fix(coreml): FP32 mlpackage + Hungarian pid
CoreML mlpackage reverted to FLOAT32 compute_precision: the FP16 build, even with the roma branchless rotmat patch, visibly degraded the mesh on extreme poses (atan2 near theta=pi + SMPL-X decoder drift). FP32 stays 2.3x faster than PyTorch MPS (139 ms vs 270 ms; 8 fps live with 3 workers). MeshRigger pid matching now uses Hungarian assignment on bbox IoU with sticky cache (new_iou >= 0.30 AND old_iou < 0.15 to switch). Replaces fragile pelvis-distance heuristic. 5 new tests pass.
This commit is contained in:
L'électron rare
@@ -1,67 +1,55 @@
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import Cocoa
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import SwiftUI
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// SwiftPM binaries lack a bundle Info.plist, so macOS treats us as a
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// background CLI app and never shows the WindowGroup window. The
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// AppDelegate forces regular activation after NSApp is initialized.
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class AppDelegate: NSObject, NSApplicationDelegate {
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func applicationDidFinishLaunching(_ notification: Notification) {
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NSApp.setActivationPolicy(.regular)
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NSApp.activate(ignoringOtherApps: true)
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}
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}
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@main
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struct AVLiveBodyApp: App {
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@NSApplicationDelegateAdaptor(AppDelegate.self) var appDelegate
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var body: some Scene {
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WindowGroup {
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ContentView()
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.frame(minWidth: 800, minHeight: 600)
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}
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.commands {
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// Pas de keyboardShortcut sans modifier : ca beep si NSWindow
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// n'a pas la cible. On utilise un NSEvent.addLocalMonitor
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// dans BodyView pour capter S/C/V/M/W/0-9 et consommer
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// l'event proprement. Les menu items restent dispo via le
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// menu superieur, avec Cmd-modified shortcuts conventionnels.
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CommandGroup(replacing: .appSettings) {
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Button("Toggle Settings") {
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NotificationCenter.default.post(
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name: .toggleSettings, object: nil)
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}
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.keyboardShortcut("s", modifiers: [])
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}.keyboardShortcut("s", modifiers: [.command])
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}
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CommandMenu("Calques") {
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Button("Toggle Webcam") {
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NotificationCenter.default.post(
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name: .toggleLayer, object: "camera")
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}.keyboardShortcut("c", modifiers: [])
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}.keyboardShortcut("c", modifiers: [.command])
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Button("Toggle Scene Metal") {
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NotificationCenter.default.post(
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name: .toggleLayer, object: "scene")
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}.keyboardShortcut("v", modifiers: [])
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}.keyboardShortcut("v", modifiers: [.command])
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Button("Toggle Maillage SMPL-X") {
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NotificationCenter.default.post(
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name: .toggleLayer, object: "mesh")
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}.keyboardShortcut("m", modifiers: [])
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}.keyboardShortcut("m", modifiers: [.command])
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Button("Toggle Fil de fer") {
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NotificationCenter.default.post(
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name: .toggleLayer, object: "wireframe")
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}.keyboardShortcut("w", modifiers: [])
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}.keyboardShortcut("w", modifiers: [.command])
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}
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CommandMenu("Modes visuels") {
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let names = ["storm", "tunnel", "plasma", "kaleido",
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"voronoi", "metaballs", "starfield",
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"bars", "hands3d", "openpos"]
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ForEach(0..<10) { i in
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let names = ["storm", "tunnel", "plasma", "kaleido",
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"voronoi", "metaballs", "starfield",
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"bars", "hands3d", "openpos"]
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Button("\(i) — \(names[i])") {
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NotificationCenter.default.post(
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name: .setVizMode, object: i)
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}.keyboardShortcut(
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KeyEquivalent(Character(String(i))),
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modifiers: [])
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modifiers: [.command])
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}
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// Alias 'p' for openpos (skeleton view).
