diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8c2e7c3 --- /dev/null +++ b/.gitignore @@ -0,0 +1,73 @@ +# ---> Unity +# This .gitignore file should be placed at the root of your Unity project directory +# +# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore +# +/[Ll]ibrary/ +/[Tt]emp/ +/[Oo]bj/ +/[Bb]uild/ +/[Bb]uilds/ +/[Ll]ogs/ +/[Uu]ser[Ss]ettings/ + +# MemoryCaptures can get excessive in size. +# They also could contain extremely sensitive data +/[Mm]emoryCaptures/ + +# Asset meta data should only be ignored when the corresponding asset is also ignored +!/[Aa]ssets/**/*.meta + +# Uncomment this line if you wish to ignore the asset store tools plugin +# /[Aa]ssets/AssetStoreTools* + +# Autogenerated Jetbrains Rider plugin +/[Aa]ssets/Plugins/Editor/JetBrains* + +# Visual Studio cache directory +.vs/ + +# Gradle cache directory +.gradle/ + +# Autogenerated VS/MD/Consulo solution and project files +ExportedObj/ +.consulo/ +*.csproj +*.unityproj +*.sln +*.suo +*.tmp +*.user +*.userprefs +*.pidb +*.booproj +*.svd +*.pdb +*.mdb +*.opendb +*.VC.db + +# Unity3D generated meta files +*.pidb.meta +*.pdb.meta +*.mdb.meta + +# Unity3D generated file on crash reports +sysinfo.txt + +# Builds +*.apk +*.aab +*.unitypackage + +# Crashlytics generated file +crashlytics-build.properties + +# Packed Addressables +/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* + +# Temporary auto-generated Android Assets +/[Aa]ssets/[Ss]treamingAssets/aa.meta +/[Aa]ssets/[Ss]treamingAssets/aa/* + diff --git a/README.md b/README.md index 8c606f9..e72df59 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,2 @@ -# UnityPythonMediaPipeBodyPose -Testing multithreaded body tracking inside of Unity using Google MediaPipePose Python bindings. +# MediaPipeBody2023 + diff --git a/UnityMediaPipeBody/.gitignore b/UnityMediaPipeBody/.gitignore new file mode 100644 index 0000000..8c2e7c3 --- /dev/null +++ b/UnityMediaPipeBody/.gitignore @@ -0,0 +1,73 @@ +# ---> Unity +# This .gitignore file should be placed at the root of your Unity project directory +# +# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore +# +/[Ll]ibrary/ +/[Tt]emp/ +/[Oo]bj/ +/[Bb]uild/ +/[Bb]uilds/ +/[Ll]ogs/ +/[Uu]ser[Ss]ettings/ + +# MemoryCaptures can get excessive in size. +# They also could contain extremely sensitive data +/[Mm]emoryCaptures/ + +# Asset meta data should only be ignored when the corresponding asset is also ignored +!/[Aa]ssets/**/*.meta + +# Uncomment this line if you wish to ignore the asset store tools plugin +# /[Aa]ssets/AssetStoreTools* + +# Autogenerated Jetbrains Rider plugin +/[Aa]ssets/Plugins/Editor/JetBrains* + +# Visual Studio cache directory +.vs/ + +# Gradle cache directory +.gradle/ + +# Autogenerated VS/MD/Consulo solution and project files +ExportedObj/ +.consulo/ +*.csproj +*.unityproj +*.sln +*.suo +*.tmp +*.user +*.userprefs +*.pidb +*.booproj +*.svd +*.pdb +*.mdb +*.opendb +*.VC.db + 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Transform rParent; + public Transform lParent; + public GameObject landmarkPrefab; + public GameObject linePrefab; + public GameObject headPrefab; + public bool enableHead = true; + public float multiplier = 10f; + public float landmarkScale = 1f; + public float maxSpeed = 50f; + public float debug_samplespersecond; + + NamedPipeServerStream server; + + const int LANDMARK_COUNT = 33; + public enum Landmark { + NOSE = 0, + LEFT_EYE_INNER = 1, + LEFT_EYE = 2, + LEFT_EYE_OUTER = 3, + RIGHT_EYE_INNER = 4, + RIGHT_EYE = 5, + RIGHT_EYE_OUTER = 6, + LEFT_EAR = 7, + RIGHT_EAR = 8, + MOUTH_LEFT = 9, + MOUTH_RIGHT = 10, + LEFT_SHOULDER = 11, + RIGHT_SHOULDER = 12, + LEFT_ELBOW = 13, + RIGHT_ELBOW = 14, + LEFT_WRIST = 15, + RIGHT_WRIST = 16, + LEFT_PINKY = 17, + RIGHT_PINKY = 18, + LEFT_INDEX = 19, + RIGHT_INDEX = 20, + LEFT_THUMB = 21, + RIGHT_THUMB = 22, + LEFT_HIP = 23, + RIGHT_HIP = 24, + LEFT_KNEE = 25, + RIGHT_KNEE = 26, + LEFT_ANKLE = 27, + RIGHT_ANKLE = 28, + LEFT_HEEL = 29, + RIGHT_HEEL = 30, + LEFT_FOOT_INDEX = 31, + RIGHT_FOOT_INDEX = 32 + } + const int LINES_COUNT = 11; + + public struct AccumulatedBuffer + { + public Vector3 value; + public int accumulatedValuesCount; + public AccumulatedBuffer(Vector3 v,int ac) + { + value = v; + accumulatedValuesCount = ac; + } + } + + public class Body + { + public Transform parent; + public AccumulatedBuffer[] positionsBuffer = new AccumulatedBuffer[LANDMARK_COUNT]; + public Vector3[] localPositionTargets = new Vector3[LANDMARK_COUNT]; + public GameObject[] instances = new GameObject[LANDMARK_COUNT]; + public LineRenderer[] lines = new LineRenderer[LINES_COUNT]; + + public bool active; + + public Body(Transform parent, GameObject landmarkPrefab, GameObject linePrefab,float s, GameObject headPrefab) + { + this.parent = parent; + for (int i = 0; i < instances.Length; ++i) + { + instances[i] = Instantiate(landmarkPrefab);// GameObject.CreatePrimitive(PrimitiveType.Sphere); + instances[i].transform.localScale = Vector3.one * s; + instances[i].transform.parent = parent; + instances[i].name = ((Landmark)i).ToString(); + } + for (int i = 0; i < lines.Length; ++i) + { + lines[i] = Instantiate(linePrefab).GetComponent(); + } + + if (headPrefab) + { + GameObject head = Instantiate(headPrefab); + head.transform.parent = instances[(int)Landmark.NOSE].transform; + head.transform.localPosition = headPrefab.transform.position; + head.transform.localRotation = headPrefab.transform.localRotation; + head.transform.localScale = headPrefab.transform.localScale; + } + } + public void UpdateLines() + { + lines[0].positionCount = 4; + lines[0].SetPosition(0, Position((Landmark)32)); + lines[0].SetPosition(1, Position((Landmark)30)); + lines[0].SetPosition(2, Position((Landmark)28)); + lines[0].SetPosition(3, Position((Landmark)32)); + lines[1].positionCount = 4; + lines[1].SetPosition(0, Position((Landmark)31)); + lines[1].SetPosition(1, Position((Landmark)29)); + lines[1].SetPosition(2, Position((Landmark)27)); + lines[1].SetPosition(3, Position((Landmark)31)); + + lines[2].positionCount = 3; + lines[2].SetPosition(0, Position((Landmark)28)); + lines[2].SetPosition(1, Position((Landmark)26)); + lines[2].SetPosition(2, Position((Landmark)24)); + lines[3].positionCount = 3; + lines[3].SetPosition(0, Position((Landmark)27)); + lines[3].SetPosition(1, Position((Landmark)25)); + lines[3].SetPosition(2, Position((Landmark)23)); + + lines[4].positionCount = 5; + lines[4].SetPosition(0, Position((Landmark)24)); + lines[4].SetPosition(1, Position((Landmark)23)); + lines[4].SetPosition(2, Position((Landmark)11)); + lines[4].SetPosition(3, Position((Landmark)12)); + lines[4].SetPosition(4, Position((Landmark)24)); + + lines[5].positionCount = 4; + lines[5].SetPosition(0, Position((Landmark)12)); + lines[5].SetPosition(1, Position((Landmark)14)); + lines[5].SetPosition(2, Position((Landmark)16)); + lines[5].SetPosition(3, Position((Landmark)22)); + lines[6].positionCount = 4; + lines[6].SetPosition(0, Position((Landmark)11)); + lines[6].SetPosition(1, Position((Landmark)13)); + lines[6].SetPosition(2, Position((Landmark)15)); + lines[6].SetPosition(3, Position((Landmark)21)); + + lines[7].positionCount = 4; + lines[7].SetPosition(0, Position((Landmark)16)); + lines[7].SetPosition(1, Position((Landmark)18)); + lines[7].SetPosition(2, Position((Landmark)20)); + lines[7].SetPosition(3, Position((Landmark)16)); + lines[8].positionCount = 4; + lines[8].SetPosition(0, Position((Landmark)15)); + lines[8].SetPosition(1, Position((Landmark)17)); + lines[8].SetPosition(2, Position((Landmark)19)); + lines[8].SetPosition(3, Position((Landmark)15)); + + lines[9].positionCount = 2; + lines[9].SetPosition(0, Position((Landmark)10)); + lines[9].SetPosition(1, Position((Landmark)9)); + + + lines[10].positionCount = 5; + lines[10].SetPosition(0, Position((Landmark)8)); + lines[10].SetPosition(1, Position((Landmark)5)); + lines[10].SetPosition(2, Position((Landmark)0)); + lines[10].SetPosition(3, Position((Landmark)2)); + lines[10].SetPosition(4, Position((Landmark)7)); + } + + public