1)
69
+
70
+ return (bestScoreIndex, selectedScores, selectedBoxes);
71
+ }
72
+
73
+ // image transform utility
74
+ static ComputeShader s_ImageTransformShader = Resources.Load<ComputeShader>("ComputeShaders/ImageTransform");
75
+ static int s_ImageSample = s_ImageTransformShader.FindKernel("ImageSample");
76
+ static int s_Optr = Shader.PropertyToID("Optr");
77
+ static int s_X_tex2D = Shader.PropertyToID("X_tex2D");
78
+ static int s_O_height = Shader.PropertyToID("O_height");
79
+ static int s_O_width = Shader.PropertyToID("O_width");
80
+ static int s_O_channels = Shader.PropertyToID("O_channels");
81
+ static int s_X_height = Shader.PropertyToID("X_height");
82
+ static int s_X_width = Shader.PropertyToID("X_width");
83
+ static int s_affineMatrix = Shader.PropertyToID("affineMatrix");
84
+
85
+ static int IDivC(int v, int div)
86
+ {
87
+ return (v + div - 1) / div;
88
+ }
89
+
90
+ public static void SampleImageAffine(Texture srcTexture, Tensor<float> dstTensor, float2x3 M)
91
+ {
92
+ var tensorData = ComputeTensorData.Pin(dstTensor, false);
93
+
94
+ s_ImageTransformShader.SetTexture(s_ImageSample, s_X_tex2D, srcTexture);
95
+ s_ImageTransformShader.SetBuffer(s_ImageSample, s_Optr, tensorData.buffer);
96
+
97
+ s_ImageTransformShader.SetInt(s_O_height, dstTensor.shape[1]);
98
+ s_ImageTransformShader.SetInt(s_O_width, dstTensor.shape[2]);
99
+ s_ImageTransformShader.SetInt(s_O_channels, dstTensor.shape[3]);
100
+ s_ImageTransformShader.SetInt(s_X_height, srcTexture.height);
101
+ s_ImageTransformShader.SetInt(s_X_width, srcTexture.width);
102
+
103
+ s_ImageTransformShader.SetMatrix(s_affineMatrix, new Matrix4x4(new Vector4(M[0][0], M[0][1]), new Vector4(M[1][0], M[1][1]), new Vector4(M[2][0], M[2][1]), Vector4.zero));
104
+
105
+ s_ImageTransformShader.Dispatch(s_ImageSample, IDivC(dstTensor.shape[1], 8), IDivC(dstTensor.shape[1], 8), 1);
106
+ }
107
+
108
+ public static float[,] LoadAnchors(string csv, int numAnchors)
109
+ {
110
+ var anchors = new float[numAnchors, 4];
111
+ var anchorLines = csv.Split('\n');
112
+
113
+ for (var i = 0; i < numAnchors; i++)
114
+ {
115
+ var anchorValues = anchorLines[i].Split(',');
116
+ for (var j = 0; j < 4; j++)
117
+ {
118
+ anchors[i, j] = float.Parse(anchorValues[j], CultureInfo.InvariantCulture);
119
+ }
120
+ }
121
+
122
+ return anchors;
123
+ }
124
+ }
Assets/Scripts/BlazeUtils.cs.meta ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ fileFormatVersion: 2
2
+ guid: 5413dc54f071410282a92bdc03cb0d09
3
+ timeCreated: 1725358930
Assets/Scripts/BoundingBox.cs ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using System;
2
+ using UnityEngine;
3
+
4
+ public class BoundingBox : MonoBehaviour
5
+ {
6
+ public LineRenderer lineRenderer;
7
+ public Color color;
8
+ public float width;
9
+
10
+ void Start()
11
+ {
12
+ lineRenderer.startColor = color;
13
+ lineRenderer.endColor = color;
14
+ lineRenderer.startWidth = width;
15
+ lineRenderer.endWidth = width;
16
+ }
17
+
18
+ public void Set(bool active, Vector3 position, Vector2 size)
19
+ {
20
+ gameObject.SetActive(active);
21
+ lineRenderer.positionCount = 4;
22
+ lineRenderer.SetPosition(0, position + new Vector3(-0.5f * size.x, -0.5f * size.y, 0));
23
+ lineRenderer.SetPosition(1, position + new Vector3(-0.5f * size.x, +0.5f * size.y, 0));