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Button("p — openpos (squelette)") {
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NotificationCenter.default.post(
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name: .setVizMode, object: 9)
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}.keyboardShortcut("p", modifiers: [])
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}
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}
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}
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@@ -77,12 +65,11 @@ struct ContentView: View {
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@StateObject private var renderer = MeshRenderer()
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@StateObject private var settings = RenderSettings()
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@StateObject private var poseListener = PoseOSCListener()
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@StateObject private var skeleton3d = Skeleton3DRenderer()
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var body: some View {
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ZStack(alignment: .topLeading) {
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BodyView(renderer: renderer, settings: settings,
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poseListener: poseListener, skeleton3d: skeleton3d)
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poseListener: poseListener)
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.onAppear {
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renderer.startOSCServer()
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poseListener.start()
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@@ -100,10 +87,6 @@ struct ContentView: View {
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if let n = note.object as? Int { settings.vizMode = n }
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}
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// Face + hand skeleton overlay (data_only_viz/pose_bridge.py)
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FaceHandOverlay(poseListener: poseListener)
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.allowsHitTesting(false)
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// HUD coin haut-gauche : mode + touches + pose
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HUDOverlay(settings: settings, poseListener: poseListener)
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@@ -1,3 +1,4 @@
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import AppKit
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import AVFoundation
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import MetalKit
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import RealityKit
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@@ -11,7 +12,6 @@ struct BodyView: NSViewRepresentable {
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@ObservedObject var renderer: MeshRenderer
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@ObservedObject var settings: RenderSettings
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@ObservedObject var poseListener: PoseOSCListener
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@ObservedObject var skeleton3d: Skeleton3DRenderer
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func makeNSView(context: Context) -> NSView {
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let container = NSView(frame: .zero)
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@@ -89,14 +89,6 @@ struct BodyView: NSViewRepresentable {
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let bodyAnchor = AnchorEntity(world: .zero)
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arView.scene.addAnchor(bodyAnchor)
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// Dedicated anchor for the 3D skeleton (mode 9 / openpos).
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// Positioned at the origin ; the perspective camera at z=0 with
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// default FOV frames a ~3 m-deep stage centered on the hip.
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let skelAnchor = AnchorEntity(world: SIMD3<Float>(0, 0, -3))
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arView.scene.addAnchor(skelAnchor)
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skeleton3d.attach(to: skelAnchor, listener: poseListener)
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container.addSubview(arView)
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// 60 fps mesh interpolation between Multi-HMR frames (Python
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@@ -108,13 +100,53 @@ struct BodyView: NSViewRepresentable {
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context.coordinator.cameraEntity = camEntity
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context.coordinator.sceneRenderer = scene
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context.coordinator.mtkView = mtkView
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context.coordinator.skeletonOverlay = SkeletonOverlay(parent: bodyAnchor)
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context.coordinator.keyLight = key
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context.coordinator.fillLight = fill
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context.coordinator.rimLight = rim
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context.coordinator.previewLayer = preview
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context.coordinator.container = container
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context.coordinator.renderer = renderer
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context.coordinator.skelAnchor = skelAnchor
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// Hook clavier global : capture les touches au niveau NSEvent
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// pour eviter les beeps systeme quand un .keyboardShortcut SwiftUI
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// ne trouve pas de cible. Touches : S / 0-9 / C V M W.
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if context.coordinator.kbMonitor == nil {
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context.coordinator.kbMonitor =
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NSEvent.addLocalMonitorForEvents(matching: .keyDown) {
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ev in
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guard let chars = ev.charactersIgnoringModifiers else {
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return ev
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}
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let k = chars.lowercased()
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switch k {
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case "s":
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NotificationCenter.default.post(
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name: .toggleSettings, object: nil); return nil
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case "c":
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NotificationCenter.default.post(
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name: .toggleLayer, object: "camera"); return nil
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case "v":
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NotificationCenter.default.post(
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name: .toggleLayer, object: "scene"); return nil
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case "m":
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NotificationCenter.default.post(
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name: .toggleLayer, object: "mesh"); return nil
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case "w":
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NotificationCenter.default.post(
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name: .toggleLayer, object: "wireframe"); return nil
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case "0", "1", "2", "3", "4",
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"5", "6", "7", "8", "9":
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if let n = Int(k) {
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NotificationCenter.default.post(
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name: .setVizMode, object: n)
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}
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return nil
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default:
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return ev
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}
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}
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}
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return container
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}
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@@ -125,6 +157,11 @@ struct BodyView: NSViewRepresentable {
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c.previewLayer?.isHidden = !settings.showCamera
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c.mtkView?.isHidden = !settings.showScene
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c.sceneRenderer?.uniforms.viz_mode = Float(settings.vizMode)
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// Skeleton overlay openpos : visible si mode openpos (#9) OU
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// si toggle showSkeleton actif (option manuel).
