Not supported on MacOS

[infixlabs]

Trying to run the project on MacOS leads to this error:

PlatformNotSupportedException: Message transmission mode is not supported on this platform.
System.IO.Pipes.NamedPipeServerStream.Create (System.String pipeName, System.IO.Pipes.PipeDirection direction, System.Int32 maxNumberOfServerInstances, System.IO.Pipes.PipeTransmissionMode transmissionMode, System.IO.Pipes.PipeOptions options, System.Int32 inBufferSize, System.Int32 outBufferSize, System.IO.HandleInheritability inheritability) (at <3425ca1ff0554f46bb29b5d98ec6fa41>:0)
System.IO.Pipes.NamedPipeServerStream..ctor (System.String pipeName, System.IO.Pipes.PipeDirection direction, System.Int32 maxNumberOfServerInstances, System.IO.Pipes.PipeTransmissionMode transmissionMode, System.IO.Pipes.PipeOptions options, System.Int32 inBufferSize, System.Int32 outBufferSize, System.IO.HandleInheritability inheritability) (at <3425ca1ff0554f46bb29b5d98ec6fa41>:0)
System.IO.Pipes.NamedPipeServerStream..ctor (System.String pipeName, System.IO.Pipes.PipeDirection direction, System.Int32 maxNumberOfServerInstances, System.IO.Pipes.PipeTransmissionMode transmissionMode) (at <3425ca1ff0554f46bb29b5d98ec6fa41>:0)
(wrapper remoting-invoke-with-check) System.IO.Pipes.NamedPipeServerStream..ctor(string,System.IO.Pipes.PipeDirection,int,System.IO.Pipes.PipeTransmissionMode)
PipeServer.Run () (at Assets/PipeServer.cs:248)
System.Threading.ThreadHelper.ThreadStart_Context (System.Object state) (at <4c36328e5e3c40ecaf35733ee9461b26>:0)
System.Threading.ExecutionContext.RunInternal (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <4c36328e5e3c40ecaf35733ee9461b26>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <4c36328e5e3c40ecaf35733ee9461b26>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state) (at <4c36328e5e3c40ecaf35733ee9461b26>:0)
System.Threading.ThreadHelper.ThreadStart () (at <4c36328e5e3c40ecaf35733ee9461b26>:0)
UnityEngine.<>c:b__0_0(Object, UnhandledExceptionEventArgs) (at /Users/bokken/build/output/unity/unity/Runtime/Export/Scripting/UnhandledExceptionHandler.bindings.cs:46)

Is there any workaround to get this project running successfully on MacOS?

[ganeshsar]

Hi, could you check if https://github.com/ganeshsar/UnityPythonMediaPipeAvatar

works on your computer?

Note: if anyone reading this wants MacOS support, try the above and let me know here if that version works.

[rohitdesaidev]

Hi @ganeshsar I tried the both project on Mac M1 chip but there is an above error which is posted by the first user and in the avatar project bellow is the error. when I start the calibration scene.
Assertion failed on expression: '!CompareApproximately(aScalar, 0.0F)'
UnityEngine.Quaternion:Lerp (UnityEngine.Quaternion,UnityEngine.Quaternion,single)
CalibrationData:Tick (UnityEngine.Quaternion,single) (at Assets/Scripts/CalibrationData.cs:25)
Avatar:Update () (at Assets/Scripts/Avatar.cs:188)

I can help you if you need more debug help on Mac

[ganeshsar]

Hello, please see this issue and the relevant code snippet which supposidly solves the incompatibility: ganeshsar/UnityPythonMediaPipeAvatar#6 It seems to be related to opencv+macos not liking multithreading. I currently do not have time to formally impliment it, but I will follow up with you and formally impliment a fix once things free up. Thanks.

…

On Wed, Mar 13, 2024, 4:57 PM Rohit Desai, ***@***.***> wrote: Hi @ganeshsar <https://github.com/ganeshsar> I tried the both project on Mac M1 chip but there is an above error which is posted by the first user and in the avatar project bellow is the error. when I start the calibration scene. Assertion failed on expression: '!CompareApproximately(aScalar, 0.0F)' UnityEngine.Quaternion:Lerp (UnityEngine.Quaternion,UnityEngine.Quaternion,single) CalibrationData:Tick (UnityEngine.Quaternion,single) (at Assets/Scripts/CalibrationData.cs:25) Avatar:Update () (at Assets/Scripts/Avatar.cs:188) I can help you if you need more debug help on Mac — Reply to this email directly, view it on GitHub <#3 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AO5J5VWI6QZ6ILWEXYLCGU3YYDKUNAVCNFSM6AAAAABBV3EZSKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSOJWGA2DGMZSGI> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[rohitdesaidev]

thanks @ganeshsar , Yes this python script works on avatar repo.

I also tried to transfer the UDP logic to body pose but I think I am missing few things.
If the avatar project gives me hands and legs poses then I will start using it.

Spend few minutes to get the logic transferred. here is a initial UDPPipeServer.cs which I tried migrating. this script works if I use the UDP python script, but I still some things are missing I have to deep down into head logic which was not working.