24
+ lineRenderer.SetPosition(2, position + new Vector3(+0.5f * size.x, +0.5f * size.y, 0));
25
+ lineRenderer.SetPosition(3, position + new Vector3(+0.5f * size.x, -0.5f * size.y, 0));
26
+ lineRenderer.loop = true;
27
+ }
28
+ }
Assets/Scripts/BoundingBox.cs.meta ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ fileFormatVersion: 2
2
+ guid: 975be3afbfa88af469b74fd354c1ac4b
Assets/Scripts/BoundingCircle.cs ADDED
@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using System;
2
+ using UnityEngine;
3
+
4
+ public class BoundingCircle : MonoBehaviour
5
+ {
6
+ public LineRenderer lineRenderer;
7
+ public Color color;
8
+ public float width;
9
+ public int numSegments;
10
+
11
+ void Start()
12
+ {
13
+ lineRenderer.startColor = color;
14
+ lineRenderer.endColor = color;
15
+ lineRenderer.startWidth = width;
16
+ lineRenderer.endWidth = width;
17
+ }
18
+
19
+ public void Set(bool active, Vector3 position, float radius)
20
+ {
21
+ gameObject.SetActive(active);
22
+ lineRenderer.positionCount = numSegments;
23
+ for (var i = 0; i < numSegments; i++)
24
+ {
25
+ var theta = 2 * Mathf.PI * i / (float)numSegments;
26
+ lineRenderer.SetPosition(i, position + radius * new Vector3(Mathf.Cos(theta), Mathf.Sin(theta), 0));
27
+ }
28
+ lineRenderer.loop = true;
29
+ }
30
+ }
Assets/Scripts/BoundingCircle.cs.meta ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ fileFormatVersion: 2
2
+ guid: d96f052f1b900fa4ba4fde8771b913f7
Assets/Scripts/ImagePreview.cs ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using System;
2
+ using UnityEngine;
3
+
4
+ public class ImagePreview : MonoBehaviour
5
+ {
6
+ public GameObject imageQuad;
7
+
8
+ public void SetTexture(Texture texture)
9
+ {
10
+ imageQuad.GetComponent<MeshRenderer>().material.mainTexture = texture;
11
+ var aspectRatio = texture.width / (float)texture.height;
12
+ imageQuad.transform.localScale = new Vector3(aspectRatio, 1f, 1f);
13
+ }
14
+ }
Assets/Scripts/ImagePreview.cs.meta ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ fileFormatVersion: 2
2
+ guid: 880a785bdfd105f4da5848e8712cb65f
Assets/Scripts/Keypoint.cs ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using UnityEngine;
2
+
3
+ public class Keypoint : MonoBehaviour
4
+ {
5
+ public LineRenderer outerCircle;
6
+ public LineRenderer innerCircle;
7
+ bool m_IsActive;
8
+ Vector3 m_Position;
9
+
10
+ public bool IsActive => m_IsActive;
11
+ public Vector3 Position => m_Position;
12
+
13
+ public Color outerColor;
14
+ public Color innerColor;
15
+ public float outerWidth;
16
+ public float innerWidth;
17
+
18
+ public void Start()
19
+ {
20
+ outerCircle.startColor = outerColor;
21
+ outerCircle.endColor = outerColor;
22
+ outerCircle.startWidth = outerWidth;
23
+ outerCircle.endWidth = outerWidth;
24
+ innerCircle.startColor = innerColor;
25
+ innerCircle.endColor = innerColor;
26
+ innerCircle.startWidth = innerWidth;
27
+ innerCircle.endWidth = innerWidth;
28
+ }
29
+
30
+ public void Set(bool active, Vector3 position)
31
+ {
32
+ m_IsActive = active;
33
+ m_Position = position;
34
+ gameObject.SetActive(active);
35
+ outerCircle.SetPosition(0, position);
36
+ outerCircle.SetPosition(1, position);
37
+ innerCircle.SetPosition(0, position);
38
+ innerCircle.SetPosition(1, position);
39
+ }
40
+ }