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inference-engine-blaze-hand

Object Detection
unity-sentis
ONNX
unity-inference-engine
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5
UnityGiles commited on
Commit
255e6c7
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1 Parent(s): 1bc3c94

update to inference engine

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  1. Assets/Data.meta +0 -8
  2. Assets/Data/anchors.csv.meta +0 -7
  3. Assets/Data/pexels-muhammad-hassaan-488991371-20200314.jpg +0 -0
  4. Assets/Data/pexels-muhammad-hassaan-488991371-20200314.jpg.meta +0 -156
  5. Assets/HandDetection.unity +0 -688
  6. Assets/HandDetection.unity.meta +0 -7
  7. Assets/InputSystem_Actions.inputactions +0 -1057
  8. Assets/InputSystem_Actions.inputactions.meta +0 -14
  9. Assets/Materials.meta +0 -8
  10. Assets/Materials/Keypoint.mat +0 -112
  11. Assets/Materials/Keypoint.mat.meta +0 -8
  12. Assets/Materials/Line.mat +0 -136
  13. Assets/Materials/Line.mat.meta +0 -8
  14. Assets/Materials/ground.mat +0 -138
  15. Assets/Materials/ground.mat.meta +0 -8
  16. Assets/Models.meta +0 -8
  17. Assets/Models/hand_detector.onnx.meta +0 -10
  18. Assets/Models/hand_landmarks_detector.onnx.meta +0 -10
  19. Assets/Prefabs.meta +0 -8
  20. Assets/Prefabs/Hand Preview.prefab +0 -0
  21. Assets/Prefabs/Hand Preview.prefab.meta +0 -7
  22. Assets/Prefabs/Image Preview.prefab +0 -157
  23. Assets/Prefabs/Image Preview.prefab.meta +0 -7
  24. Assets/Prefabs/Keypoint.prefab +0 -332
  25. Assets/Prefabs/Keypoint.prefab.meta +0 -7
  26. Assets/Prefabs/KeypointLine.prefab +0 -191
  27. Assets/Prefabs/KeypointLine.prefab.meta +0 -7
  28. Assets/Resources.meta +0 -3
  29. Assets/Resources/ComputeShaders.meta +0 -3
  30. Assets/Resources/ComputeShaders/ImageTransform.compute +0 -33
  31. Assets/Resources/ComputeShaders/ImageTransform.compute.meta +0 -7
  32. Assets/Scripts.meta +0 -3
  33. Assets/Scripts/BlazeUtils.cs +0 -124
  34. Assets/Scripts/BlazeUtils.cs.meta +0 -3
  35. Assets/Scripts/HandDetection.cs +0 -148
  36. Assets/Scripts/HandDetection.cs.meta +0 -2
  37. Assets/Scripts/HandPreview.cs +0 -16
  38. Assets/Scripts/HandPreview.cs.meta +0 -2
  39. Assets/Scripts/ImagePreview.cs +0 -14
  40. Assets/Scripts/ImagePreview.cs.meta +0 -2
  41. Assets/Scripts/Keypoint.cs +0 -40
  42. Assets/Scripts/Keypoint.cs.meta +0 -2
  43. Assets/Scripts/KeypointLine.cs +0 -26
  44. Assets/Scripts/KeypointLine.cs.meta +0 -2
  45. Assets/Settings.meta +0 -8
  46. Assets/Settings/DefaultVolumeProfile.asset +0 -983
  47. Assets/Settings/DefaultVolumeProfile.asset.meta +0 -8
  48. Assets/Settings/Mobile_RPAsset.asset +0 -135
  49. Assets/Settings/Mobile_RPAsset.asset.meta +0 -8
  50. Assets/Settings/Mobile_Renderer.asset +0 -66
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Assets/Resources/ComputeShaders/ImageTransform.compute DELETED
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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);
23
-
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;
31
- Optr[(O_pos.y * O_width + O_pos.x) * O_channels + 1] = c.y;
32
- Optr[(O_pos.y * O_width + O_pos.x) * O_channels + 2] = c.z;
33
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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Assets/Scripts/BlazeUtils.cs DELETED
@@ -1,124 +0,0 @@
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, 2016, 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 DELETED
@@ -1,3 +0,0 @@
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- guid: 5413dc54f071410282a92bdc03cb0d09
3
- timeCreated: 1725358930
 
 
 