// REVIEWS
using System.Collections;
using System.IO;
using System.IO.Pipes;
using System.Linq;
using System.Text;
using System.Threading;
using UnityEngine;

/* Currently very messy because both the server code and hand-drawn code is all in the same file here.
 * But it is still fairly straightforward to use as a reference/base.
 */

[DefaultExecutionOrder(-1)]
public class UDPPipeServer : MonoBehaviour
{
    public bool useLegacyPipes = false; // True to use NamedPipes for interprocess communication (not supported on Linux)
    public string host = "127.0.0.1"; // This machines host.
    public int port = 52733; // Must match the Python side.
    public Transform bodyParent;
    public GameObject landmarkPrefab;
    public GameObject linePrefab;
    public GameObject headPrefab;
    public bool enableHead = false;
    public float multiplier = 10f;
    public float landmarkScale = 1f;
    public float maxSpeed = 50f;
    public float debug_samplespersecond;
    public int samplesForPose = 1;
    public bool active;

    private NamedPipeServerStream serverNP;
    private BinaryReader reader;
    private ServerUDP server;

    private Body body;

    // these virtual transforms are not actually provided by mediapipe pose, but are required for avatars.
    // so I just manually compute them
    private Transform virtualNeck;
    private Transform virtualHip;

    public Transform GetLandmark(Landmark mark)
    {
        return body.instances[(int)mark].transform ;
    }
    public Transform GetVirtualNeck()
    {
        return virtualNeck;
    }
    public Transform GetVirtualHip()
    {
        return virtualHip;
    }

    private void Start()
    {
        System.Globalization.CultureInfo.DefaultThreadCurrentCulture = System.Globalization.CultureInfo.InvariantCulture;

        body = new Body(bodyParent,landmarkPrefab,linePrefab,landmarkScale,enableHead?headPrefab:null);
        virtualNeck = new GameObject("VirtualNeck").transform;
        virtualHip = new GameObject("VirtualHip").transform;

        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.localPositionTargets[i] = b.positionsBuffer[i].value / (float)b.positionsBuffer[i].accumulatedValuesCount * multiplier;
            b.positionsBuffer[i] = new AccumulatedBuffer(Vector3.zero,0);
        }

        Vector3 offset = Vector3.zero;
        for (int i = 0; i < LANDMARK_COUNT; ++i)
        {
            Vector3 p = b.localPositionTargets[i]-offset;
            b.instances[i].transform.localPosition=Vector3.MoveTowards(b.instances[i].transform.localPosition, p, Time.deltaTime * maxSpeed);
        }

        virtualNeck.transform.position = (b.instances[(int)Landmark.RIGHT_SHOULDER].transform.position + b.instances[(int)Landmark.LEFT_SHOULDER].transform.position) / 2f;
        virtualHip.transform.position = (b.instances[(int)Landmark.RIGHT_HIP].transform.position + b.instances[(int)Landmark.LEFT_HIP].transform.position) / 2f;

        b.UpdateLines();
    }
    public void SetVisible(bool visible)
    {
        bodyParent.gameObject.SetActive(visible);
    }

    private void Run()
    {
        System.Globalization.CultureInfo.CurrentCulture = System.Globalization.CultureInfo.InvariantCulture;

        if (useLegacyPipes)
        {
            // Open the named pipe.
            serverNP = new NamedPipeServerStream("UnityMediaPipeBody1", PipeDirection.InOut, 99, PipeTransmissionMode.Message);

            print("Waiting for connection...");
            serverNP.WaitForConnection();

            print("Connected.");
            reader = new BinaryReader(serverNP, Encoding.UTF8);
        }
        else
        {
            server = new ServerUDP(host, port);
            server.Connect();
            server.StartListeningAsync();
            print("Listening @"+host+":"+port);
        }

        while (true)
        {
            try
            {
                Body h = body;
                var len = 0;
                var str = "";

                if (useLegacyPipes)
                {
                    len = (int)reader.ReadUInt32();
                    str = new string(reader.ReadChars(len));
                }
                else
                {
                    if(server.HasMessage())
                        str = server.GetMessage();
                    len = str.Length;
                }

                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)
            {
                print("Client Disconnected");
                break;
            }
        }

    }

    private void OnDisable()
    {
        print("Client disconnected.");
        if (useLegacyPipes)
        {
            serverNP.Close();
            serverNP.Dispose();
        }
        else
        {
            server.Disconnect();
        }
    }

    const int LANDMARK_COUNT = 33;
    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<LineRenderer>();
                lines[i].transform.parent = parent;
            }

            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));

               if (!head)
            {
                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 Vector3 Direction(Landmark from,Landmark to)
        {
            return (instances[(int)to].transform.position - instances[(int)from].transform.position).normalized;
        }
        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;
        }

    }
}

[rohitdesaidev]

Hey @ganeshsar I think head tracking is not there, so the above script should work with this project on Mac.
attaching a final script here if anyone wants it, you need to just change the pipeserver gameobject script in the scene.

using System.Collections;
using System.IO;
using System.IO.Pipes;
using System.Linq;
using System.Text;
using System.Threading;
using UnityEngine;