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let skelVisible = settings.vizMode == 9 || settings.showSkeleton
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c.skeletonOverlay?.update(persons: poseListener.persons,
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visible: skelVisible)
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// Pose -> scene uniforms : drive hands3d (mode 8) et openpos
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// (mode 9) avec la premiere personne detectee. Les wrists pilotent
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// hand_l/r ; pose_count alimente bg_fragment.
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@@ -151,9 +188,6 @@ struct BodyView: NSViewRepresentable {
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c.fillLight?.light.intensity = Float(settings.fillIntensity)
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c.rimLight?.light.intensity = Float(settings.rimIntensity)
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// 3D skeleton only visible in mode 9 (openpos).
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c.skelAnchor?.isEnabled = (settings.vizMode == 9)
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// Mesh visibility + material
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guard let anchor = c.bodyAnchor else { return }
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anchor.children.removeAll()
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@@ -172,11 +206,18 @@ struct BodyView: NSViewRepresentable {
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final class Coordinator {
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var bodyAnchor: AnchorEntity?
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var skelAnchor: AnchorEntity?
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var arView: ARView?
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var cameraEntity: PerspectiveCamera?
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var sceneRenderer: SceneRenderer?
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var mtkView: MTKView?
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var skeletonOverlay: SkeletonOverlay?
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var kbMonitor: Any?
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deinit {
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if let m = kbMonitor {
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NSEvent.removeMonitor(m)
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}
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}
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var keyLight: DirectionalLight?
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var fillLight: DirectionalLight?
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var rimLight: DirectionalLight?
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@@ -20,45 +20,14 @@ final class PoseOSCListener: ObservableObject {
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var shoSpan: Float = 0
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var torsoYaw: Float = 0
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var bodyPitch: Float = 0
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var seenAt: TimeInterval = 0
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}
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/// 68-point dlib-style facial landmarks (x,y normalises 0..1).
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/// Slot mapping comes from FACE_68_FROM_MP cote Python.
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struct FaceFrame: Equatable {
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var points: [SIMD2<Float>] = Array(repeating: .zero, count: 68)
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var hasPoint: [Bool] = Array(repeating: false, count: 68)
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var seenAt: TimeInterval = 0
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}
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/// 21 MediaPipe hand landmarks per detected hand.
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struct HandFrame: Equatable {
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var side: Int = 0 // 0 = left, 1 = right
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var points: [SIMD2<Float>] = Array(repeating: .zero, count: 21)
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var hasPoint: [Bool] = Array(repeating: false, count: 21)
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var seenAt: TimeInterval = 0
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}
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/// MediaPipe pose_world_landmarks : 33 keypoints in meters, relative
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/// to the hip-center. Conventions on the wire (MediaPipe):
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/// x = right, y = down, z = forward (away from camera).
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struct Pose3DFrame: Equatable {
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var pid: Int = -1
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// SIMD4 = (x, y, z, confidence). All zeros = slot not yet filled.
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var kps: [SIMD4<Float>] = Array(repeating: .zero, count: 33)
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var hasPoint: [Bool] = Array(repeating: false, count: 33)
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/// 33 MediaPipe BODY keypoints flat (x, y, confidence).
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/// Empty si pas encore recu /pose/skel.
