mirror of
https://github.com/ganeshsar/UnityPythonMediaPipeBodyPose.git
synced 2025-08-23 12:12:16 +08:00
282 lines
9.9 KiB
C#
282 lines
9.9 KiB
C#
using System.Collections;
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using System.IO;
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using System.IO.Pipes;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using UnityEngine;
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/* Currently very messy because both the server code and hand-drawn code is all in the same file here.
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* But it is still fairly straightforward to use as a reference/base.
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*/
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public class PipeServer : MonoBehaviour
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{
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public Transform rParent;
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public Transform lParent;
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public GameObject landmarkPrefab;
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public GameObject linePrefab;
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public GameObject headPrefab;
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public bool enableHead = true;
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public float multiplier = 10f;
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public float landmarkScale = 1f;
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public float maxSpeed = 50f;
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public float debug_samplespersecond;
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NamedPipeServerStream server;
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const int LANDMARK_COUNT = 33;
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public enum Landmark {
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NOSE = 0,
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LEFT_EYE_INNER = 1,
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LEFT_EYE = 2,
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LEFT_EYE_OUTER = 3,
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RIGHT_EYE_INNER = 4,
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RIGHT_EYE = 5,
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RIGHT_EYE_OUTER = 6,
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LEFT_EAR = 7,
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RIGHT_EAR = 8,
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MOUTH_LEFT = 9,
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MOUTH_RIGHT = 10,
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LEFT_SHOULDER = 11,
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RIGHT_SHOULDER = 12,
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LEFT_ELBOW = 13,
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RIGHT_ELBOW = 14,
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LEFT_WRIST = 15,
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RIGHT_WRIST = 16,
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LEFT_PINKY = 17,
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RIGHT_PINKY = 18,
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LEFT_INDEX = 19,
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RIGHT_INDEX = 20,
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LEFT_THUMB = 21,
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RIGHT_THUMB = 22,
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LEFT_HIP = 23,
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RIGHT_HIP = 24,
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LEFT_KNEE = 25,
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RIGHT_KNEE = 26,
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LEFT_ANKLE = 27,
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RIGHT_ANKLE = 28,
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LEFT_HEEL = 29,
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RIGHT_HEEL = 30,
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LEFT_FOOT_INDEX = 31,
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RIGHT_FOOT_INDEX = 32
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}
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const int LINES_COUNT = 11;
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public struct AccumulatedBuffer
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{
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public Vector3 value;
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public int accumulatedValuesCount;
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public AccumulatedBuffer(Vector3 v,int ac)
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{
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value = v;
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accumulatedValuesCount = ac;
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}
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}
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public class Body
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{
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public Transform parent;
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public AccumulatedBuffer[] positionsBuffer = new AccumulatedBuffer[LANDMARK_COUNT];
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public Vector3[] localPositionTargets = new Vector3[LANDMARK_COUNT];
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public GameObject[] instances = new GameObject[LANDMARK_COUNT];
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public LineRenderer[] lines = new LineRenderer[LINES_COUNT];
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public bool active;
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public Body(Transform parent, GameObject landmarkPrefab, GameObject linePrefab,float s, GameObject headPrefab)
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{
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this.parent = parent;
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for (int i = 0; i < instances.Length; ++i)
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{
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instances[i] = Instantiate(landmarkPrefab);// GameObject.CreatePrimitive(PrimitiveType.Sphere);
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instances[i].transform.localScale = Vector3.one * s;
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instances[i].transform.parent = parent;
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instances[i].name = ((Landmark)i).ToString();
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}
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for (int i = 0; i < lines.Length; ++i)
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{
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lines[i] = Instantiate(linePrefab).GetComponent<LineRenderer>();
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}
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if (headPrefab)
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{
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GameObject head = Instantiate(headPrefab);
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head.transform.parent = instances[(int)Landmark.NOSE].transform;
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head.transform.localPosition = headPrefab.transform.position;
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head.transform.localRotation = headPrefab.transform.localRotation;
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head.transform.localScale = headPrefab.transform.localScale;
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}
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}
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public void UpdateLines()
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{
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lines[0].positionCount = 4;
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lines[0].SetPosition(0, Position((Landmark)32));
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lines[0].SetPosition(1, Position((Landmark)30));
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lines[0].SetPosition(2, Position((Landmark)28));
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lines[0].SetPosition(3, Position((Landmark)32));
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lines[1].positionCount = 4;
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lines[1].SetPosition(0, Position((Landmark)31));
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lines[1].SetPosition(1, Position((Landmark)29));
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lines[1].SetPosition(2, Position((Landmark)27));
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lines[1].SetPosition(3, Position((Landmark)31));
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lines[2].positionCount = 3;
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lines[2].SetPosition(0, Position((Landmark)28));
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lines[2].SetPosition(1, Position((Landmark)26));
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lines[2].SetPosition(2, Position((Landmark)24));
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lines[3].positionCount = 3;
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lines[3].SetPosition(0, Position((Landmark)27));
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lines[3].SetPosition(1, Position((Landmark)25));
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lines[3].SetPosition(2, Position((Landmark)23));
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lines[4].positionCount = 5;
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lines[4].SetPosition(0, Position((Landmark)24));
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lines[4].SetPosition(1, Position((Landmark)23));
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lines[4].SetPosition(2, Position((Landmark)11));
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lines[4].SetPosition(3, Position((Landmark)12));
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lines[4].SetPosition(4, Position((Landmark)24));