/* Currently very messy because both the server code and hand-drawn code is all in the same file here.
 * But it is still fairly straightforward to use as a reference/base.
 */

[DefaultExecutionOrder(-1)]
public class UDPPipeServer : MonoBehaviour
{
    public bool useLegacyPipes = false; // True to use NamedPipes for interprocess communication (not supported on Linux)
    public string host = "127.0.0.1"; // This machines host.
    public int port = 52733; // Must match the Python side.
    public Transform bodyParent;
    public GameObject landmarkPrefab;
    public GameObject linePrefab;
    public GameObject headPrefab;
    public bool enableHead = false;
    public float multiplier = 10f;
    public float landmarkScale = 1f;
    public float maxSpeed = 50f;
    public float debug_samplespersecond;
    public int samplesForPose = 1;
    public bool active;

    private NamedPipeServerStream serverNP;
    private BinaryReader reader;
    private ServerUDP server;

    private Body body;


    // these virtual transforms are not actually provided by mediapipe pose, but are required for avatars.
    // so I just manually compute them
    private Transform virtualNeck;
    private Transform virtualHip;

    public Transform GetLandmark(Landmark mark)
    {
        return body.instances[(int)mark].transform ;
    }
    public Transform GetVirtualNeck()
    {
        return virtualNeck;
    }
    public Transform GetVirtualHip()
    {
        return virtualHip;
    }

    private void Start()
    {
        System.Globalization.CultureInfo.DefaultThreadCurrentCulture = System.Globalization.CultureInfo.InvariantCulture;

        body = new Body(bodyParent,landmarkPrefab,linePrefab,landmarkScale,enableHead?headPrefab:null);
        virtualNeck = new GameObject("VirtualNeck").transform;
        virtualHip = new GameObject("VirtualHip").transform;

        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.localPositionTargets[i] = b.positionsBuffer[i].value / (float)b.positionsBuffer[i].accumulatedValuesCount * multiplier;
            b.positionsBuffer[i] = new AccumulatedBuffer(Vector3.zero,0);
        }

        Vector3 offset = Vector3.zero;
        for (int i = 0; i < LANDMARK_COUNT; ++i)
        {
            Vector3 p = b.localPositionTargets[i]-offset;
            b.instances[i].transform.localPosition=Vector3.MoveTowards(b.instances[i].transform.localPosition, p, Time.deltaTime * maxSpeed);
        }

        virtualNeck.transform.position = (b.instances[(int)Landmark.RIGHT_SHOULDER].transform.position + b.instances[(int)Landmark.LEFT_SHOULDER].transform.position) / 2f;
        virtualHip.transform.position = (b.instances[(int)Landmark.RIGHT_HIP].transform.position + b.instances[(int)Landmark.LEFT_HIP].transform.position) / 2f;

        b.UpdateLines();
    }
    public void SetVisible(bool visible)
    {
        bodyParent.gameObject.SetActive(visible);
    }

    private void Run()
    {
        System.Globalization.CultureInfo.CurrentCulture = System.Globalization.CultureInfo.InvariantCulture;

        if (useLegacyPipes)
        {
            // Open the named pipe.
            serverNP = new NamedPipeServerStream("UnityMediaPipeBody1", PipeDirection.InOut, 99, PipeTransmissionMode.Message);

            print("Waiting for connection...");
            serverNP.WaitForConnection();

            print("Connected.");
            reader = new BinaryReader(serverNP, Encoding.UTF8);
        }
        else
        {
            server = new ServerUDP(host, port);
            server.Connect();
            server.StartListeningAsync();
            print("Listening @"+host+":"+port);
        }

        while (true)
        {
            try
            {
                Body h = body;
                var len = 0;
                var str = "";

                if (useLegacyPipes)
                {
                    len = (int)reader.ReadUInt32();
                    str = new string(reader.ReadChars(len));
                }
                else
                {
                    if(server.HasMessage())
                        str = server.GetMessage();
                    len = str.Length;
                }

                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)
            {
                print("Client Disconnected");
                break;
            }
        }

    }

    private void OnDisable()
    {
        print("Client disconnected.");
        if (useLegacyPipes)
        {
            serverNP.Close();
            serverNP.Dispose();
        }
        else
        {
            server.Disconnect();
        }
    }

    const int LANDMARK_COUNT = 33;
    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 GameObject head;
        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);
                instances[i].transform.localScale = Vector3.one * s;
                instances[i].transform.parent = parent;
                instances[i].name = ((Landmark)i).ToString();

                if (headPrefab && i >= 0 && i <= 10)
                {
                    instances[i].transform.localScale = Vector3.one * 0f;
                }
            }
            for (int i = 0; i < lines.Length; ++i)
            {
                lines[i] = Instantiate(linePrefab).GetComponent<LineRenderer>();
            }

            if (headPrefab)
            {
                head = Instantiate(headPrefab);
                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));

               if (!head)
            {
                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 Vector3 Direction(Landmark from,Landmark to)
        {
            return (instances[(int)to].transform.position - instances[(int)from].transform.position).normalized;
        }
        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;
        }

    }
}

[ganeshsar]

Thanks for sharing your solution!