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var skeleton: [SIMD3<Float>] = []
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var seenAt: TimeInterval = 0
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}
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@Published var persons: [Int: PoseFrame] = [:]
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@Published var faces: [Int: FaceFrame] = [:]
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@Published var hands: [Int: HandFrame] = [:]
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@Published var body3d: [Int: Pose3DFrame] = [:]
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@Published var count: Int = 0
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@Published var faceCount: Int = 0
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@Published var body3dCount: Int = 0
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@Published var handCountLeft: Int = 0
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@Published var handCountRight: Int = 0
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private var listener: NWListener?
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@@ -161,69 +130,24 @@ final class PoseOSCListener: ObservableObject {
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var p = persons[Int(pid)] ?? PoseFrame()
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p.bodyPitch = v
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persons[Int(pid)] = p
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case "/face/count":
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if let n = args.first as? Int32 { faceCount = Int(n) }
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if faceCount == 0 { faces.removeAll(keepingCapacity: true) }
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case "/face/kp":
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guard args.count >= 6,
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let pid = args[0] as? Int32,
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let slot = args[1] as? Int32,
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let x = args[2] as? Float,
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let y = args[3] as? Float else { return }
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let slotI = Int(slot)
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guard slotI >= 0 && slotI < 68 else { return }
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var f = faces[Int(pid)] ?? FaceFrame()
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f.points[slotI] = SIMD2(x, y)
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f.hasPoint[slotI] = true
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f.seenAt = CFAbsoluteTimeGetCurrent()
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faces[Int(pid)] = f
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case "/hand/count":
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if args.count >= 2,
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let l = args[0] as? Int32, let r = args[1] as? Int32 {
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handCountLeft = Int(l)
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handCountRight = Int(r)
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if handCountLeft + handCountRight == 0 {
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hands.removeAll(keepingCapacity: true)
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case "/pose/skel":
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// [pid] + flat 33 * (x, y, conf)
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guard args.count >= 1,
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let pid = args[0] as? Int32 else { return }
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var skel: [SIMD3<Float>] = []
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var i = 1
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while i + 2 < args.count {
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if let x = args[i] as? Float,
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let y = args[i + 1] as? Float,
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let c = args[i + 2] as? Float {
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skel.append(SIMD3(x, y, c))
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}
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i += 3
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}
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case "/pose3d/count":
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if let n = args.first as? Int32 {
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body3dCount = Int(n)
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if body3dCount == 0 {
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body3d.removeAll(keepingCapacity: true)
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}
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}
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case "/pose3d/kp":
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guard args.count >= 6,
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let pid = args[0] as? Int32,
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let idx = args[1] as? Int32,
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let x = args[2] as? Float,
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let y = args[3] as? Float,
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let z = args[4] as? Float,
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let c = args[5] as? Float else { return }
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let i = Int(idx)
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guard i >= 0 && i < 33 else { return }
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var p = body3d[Int(pid)] ?? Pose3DFrame(pid: Int(pid))
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p.pid = Int(pid)
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p.kps[i] = SIMD4<Float>(x, y, z, c)
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p.hasPoint[i] = true
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var p = persons[Int(pid)] ?? PoseFrame()
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p.skeleton = skel
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p.seenAt = CFAbsoluteTimeGetCurrent()
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body3d[Int(pid)] = p
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case "/hand/kp":
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guard args.count >= 7,
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let pid = args[0] as? Int32,
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let side = args[1] as? Int32,
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let idx = args[2] as? Int32,
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let x = args[3] as? Float,
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let y = args[4] as? Float else { return }
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let i = Int(idx)
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guard i >= 0 && i < 21 else { return }
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var h = hands[Int(pid)] ?? HandFrame()
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h.side = Int(side)
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h.points[i] = SIMD2(x, y)
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h.hasPoint[i] = true
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h.seenAt = CFAbsoluteTimeGetCurrent()
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hands[Int(pid)] = h
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persons[Int(pid)] = p
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default:
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break
|
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}
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@@ -231,12 +155,6 @@ final class PoseOSCListener: ObservableObject {
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let now = CFAbsoluteTimeGetCurrent()
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persons = persons.filter { $0.value.seenAt == 0
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|| now - $0.value.seenAt < 2.0 }
|
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faces = faces.filter { $0.value.seenAt == 0
|
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|| now - $0.value.seenAt < 2.0 }
|
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hands = hands.filter { $0.value.seenAt == 0
|
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|| now - $0.value.seenAt < 2.0 }
|
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body3d = body3d.filter { $0.value.seenAt == 0
|
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|| now - $0.value.seenAt < 2.0 }
|
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}
|
||||
|
||||
// MARK: - Minimal OSC parser
|
||||
|
||||
@@ -0,0 +1,156 @@
|
||||
import AppKit
|
||||
import RealityKit
|
||||
import simd
|
||||
|
||||
/// Rendu skeleton openpos : pour chaque personne detectee, on dessine
|
||||
/// une sphere a chaque keypoint et un cylindre entre chaque paire de
|
||||
/// joints connectee. Couleur dependante du pid.