 
Assets/Scripts/HandDetection.cs DELETED
@@ -1,148 +0,0 @@
1
- using System;
2
- using Unity.Mathematics;
3
- using Unity.Sentis;
4
- using UnityEngine;
5
-
6
- public class HandDetection : MonoBehaviour
7
- {
8
- public HandPreview handPreview;
9
- public ImagePreview imagePreview;
10
- public Texture2D imageTexture;
11
- public ModelAsset handDetector;
12
- public ModelAsset handLandmarker;
13
- public TextAsset anchorsCSV;
14
-
15
- public float scoreThreshold = 0.5f;
16
-
17
- const int k_NumAnchors = 2016;
18
- float[,] m_Anchors;
19
-
20
- const int k_NumKeypoints = 21;
21
- const int detectorInputSize = 192;
22
- const int landmarkerInputSize = 224;
23
-
24
- Worker m_HandDetectorWorker;
25
- Worker m_HandLandmarkerWorker;
26
- Tensor<float> m_DetectorInput;
27
- Tensor<float> m_LandmarkerInput;
28
- Awaitable m_DetectAwaitable;
29
-
30
- float m_TextureWidth;
31
- float m_TextureHeight;
32
-
33
- public async void Start()
34
- {
35
- m_Anchors = BlazeUtils.LoadAnchors(anchorsCSV.text, k_NumAnchors);
36
-
37
- var handDetectorModel = ModelLoader.Load(handDetector);
38
-
39
- // post process the model to filter scores + argmax select the best hand
40
- var graph = new FunctionalGraph();
41
- var input = graph.AddInput(handDetectorModel, 0);
42
- var outputs = Functional.Forward(handDetectorModel, input);
43
- var boxes = outputs[1]; // (1, 2016, 18)
44
- var scores = outputs[0]; // (1, 2016, 1)
45
- var idx_scores_boxes = BlazeUtils.ArgMaxFiltering(boxes, scores);
46
- handDetectorModel = graph.Compile(idx_scores_boxes.Item1, idx_scores_boxes.Item2, idx_scores_boxes.Item3);
47
-
48
- m_HandDetectorWorker = new Worker(handDetectorModel, BackendType.GPUCompute);
49
-
50
- var handLandmarkerModel = ModelLoader.Load(handLandmarker);
51
- m_HandLandmarkerWorker = new Worker(handLandmarkerModel, BackendType.GPUCompute);
52
-
53
- m_DetectorInput = new Tensor<float>(new TensorShape(1, detectorInputSize, detectorInputSize, 3));
54
- m_LandmarkerInput = new Tensor<float>(new TensorShape(1, landmarkerInputSize, landmarkerInputSize, 3));
55
-
56
- while (true)
57
- {
58
- try
59
- {
60
- m_DetectAwaitable = Detect(imageTexture);
61
- await m_DetectAwaitable;
62
- }
63
- catch (OperationCanceledException)
64
- {
65
- break;
66
- }
67
- }
68
-
69
- m_HandDetectorWorker.Dispose();
70
- m_HandLandmarkerWorker.Dispose();
71
- m_DetectorInput.Dispose();
72
- m_LandmarkerInput.Dispose();
73
- }
74
-
75
- Vector3 ImageToWorld(Vector2 position)
76
- {
77
- return (position - 0.5f * new Vector2(m_TextureWidth, m_TextureHeight)) / m_TextureHeight;
78
- }
79
-
80
- async Awaitable Detect(Texture texture)
81
- {
82
- m_TextureWidth = texture.width;
83
- m_TextureHeight = texture.height;
84
- imagePreview.SetTexture(texture);
85
-
86
- var size = Mathf.Max(texture.width, texture.height);
87
-
88
- // The affine transformation matrix to go from tensor coordinates to image coordinates
89
- var scale = size / (float)detectorInputSize;
90
- var M = BlazeUtils.mul(BlazeUtils.TranslationMatrix(0.5f * (new Vector2(texture.width, texture.height) + new Vector2(-size, size))), BlazeUtils.ScaleMatrix(new Vector2(scale, -scale)));
91
- BlazeUtils.SampleImageAffine(texture, m_DetectorInput, M);
92
-
93
- m_HandDetectorWorker.Schedule(m_DetectorInput);
94
-
95
- var outputIdxAwaitable = (m_HandDetectorWorker.PeekOutput(0) as Tensor<int>).ReadbackAndCloneAsync();
96
- var outputScoreAwaitable = (m_HandDetectorWorker.PeekOutput(1) as Tensor<float>).ReadbackAndCloneAsync();
97
- var outputBoxAwaitable = (m_HandDetectorWorker.PeekOutput(2) as Tensor<float>).ReadbackAndCloneAsync();