float GetAngle(Landmark referenceFrom, Landmark referenceTo, Landmark from, Landmark to) + { + Vector3 reference = (instances[(int)referenceTo].transform.position - instances[(int)referenceFrom].transform.position).normalized; + Vector3 direction = (instances[(int)to].transform.position - instances[(int)from].transform.position).normalized; + return Vector3.SignedAngle(reference, direction, Vector3.Cross(reference, direction)); + } + public float Distance(Landmark from,Landmark to) + { + return (instances[(int)from].transform.position - instances[(int)to].transform.position).magnitude; + } + public Vector3 LocalPosition(Landmark Mark) + { + return instances[(int)Mark].transform.localPosition; + } + public Vector3 Position(Landmark Mark) + { + return instances[(int)Mark].transform.position; + } + + } + + private Body body; + + public int samplesForPose = 1; + + public bool active; + + private void Start() + { + body = new Body(lParent,landmarkPrefab,linePrefab,landmarkScale,enableHead?headPrefab:null); + + Thread t = new Thread(new ThreadStart(Run)); + t.Start(); + + } + private void Update() + { + UpdateBody(body); + } + + private void UpdateBody(Body b) + { + for (int i = 0; i < LANDMARK_COUNT; ++i) + { + if (b.positionsBuffer[i].accumulatedValuesCount < samplesForPose) + continue; + // b.instances[i].transform.localPosition = b.positionsBuffer[i] / (float)b.samplesCounter * multiplier; + b.localPositionTargets[i] = b.positionsBuffer[i].value / (float)b.positionsBuffer[i].accumulatedValuesCount * multiplier; + b.positionsBuffer[i] = new AccumulatedBuffer(Vector3.zero,0); + } + + for (int i = 0; i < LANDMARK_COUNT; ++i) + { + b.instances[i].transform.localPosition=Vector3.MoveTowards(b.instances[i].transform.localPosition, b.localPositionTargets[i], Time.deltaTime * maxSpeed); + } + b.UpdateLines(); + } + + void Run() + { + // Open the named pipe. + server = new NamedPipeServerStream("UnityMediaPipeBody",PipeDirection.InOut, 99, PipeTransmissionMode.Message); + + print("Waiting for connection..."); + server.WaitForConnection(); + + print("Connected."); + var br = new BinaryReader(server); + + while (true) + { + try + { + Body h = body; + var len = (int)br.ReadUInt32(); + var str = new string(br.ReadChars(len)); + + string[] lines = str.Split('\n'); + foreach (string l in lines) + { + if (string.IsNullOrWhiteSpace(l)) + continue; + string[] s = l.Split('|'); + if (s.Length < 4) continue; + int i; + if (!int.TryParse(s[0], out i)) continue; + h.positionsBuffer[i].value += new Vector3(float.Parse(s[1]), float.Parse(s[2]), float.Parse(s[3])); + h.positionsBuffer[i].accumulatedValuesCount += 1; + h.active = true; + } + } + catch (EndOfStreamException) + { + break; // When client disconnects + } + } + + } + + private void OnDisable() + { + print("Client disconnected."); + server.Close(); + server.Dispose(); + } +} diff --git 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+.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ diff --git a/mediapipebody/body.py b/mediapipebody/body.py new file mode 100644 index 0000000..4ed9101 --- /dev/null +++ b/mediapipebody/body.py @@ -0,0 +1,121 @@ +# MediaPipe Body +import mediapipe as mp +from mediapipe.tasks import python +from mediapipe.tasks.python import vision + +import cv2 +import threading +import time +import global_vars +import struct + +# the capture thread captures images from the WebCam on a separate thread (for performance) +class CaptureThread(threading.Thread): + cap = None + ret = None + frame = None + isRunning = False + counter = 0 + timer = 0.0 + def run(self): + self.cap = cv2.VideoCapture(0) # sometimes it can take a while for certain video captures + if global_vars.USE_CUSTOM_CAM_SETTINGS: + self.cap.set(cv2.CAP_PROP_FPS, global_vars.FPS) + self.cap.set(cv2.CAP_PROP_FRAME_WIDTH,global_vars.WIDTH) + self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT,global_vars.HEIGHT) + + time.sleep(1) + + print("Opened Capture @ %s