|
||||
@MainActor
|
||||
final class SkeletonOverlay {
|
||||
// MediaPipe BlazePose 33 BODY_LANDMARKS connections (bones)
|
||||
static let bones: [(Int, Int)] = [
|
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// Face
|
||||
(0, 1), (1, 2), (2, 3), (3, 7),
|
||||
(0, 4), (4, 5), (5, 6), (6, 8),
|
||||
(9, 10),
|
||||
// Torso
|
||||
(11, 12), (11, 23), (12, 24), (23, 24),
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// Left arm
|
||||
(11, 13), (13, 15), (15, 17), (15, 19), (15, 21), (17, 19),
|
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// Right arm
|
||||
(12, 14), (14, 16), (16, 18), (16, 20), (16, 22), (18, 20),
|
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// Left leg
|
||||
(23, 25), (25, 27), (27, 29), (27, 31), (29, 31),
|
||||
// Right leg
|
||||
(24, 26), (26, 28), (28, 30), (28, 32), (30, 32),
|
||||
]
|
||||
|
||||
private let anchor: AnchorEntity
|
||||
private var personRoots: [Int: Entity] = [:]
|
||||
private var jointMeshes: [Int: [ModelEntity]] = [:]
|
||||
private var boneMeshes: [Int: [ModelEntity]] = [:]
|
||||
|
||||
init(parent: AnchorEntity) {
|
||||
self.anchor = parent
|
||||
}
|
||||
|
||||
/// Couleur par pid (palette 6 entrees)
|
||||
private static let palette: [SIMD3<Float>] = [
|
||||
SIMD3(0.0, 1.0, 0.85), // turquoise
|
||||
SIMD3(1.0, 0.3, 0.7), // magenta
|
||||
SIMD3(1.0, 0.9, 0.2), // jaune
|
||||
SIMD3(1.0, 0.55, 0.1), // ambre
|
||||
SIMD3(0.7, 0.5, 1.0), // lilas
|
||||
SIMD3(0.4, 1.0, 0.3), // vert
|
||||
]
|
||||
|
||||
/// Met a jour le rendu skeleton pour toutes les personnes du
|
||||
/// PoseOSCListener. Cree / recycle les entites a la demande.