98
-
99
- using var outputIdx = await outputIdxAwaitable;
100
- using var outputScore = await outputScoreAwaitable;
101
- using var outputBox = await outputBoxAwaitable;
102
-
103
- var scorePassesThreshold = outputScore[0] >= scoreThreshold;
104
- handPreview.SetActive(scorePassesThreshold);
105
-
106
- if (!scorePassesThreshold)
107
- return;
108
-
109
- var idx = outputIdx[0];
110
-
111
- var anchorPosition = detectorInputSize * new float2(m_Anchors[idx, 0], m_Anchors[idx, 1]);
112
-
113
- var boxCentre_TensorSpace = anchorPosition + new float2(outputBox[0, 0, 0], outputBox[0, 0, 1]);
114
- var boxSize_TensorSpace = math.max(outputBox[0, 0, 2], outputBox[0, 0, 3]);
115
-
116
- var kp0_TensorSpace = anchorPosition + new float2(outputBox[0, 0, 4 + 2 * 0 + 0], outputBox[0, 0, 4 + 2 * 0 + 1]);
117
- var kp2_TensorSpace = anchorPosition + new float2(outputBox[0, 0, 4 + 2 * 2 + 0], outputBox[0, 0, 4 + 2 * 2 + 1]);
118
- var delta_TensorSpace = kp2_TensorSpace - kp0_TensorSpace;
119
- var up_TensorSpace = delta_TensorSpace / math.length(delta_TensorSpace);
120
- var theta = math.atan2(delta_TensorSpace.y, delta_TensorSpace.x);
121
- var rotation = 0.5f * Mathf.PI - theta;
122
- boxCentre_TensorSpace += 0.5f * boxSize_TensorSpace * up_TensorSpace;
123
- boxSize_TensorSpace *= 2.6f;
124
-
125
- var origin2 = new float2(0.5f * landmarkerInputSize, 0.5f * landmarkerInputSize);
126
- var scale2 = boxSize_TensorSpace / landmarkerInputSize;
127
- var M2 = BlazeUtils.mul(M, BlazeUtils.mul(BlazeUtils.mul(BlazeUtils.mul(BlazeUtils.TranslationMatrix(boxCentre_TensorSpace), BlazeUtils.ScaleMatrix(new float2(scale2, -scale2))), BlazeUtils.RotationMatrix(rotation)), BlazeUtils.TranslationMatrix(-origin2)));
128
- BlazeUtils.SampleImageAffine(texture, m_LandmarkerInput, M2);
129
-
130
- m_HandLandmarkerWorker.Schedule(m_LandmarkerInput);
131
-
132
- var landmarksAwaitable = (m_HandLandmarkerWorker.PeekOutput("Identity") as Tensor<float>).ReadbackAndCloneAsync();
133
- using var landmarks = await landmarksAwaitable;
134
-
135
- for (var i = 0; i < k_NumKeypoints; i++)
136
- {
137
- var position_ImageSpace = BlazeUtils.mul(M2, new float2(landmarks[3 * i + 0], landmarks[3 * i + 1]));
138
-
139
- Vector3 position_WorldSpace = ImageToWorld(position_ImageSpace) + new Vector3(0, 0, landmarks[3 * i + 2] / m_TextureHeight);
140
- handPreview.SetKeypoint(i, true, position_WorldSpace);
141
- }
142
- }
143
-
144
- void OnDestroy()
145
- {
146
- m_DetectAwaitable.Cancel();
147
- }
148
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Assets/Scripts/HandDetection.cs.meta DELETED
@@ -1,2 +0,0 @@
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- fileFormatVersion: 2
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- guid: ae2eb443caa7ad94aad55b4a8a8fb4ea
 
 
 
Assets/Scripts/HandPreview.cs DELETED
@@ -1,16 +0,0 @@
1
- using UnityEngine;
2
-
3
- public class HandPreview : MonoBehaviour
4
- {
5
- public Keypoint[] keypoints;
6
-
7
- public void SetActive(bool active)
8
- {
9
- gameObject.SetActive(active);
10
- }
11
-
12
- public void SetKeypoint(int index, bool active, Vector3 position)
13
- {
14
- keypoints[index].Set(active, position);
15
- }
16
- }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
Assets/Scripts/HandPreview.cs.meta DELETED
@@ -1,2 +0,0 @@
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- fileFormatVersion: 2
2
- guid: a13d9ed61ce25fa4caf885d6c7222b9d
 
 
 
Assets/Scripts/ImagePreview.cs DELETED
@@ -1,14 +0,0 @@
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
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