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clean repo

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readd project

lfs track image

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+ uint X_width;
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+ {
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+ using System;
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+ 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) NMSFiltering(FunctionalTensor rawBoxes, FunctionalTensor rawScores, FunctionalTensor anchors, float inputSize, float iouThreshold, float scoreThreshold)
63
+ {
64
+ var xCenter = rawBoxes[0, .., 0] + anchors[.., 0] * inputSize;
65
+ var yCenter = rawBoxes[0, .., 1] + anchors[.., 1] * inputSize;
66
+
67
+ var widthHalf = 0.5f * rawBoxes[0, .., 2];
68
+ var heightHalf = 0.5f * rawBoxes[0, .., 3];
69
+
70
+ var nmsBoxes = Functional.Stack(new[]
71
+ {
72
+ yCenter - heightHalf,
73
+ xCenter - widthHalf,
74
+ yCenter + heightHalf,
75
+ xCenter + widthHalf
76
+ }, 1);
77
+
78
+ var nmsScores = Functional.Squeeze(ScoreFiltering(rawScores, 100f));
79
+ var selectedIndices = Functional.NMS(nmsBoxes, nmsScores, iouThreshold, scoreThreshold); // (N);
80
+
81
+ var selectedBoxes = Functional.IndexSelect(rawBoxes, 1, selectedIndices).Unsqueeze(0); // (1, N, 16)
82
+ var selectedScores = Functional.IndexSelect(rawScores, 1, selectedIndices).Unsqueeze(0); // (1, N, 1)
83
+
84
+ return (selectedIndices, selectedScores, selectedBoxes);
85
+ }
86
+
87
+ // image transform utility
88
+ static ComputeShader s_ImageTransformShader = Resources.Load<ComputeShader>("ComputeShaders/ImageTransform");
89
+ static int s_ImageSample = s_ImageTransformShader.FindKernel("ImageSample");
90
+ static int s_Optr = Shader.PropertyToID("Optr");
91
+ static int s_X_tex2D = Shader.PropertyToID("X_tex2D");
92
+ static int s_O_height = Shader.PropertyToID("O_height");
93
+ static int s_O_width = Shader.PropertyToID("O_width");
94
+ static int s_O_channels = Shader.PropertyToID("O_channels");
95
+ static int s_X_height = Shader.PropertyToID("X_height");
96
+ static int s_X_width = Shader.PropertyToID("X_width");
97
+ static int s_affineMatrix = Shader.PropertyToID("affineMatrix");
98
+
99
+ static int IDivC(int v, int div)
100
+ {
101
+ return (v + div - 1) / div;
102
+ }
103
+
104
+ public static void SampleImageAffine(Texture srcTexture, Tensor<float> dstTensor, float2x3 M)
105
+ {
106
+ var tensorData = ComputeTensorData.Pin(dstTensor, false);
107
+
108
+ s_ImageTransformShader.SetTexture(s_ImageSample, s_X_tex2D, srcTexture);
109
+ s_ImageTransformShader.SetBuffer(s_ImageSample, s_Optr, tensorData.buffer);
110
+
111
+ s_ImageTransformShader.SetInt(s_O_height, dstTensor.shape[1]);
112
+ s_ImageTransformShader.SetInt(s_O_width, dstTensor.shape[2]);
113
+ s_ImageTransformShader.SetInt(s_O_channels, dstTensor.shape[3]);
114
+ s_ImageTransformShader.SetInt(s_X_height, srcTexture.height);
115
+ s_ImageTransformShader.SetInt(s_X_width, srcTexture.width);
116
+
117
+ 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));
118
+
119
+ s_ImageTransformShader.Dispatch(s_ImageSample, IDivC(dstTensor.shape[1], 8), IDivC(dstTensor.shape[1], 8), 1);
120
+ }
121
+
122
+ public static float[,] LoadAnchors(string csv, int numAnchors)
123
+ {
124
+ var anchors = new float[numAnchors, 4];
125
+ var anchorLines = csv.Split('\n');
126
+
127
+ for (var i = 0; i < numAnchors; i++)
128
+ {
129
+ var anchorValues = anchorLines[i].Split(',');
130
+ for (var j = 0; j < 4; j++)
131
+ {
132
+ anchors[i, j] = float.Parse(anchorValues[j], CultureInfo.InvariantCulture);
133
+ }
134
+ }
135
+
136
+ return anchors;
137
+ }
138
+ }
Assets/Scripts/BlazeUtils.cs.meta CHANGED
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1
+ fileFormatVersion: 2
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+ guid: 5413dc54f071410282a92bdc03cb0d09
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+ timeCreated: 1725358930
Assets/Scripts/BoundingBox.cs CHANGED
@@ -1,3 +1,28 @@
1
- version https://git-lfs.github.com/spec/v1
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3
- size 929
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 CHANGED
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1
+ fileFormatVersion: 2
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+ guid: 975be3afbfa88af469b74fd354c1ac4b
 
