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add: 添加平均滤波算法

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jackfiled 2023-02-28 12:23:15 +08:00
parent 6eba30e268
commit 1755385035
4 changed files with 61 additions and 71 deletions
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51
Assets/MainBehaviour.cs
View File

@ -4,16 +4,17 @@
public class MainBehaviour : MonoBehaviour
{
private readonly List<GameObject> _nodes = new List<GameObject>();
private readonly GameObject[] _nodes = new GameObject[(int)PoseLandmarkType.MaxValue];
private readonly List<Bond> _bonds = new List<Bond>();
private readonly List<VirtualSkeleton> _virtualSkeletons = new List<VirtualSkeleton>();
private readonly List<PoseTransform> _poseTransforms = new List<PoseTransform>();
private readonly PoseTransform[] _poseTransforms = new PoseTransform[(int)PoseLandmarkType.MaxValue];
private readonly UdpListener _listener = new UdpListener();
private const float Scale = 0.2f;
// Start is called before the first frame update
private void Start()
{
PoseTransform.AverageLength = 3;
CreateNodes();
CreateBonds();
@ -24,35 +25,33 @@ private void Start()
// Update is called once per frame
private void Update()
{
for (var i = 0; i < 33; i++)
for (var i = 0; i < (int)PoseLandmarkType.MaxValue; i++)
{
var temp = new Vector4(_poseTransforms[i].MediaPipePos.x,
_poseTransforms[i].MediaPipePos.y,
_poseTransforms[i].MediaPipePos.z,
1);
_nodes[i].transform.position = new Vector3(-temp.x, -temp.y, -temp.z) * 5;
_nodes[i].transform.position = _poseTransforms[i].AveragePos * -5;
}
foreach (var bond in _bonds)
{
bond.UpdateBond();
}
/*foreach (var vs in _virtualSkeletons)
{
vs.UpdateVS();
}*/
}
private void OnDisable()
{
_listener.DisConnect();
}
private void OnReceive(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
{
PoseTransform.UpdatePosition(ref _poseTransforms[(int)landmark.Type], landmark);
}
}
private void CreateNodes()
{
for (var i = 0; i < 33; i++)
for (var i = 0; i < (int)PoseLandmarkType.MaxValue; i++)
{
var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere);
@ -70,12 +69,9 @@ private void CreateNodes()
{
ball.GetComponent<Renderer>().material.color = Color.green;//给脚部添加颜色
}
_nodes.Add(ball);
var poseTransform = new PoseTransform((PoseLandmarkType)i);
_poseTransforms.Add(poseTransform);
_nodes[i] = ball;
_poseTransforms[i] = new PoseTransform((PoseLandmarkType)i);
}
}
@ -160,19 +156,6 @@ private void CreateBonds()
_nodes[(int)PoseLandmarkType.RightHip],
Scale));
}
private void OnReceive(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
{
var poseTransform = new PoseTransform(landmark.Type)
{
MediaPipePos = new Vector3(landmark.X, landmark.Y, landmark.Z)
};
_poseTransforms[(int)landmark.Type] = poseTransform;
}
}
/// <summary>
/// 创建棍子列表

24
Assets/ModelBehaviour.cs
View File

@ -58,31 +58,7 @@ private static void RigPoint(List<PoseLandmark> landmarks)
foreach (var landmark in landmarks)
{
PoseTransforms[(int)landmark.Type].CalculateCurrentQuaternion(landmark);
// var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
// var sum = new Vector3(0,0,0);
//var mediatemp = new Vector3(landmark.X, landmark.Y, landmark.Z);
//temp.mediaPipePos = new Vector3(landmark.X, landmark.Y, landmark.Z);
//temp.mediaPipePos.x = landmark.X;
//temp.mediaPipePos.y = landmark.Y;
//temp.mediaPipePos.z = landmark.Z;
//foreach (var parents in temp.parent)
//{
// if (parents != null)
// {
// sum += parents.mediaPipePos;
// }
//}
//var currentPos = sum / temp.parent.Count();
//temp.currentQ = Quaternion.Euler(temp.mediaPipePos - currentPos);
//Debug.Log("Here!!");
}
}

3
Assets/Models/PoseLandmarkType.cs
View File

@ -35,6 +35,7 @@ public enum PoseLandmarkType
LeftHeel,
RightHeel,
LeftFootIndex,
RightFootIndex
RightFootIndex,
MaxValue
}
}

54
Assets/Models/PoseTransform.cs
View File

@ -19,9 +19,14 @@ public struct PoseTransform
public readonly HumanBodyBones UnityName;
/// <summary>
/// MediaPipe捕捉空间坐标
/// 取平均的长度
/// </summary>
public Vector3 MediaPipePos;
public static int AverageLength;
/// <summary>
/// 取平均之后的结果
/// </summary>
public Vector3 AveragePos;
/// <summary>
/// 节点的父节点列表
@ -38,27 +43,52 @@ public struct PoseTransform
/// </summary>
public Quaternion CurrentQuaternion;
private int _count;
private readonly Queue<PoseLandmark> _landmarkQueue;
public PoseTransform(
PoseLandmarkType type
PoseLandmarkType type,
int averageLength = 5
)
{
MediaPipeName = type;
UnityName = GetRelatedBone(type);
MediaPipePos = new Vector3();
AveragePos = new Vector3();
Parent = new List<PoseTransform>();
PreviousQuaternion = new Quaternion();
CurrentQuaternion = new Quaternion();
AverageLength = averageLength;
_count = 0;
_landmarkQueue = new Queue<PoseLandmark>();
}
/// <summary>
/// 计算当前的旋转四元数
/// </summary>
/// <param name="landmark"></param>
public void CalculateCurrentQuaternion(PoseLandmark landmark)
public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark)
{
MediaPipePos.x = landmark.X;
MediaPipePos.y = landmark.Y;
MediaPipePos.z = landmark.Z;
if (pose._count < AverageLength)
{
pose._landmarkQueue.Enqueue(landmark);
pose._count++;
}
else
{
pose._landmarkQueue.Dequeue();
pose._landmarkQueue.Enqueue(landmark);
var sum = new Vector3();
foreach (var poseLandmark in pose._landmarkQueue)
{
sum += new Vector3(poseLandmark.X, poseLandmark.Y, poseLandmark.Z);
}
pose.AveragePos = sum / AverageLength;
}
}
public static void CalculateRotation(PoseTransform poseTransform)
{
}
/// <summary>