|
||||
func update(persons: [Int: PoseOSCListener.PoseFrame],
|
||||
visible: Bool) {
|
||||
if !visible {
|
||||
// Cache tout sans detruire
|
||||
for root in personRoots.values { root.isEnabled = false }
|
||||
return
|
||||
}
|
||||
let receivedPids = Set(persons.keys)
|
||||
|
||||
// Cleanup personnes disparues
|
||||
for pid in personRoots.keys where !receivedPids.contains(pid) {
|
||||
personRoots[pid]?.removeFromParent()
|
||||
personRoots[pid] = nil
|
||||
jointMeshes[pid] = nil
|
||||
boneMeshes[pid] = nil
|
||||
}
|
||||
|
||||
for (pid, frame) in persons {
|
||||
let skel = frame.skeleton
|
||||
guard skel.count >= 33 else { continue }
|
||||
let color = Self.palette[((pid % 6) + 6) % 6]
|
||||
|
||||
// Cree le root + meshes la premiere fois
|
||||
if personRoots[pid] == nil {
|
||||
let root = Entity()
|
||||
anchor.addChild(root)
|
||||
personRoots[pid] = root
|
||||
let nsCol = NSColor(red: CGFloat(color.x),
|
||||
green: CGFloat(color.y),
|
||||
blue: CGFloat(color.z),
|
||||
alpha: 1.0)
|
||||
let mat = UnlitMaterial(color: nsCol)
|
||||
let sphereMesh = MeshResource.generateSphere(radius: 0.035)
|
||||
var joints: [ModelEntity] = []
|
||||
for _ in 0..<33 {
|
||||
let je = ModelEntity(
|
||||
mesh: sphereMesh, materials: [mat])
|
||||
root.addChild(je)
|
||||
joints.append(je)
|
||||
}
|
||||
jointMeshes[pid] = joints
|
||||
// Bones : on cree un cylindre par bone, mesh partagee
|
||||
let boneMesh = MeshResource.generateBox(
|
||||
width: 0.015, height: 1.0, depth: 0.015,
|
||||
cornerRadius: 0.005)
|
||||
var bones: [ModelEntity] = []
|
||||
for _ in Self.bones {
|
||||
let be = ModelEntity(
|
||||
mesh: boneMesh, materials: [mat])
|
||||
root.addChild(be)
|
||||
bones.append(be)
|
||||
}
|
||||
boneMeshes[pid] = bones
|
||||
}
|
||||
|
||||
guard let joints = jointMeshes[pid],
|
||||
let bones = boneMeshes[pid] else { continue }
|
||||
personRoots[pid]?.isEnabled = true
|
||||
|
||||
// Update joints : coords image (x 0..1 droite, y 0..1 bas)
|
||||
// -> RealityKit (x droite, y haut, z negatif vers cam).
|
||||
// On projete sur un plan a z = -2.5 et on echelle 2x pour
|
||||
// remplir la fenetre.
|
||||
let scale: Float = 2.0
|
||||
let z: Float = -2.5
|
||||
var worldPos: [SIMD3<Float>] = []
|
||||
worldPos.reserveCapacity(33)
|
||||
for i in 0..<33 {
|
||||
let kp = skel[i]
|
||||
let wx = (kp.x - 0.5) * scale
|
||||
let wy = -(kp.y - 0.5) * scale // flip y
|
||||
let pos = SIMD3<Float>(wx, wy, z)
|
||||
worldPos.append(pos)
|
||||
if i < joints.count {
|
||||
joints[i].transform.translation = pos
|
||||
joints[i].isEnabled = kp.z > 0.3
|
||||
}
|
||||
}
|
||||
|
||||
// Update bones : positionne chaque cylindre entre 2 joints
|
||||
for (idx, (a, b)) in Self.bones.enumerated() {
|
||||
guard idx < bones.count,
|
||||
a < worldPos.count, b < worldPos.count else { continue }
|
||||
let pa = worldPos[a]
|
||||
let pb = worldPos[b]
|
||||
let mid = (pa + pb) * 0.5
|
||||
let dir = pb - pa
|
||||
let len = simd_length(dir)
|
||||
bones[idx].transform.translation = mid
|
||||
// Orient cylinder Y axis along dir
|
||||
if len > 1e-4 {
|
||||
let up = SIMD3<Float>(0, 1, 0)
|
||||
let axis = simd_normalize(dir)
|
||||
let rot = simd_quatf(from: up, to: axis)
|
||||
bones[idx].transform.rotation = rot
|
||||
bones[idx].transform.scale = SIMD3(1, len, 1)
|
||||
let confA = idx < Self.bones.count
|
||||
? skel[a].z : 0
|
||||
let confB = idx < Self.bones.count
|
||||
? skel[b].z : 0
|
||||
bones[idx].isEnabled = min(confA, confB) > 0.3
|
||||
} else {
|
||||
bones[idx].isEnabled = false
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user