Assets/Scripts/FaceDetection.cs CHANGED
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1
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1
+ using System;
2
+ using Unity.Mathematics;
3
+ using Unity.Sentis;
4
+ using UnityEngine;
5
+
6
+ public class FaceDetection : MonoBehaviour
7
+ {
8
+ public FacePreview[] facePreviews;
9
+ public ImagePreview imagePreview;
10
+ public Texture2D imageTexture;
11
+ public ModelAsset faceDetector;
12
+ public TextAsset anchorsCSV;
13
+
14
+ public float iouThreshold = 0.3f;
15
+ public float scoreThreshold = 0.5f;
16
+
17
+ const int k_NumAnchors = 896;
18
+ float[,] m_Anchors;
19
+
20
+ const int k_NumKeypoints = 6;
21
+ const int detectorInputSize = 128;
22
+
23
+ Worker m_FaceDetectorWorker;
24
+ Tensor<float> m_DetectorInput;
25
+ Awaitable m_DetectAwaitable;
26
+
27
+ float m_TextureWidth;
28
+ float m_TextureHeight;
29
+
30
+ public async void Start()
31
+ {
32
+ m_Anchors = BlazeUtils.LoadAnchors(anchorsCSV.text, k_NumAnchors);
33
+
34
+ var faceDetectorModel = ModelLoader.Load(faceDetector);
35
+
36
+ // post process the model to filter scores + nms select the best faces
37
+ var graph = new FunctionalGraph();
38
+ var input = graph.AddInput(faceDetectorModel, 0);
39
+ var outputs = Functional.Forward(faceDetectorModel, 2 * input - 1);
40
+ var boxes = outputs[0]; // (1, 896, 16)
41
+ var scores = outputs[1]; // (1, 896, 1)
42
+ var anchorsData = new float[k_NumAnchors * 4];
43
+ Buffer.BlockCopy(m_Anchors, 0, anchorsData, 0, anchorsData.Length * sizeof(float));
44
+ var anchors = Functional.Constant(new TensorShape(k_NumAnchors, 4), anchorsData);
45
+ var idx_scores_boxes = BlazeUtils.NMSFiltering(boxes, scores, anchors, detectorInputSize, iouThreshold, scoreThreshold);
46
+ faceDetectorModel = graph.Compile(idx_scores_boxes.Item1, idx_scores_boxes.Item2, idx_scores_boxes.Item3);
47
+
48
+ m_FaceDetectorWorker = new Worker(faceDetectorModel, BackendType.GPUCompute);
49
+
50
+ m_DetectorInput = new Tensor<float>(new TensorShape(1, detectorInputSize, detectorInputSize, 3));
51
+
52
+ while (true)
53
+ {
54
+ try
55
+ {
56
+ m_DetectAwaitable = Detect(imageTexture);
57
+ await m_DetectAwaitable;
58
+ }
59
+ catch (OperationCanceledException)
60
+ {
61
+ break;
62
+ }
63
+ }
64
+
65
+ m_FaceDetectorWorker.Dispose();
66
+ m_DetectorInput.Dispose();
67
+ }
68
+
69
+ Vector3 ImageToWorld(Vector2 position)
70
+ {
71
+ return (position - 0.5f * new Vector2(m_TextureWidth, m_TextureHeight)) / m_TextureHeight;
72
+ }
73
+
74
+ async Awaitable Detect(Texture texture)
75
+ {
76
+ m_TextureWidth = texture.width;
77
+ m_TextureHeight = texture.height;
78
+ imagePreview.SetTexture(texture);
79
+
80
+ var size = Mathf.Max(texture.width, texture.height);
81
+
82
+ // The affine transformation matrix to go from tensor coordinates to image coordinates
83
+ var scale = size / (float)detectorInputSize;
84
+ var M = BlazeUtils.mul(BlazeUtils.TranslationMatrix(0.5f * (new Vector2(texture.width, texture.height) + new Vector2(-size, size))), BlazeUtils.ScaleMatrix(new Vector2(scale, -scale)));
85
+ BlazeUtils.SampleImageAffine(texture, m_DetectorInput, M);