fps"%str(self.cap.get(cv2.CAP_PROP_FPS))) + while not global_vars.KILL_THREADS: + self.ret, self.frame = self.cap.read() + self.isRunning = True + if global_vars.DEBUG: + self.counter = self.counter+1 + if time.time()-self.timer>=3: + print("Capture FPS: ",self.counter/(time.time()-self.timer)) + self.counter = 0 + self.timer = time.time() + +# the body thread actually does the +# processing of the captured images, and communication with unity +class BodyThread(threading.Thread): + data = "" + dirty = True + pipe = None + timeSinceCheckedConnection = 0 + timeSincePostStatistics = 0 + + def run(self): + mp_drawing = mp.solutions.drawing_utils + mp_pose = mp.solutions.pose + + capture = CaptureThread() + capture.start() + + with mp_pose.Pose(min_detection_confidence=0.80, min_tracking_confidence=0.5, model_complexity = global_vars.MODEL_COMPLEXITY,static_image_mode = False,enable_segmentation = True) as pose: + + while not global_vars.KILL_THREADS and capture.isRunning==False: + print("Waiting for camera and capture thread.") + time.sleep(0.5) + print("Beginning capture") + + while not global_vars.KILL_THREADS and capture.cap.isOpened(): + ti = time.time() + + # Fetch stuff from the capture thread + ret = capture.ret + image = capture.frame + + # Image transformations and stuff + image = cv2.flip(image, 1) + image.flags.writeable = global_vars.DEBUG + + # Detections + results = pose.process(image) + tf = time.time() + + # Rendering results + if global_vars.DEBUG: + if time.time()-self.timeSincePostStatistics>=1: + print("Theoretical Maximum FPS: %f"%(1/(tf-ti))) + self.timeSincePostStatistics = time.time() + + if results.pose_landmarks: + mp_drawing.draw_landmarks(image, results.pose_landmarks, mp_pose.POSE_CONNECTIONS, + mp_drawing.DrawingSpec(color=(255, 100, 0), thickness=2, circle_radius=4), + mp_drawing.DrawingSpec(color=(255, 255, 255), thickness=2, circle_radius=2), + ) + cv2.imshow('Body Tracking', image) + cv2.waitKey(3) + + if self.pipe==None and time.time()-self.timeSinceCheckedConnection>=1: + try: + self.pipe = open(r'\\.\pipe\UnityMediaPipeBody', 'r+b', 0) + except FileNotFoundError: + print("Waiting for Unity project to run...") + self.pipe = None + self.timeSinceCheckedConnection = time.time() + + if self.pipe != None: + # Set up data for piping + self.data = "" + i = 0 + if results.pose_world_landmarks: + hand_world_landmarks = results.pose_world_landmarks + for i in range(0,33): + self.data += "{}|{}|{}|{}\n".format(i,hand_world_landmarks.landmark[i].x,hand_world_landmarks.landmark[i].y,hand_world_landmarks.landmark[i].z) + + s = self.data.encode('ascii') + try: + self.pipe.write(struct.pack('I', len(s)) + s) + self.pipe.seek(0) + except Exception as ex: + print("Failed to write to pipe. Is the unity project open?") + self.pipe= None + + #time.sleep(1/20) + + self.pipe.close() + capture.cap.release() + cv2.destroyAllWindows() \ No newline at end of file diff --git a/mediapipebody/global_vars.py b/mediapipebody/global_vars.py new file mode 100644 index 0000000..4290f7a --- /dev/null +++ b/mediapipebody/global_vars.py @@ -0,0 +1,14 @@ +# Internally used, don't mind this. +KILL_THREADS = False + +# Toggle this in order to view how your WebCam is being interpreted (reduces performance). +DEBUG = True + +# Settings do not universally apply, not all WebCams support all frame rates and resolutions +USE_CUSTOM_CAM_SETTINGS = False +FPS = 60 +WIDTH = 320 +HEIGHT = 240 + +# [0, 2] Higher numbers are more precise, but also cost more performance. The demo video used 1. +MODEL_COMPLEXITY = 1 \ No newline at end of file diff --git a/mediapipebody/main.py b/mediapipebody/main.py new file mode 100644 index 0000000..690a8e4 --- /dev/null +++ b/mediapipebody/main.py @@ -0,0 +1,16 @@ +#pipe server +from body import BodyThread +import time +import struct +import global_vars +from sys import exit + + +thread = BodyThread() +thread.start() + +i = input() +print("Exiting…") +global_vars.KILL_THREADS = True +time.sleep(0.5) +exit() \ No newline at end of file