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lines[5].positionCount = 4;
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lines[5].SetPosition(0, Position((Landmark)12));
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lines[5].SetPosition(1, Position((Landmark)14));
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lines[5].SetPosition(2, Position((Landmark)16));
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lines[5].SetPosition(3, Position((Landmark)22));
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lines[6].positionCount = 4;
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lines[6].SetPosition(0, Position((Landmark)11));
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lines[6].SetPosition(1, Position((Landmark)13));
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lines[6].SetPosition(2, Position((Landmark)15));
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lines[6].SetPosition(3, Position((Landmark)21));
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lines[7].positionCount = 4;
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lines[7].SetPosition(0, Position((Landmark)16));
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lines[7].SetPosition(1, Position((Landmark)18));
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lines[7].SetPosition(2, Position((Landmark)20));
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lines[7].SetPosition(3, Position((Landmark)16));
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lines[8].positionCount = 4;
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lines[8].SetPosition(0, Position((Landmark)15));
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lines[8].SetPosition(1, Position((Landmark)17));
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lines[8].SetPosition(2, Position((Landmark)19));
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lines[8].SetPosition(3, Position((Landmark)15));
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lines[9].positionCount = 2;
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lines[9].SetPosition(0, Position((Landmark)10));
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lines[9].SetPosition(1, Position((Landmark)9));
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lines[10].positionCount = 5;
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lines[10].SetPosition(0, Position((Landmark)8));
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lines[10].SetPosition(1, Position((Landmark)5));
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lines[10].SetPosition(2, Position((Landmark)0));
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lines[10].SetPosition(3, Position((Landmark)2));
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lines[10].SetPosition(4, Position((Landmark)7));
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}
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public float GetAngle(Landmark referenceFrom, Landmark referenceTo, Landmark from, Landmark to)
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{
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Vector3 reference = (instances[(int)referenceTo].transform.position - instances[(int)referenceFrom].transform.position).normalized;
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Vector3 direction = (instances[(int)to].transform.position - instances[(int)from].transform.position).normalized;
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return Vector3.SignedAngle(reference, direction, Vector3.Cross(reference, direction));
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}
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public float Distance(Landmark from,Landmark to)
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{
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return (instances[(int)from].transform.position - instances[(int)to].transform.position).magnitude;
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}
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public Vector3 LocalPosition(Landmark Mark)
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{
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return instances[(int)Mark].transform.localPosition;
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}
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public Vector3 Position(Landmark Mark)
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{
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return instances[(int)Mark].transform.position;
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}
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}
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private Body body;
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public int samplesForPose = 1;
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public bool active;
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private void Start()
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{
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body = new Body(lParent,landmarkPrefab,linePrefab,landmarkScale,enableHead?headPrefab:null);
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Thread t = new Thread(new ThreadStart(Run));
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t.Start();
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}
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private void Update()
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{
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UpdateBody(body);
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}
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private void UpdateBody(Body b)
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{
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for (int i = 0; i < LANDMARK_COUNT; ++i)
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{
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if (b.positionsBuffer[i].accumulatedValuesCount < samplesForPose)
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continue;
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// b.instances[i].transform.localPosition = b.positionsBuffer[i] / (float)b.samplesCounter * multiplier;
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b.localPositionTargets[i] = b.positionsBuffer[i].value / (float)b.positionsBuffer[i].accumulatedValuesCount * multiplier;
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b.positionsBuffer[i] = new AccumulatedBuffer(Vector3.zero,0);
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}
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for (int i = 0; i < LANDMARK_COUNT; ++i)
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{
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b.instances[i].transform.localPosition=Vector3.MoveTowards(b.instances[i].transform.localPosition, b.localPositionTargets[i], Time.deltaTime * maxSpeed);
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}
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b.UpdateLines();
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}
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void Run()
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{
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// Open the named pipe.
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server = new NamedPipeServerStream("UnityMediaPipeBody",PipeDirection.InOut, 99, PipeTransmissionMode.Message);
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print("Waiting for connection...");
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server.WaitForConnection();
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print("Connected.");
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var br = new BinaryReader(server);
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while (true)
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{
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try
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{
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Body h = body;
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var len = (int)br.ReadUInt32();
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var str = new string(br.ReadChars(len));
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string[] lines = str.Split('\n');
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foreach (string l in lines)
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{
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if (string.IsNullOrWhiteSpace(l))
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continue;
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string[] s = l.Split('|');
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if (s.Length < 4) continue;
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int i;
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if (!int.TryParse(s[0], out i)) continue;
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h.positionsBuffer[i].value += new Vector3(float.Parse(s[1]), float.Parse(s[2]), float.Parse(s[3]));
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h.positionsBuffer[i].accumulatedValuesCount += 1;
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h.active = true;
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}
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}
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catch (EndOfStreamException)
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{
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break; // When client disconnects
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}
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}
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}
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private void OnDisable()
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{
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print("Client disconnected.");
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server.Close();
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server.Dispose();
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}
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}
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