86
+
87
+ m_FaceDetectorWorker.Schedule(m_DetectorInput);
88
+
89
+ var outputIndicesAwaitable = (m_FaceDetectorWorker.PeekOutput(0) as Tensor<int>).ReadbackAndCloneAsync();
90
+ var outputScoresAwaitable = (m_FaceDetectorWorker.PeekOutput(1) as Tensor<float>).ReadbackAndCloneAsync();
91
+ var outputBoxesAwaitable = (m_FaceDetectorWorker.PeekOutput(2) as Tensor<float>).ReadbackAndCloneAsync();
92
+
93
+ using var outputIndices = await outputIndicesAwaitable;
94
+ using var outputScores = await outputScoresAwaitable;
95
+ using var outputBoxes = await outputBoxesAwaitable;
96
+
97
+ var numFaces = outputIndices.shape.length;
98
+
99
+ for (var i = 0; i < facePreviews.Length; i++)
100
+ {
101
+ var active = i < numFaces;
102
+ facePreviews[i].SetActive(active);
103
+ if (!active)
104
+ continue;
105
+
106
+ var idx = outputIndices[i];
107
+
108
+ var anchorPosition = detectorInputSize * new float2(m_Anchors[idx, 0], m_Anchors[idx, 1]);
109
+
110
+ var box_ImageSpace = BlazeUtils.mul(M, anchorPosition + new float2(outputBoxes[0, i, 0], outputBoxes[0, i, 1]));
111
+ var boxTopRight_ImageSpace = BlazeUtils.mul(M, anchorPosition + new float2(outputBoxes[0, i, 0] + 0.5f * outputBoxes[0, i, 2], outputBoxes[0, i, 1] + 0.5f * outputBoxes[0, i, 3]));
112
+
113
+ var boxSize = 2f * (boxTopRight_ImageSpace - box_ImageSpace);
114
+ facePreviews[i].SetBoundingBox(true, ImageToWorld(box_ImageSpace), boxSize / texture.height);
115
+
116
+ for (var j = 0; j < k_NumKeypoints; j++)
117
+ {
118
+ var position_ImageSpace = BlazeUtils.mul(M, anchorPosition + new float2(outputBoxes[0, i, 4 + 2 * j + 0], outputBoxes[0, i, 4 + 2 * j + 1]));
119
+ facePreviews[i].SetKeypoint(j, true, ImageToWorld(position_ImageSpace));
120
+ }
121
+ }
122
+
123
+ // if no faces are recognized then the awaitable outputs return synchronously so we need to add an extra frame await here to allow the main thread to run
124
+ if (numFaces == 0)
125
+ await Awaitable.NextFrameAsync();
126
+ }
127
+
128
+ void OnDestroy()
129
+ {
130
+ m_DetectAwaitable.Cancel();
131
+ }
132
+ }
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- size 493
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using UnityEngine;
2
+
3
+ public class FacePreview : MonoBehaviour
4
+ {
5
+ public BoundingBox boundingBox;
6
+ public Keypoint[] keypoints;
7
+
8
+ public void SetActive(bool active)
9
+ {
10
+ gameObject.SetActive(active);
11
+ }
12
+
13
+ public void SetBoundingBox(bool active, Vector3 position, Vector2 size)
14
+ {
15
+ boundingBox.Set(active, position, size);
16
+ }
17
+
18
+ public void SetKeypoint(int index, bool active, Vector3 position)
19
+ {
20
+ keypoints[index].Set(active, position);
21
+ }
22
+ }
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+ fileFormatVersion: 2
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- size 389
 
 
 
 
 
 
 
 
 
 
 
 
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
+ }
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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
+ }
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