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添加了旋转方法

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This commit is contained in:
Ichirinko 2023-02-25 11:19:47 +08:00
parent 2d19970492
commit 3685ecee08
4 changed files with 121 additions and 195 deletions
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219
Assets/ModelBehaviour.cs
View File

@ -8,7 +8,7 @@ public class ModelBehaviour : MonoBehaviour
private readonly UdpListener _listener = new UdpListener();
private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();
//private static readonly List<PosTransformator> _posLandmarks = new List<PosTransformator>();
private static readonly List<PoseTransform> PoseTransforms = new List<PoseTransform>();
@ -16,10 +16,10 @@ private void Start()
{
_animator = GetComponent<Animator>(); // 获取动画控件
TransformatorInit(); //匹配初始化
InitPoseTransformList();
_listener.AddHandler(LogLandmarks);
//_listener.AddHandler(LogLandmarks);
_listener.AddHandler(RigPoint);
_listener.Connect(5000);
}
@ -28,11 +28,17 @@ private void Start()
private void Update()
{
foreach (var landmark in _posLandmarks)
foreach (var landmark in PoseTransforms)
{
//animator.GetBoneTransform(landmark.unityName).rotation = landmark.currentQ;
if (landmark.UnityName != HumanBodyBones.LastBone)
{
_animator.GetBoneTransform(landmark.UnityName).rotation = landmark.CurrentQuaternion;
}
}
@ -55,12 +61,15 @@ private static void LogLandmarks(List<PoseLandmark> landmarks)
//获取传上来的数据点坐标转换成四元数的回调函数
private static void RigPoint(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
{
PoseTransforms[(int)landmark.Type].CalculateCurrentQuaternion(landmark);
var temp = PoseTransforms[(int)landmark.Type];
temp.CalculateCurrentQuaternion(landmark);
PoseTransforms[(int)landmark.Type] = temp;
//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);
@ -101,32 +110,32 @@ private void InitPoseTransformList()
item.PreviousQuaternion = _animator.GetBoneTransform(item.UnityName).rotation;
item.CurrentQuaternion = item.PreviousQuaternion;
}
PoseTransforms.Add(item);
}
// 在这里添加父节点
AddParentTransform(PoseLandmarkType.LeftShoulder, PoseLandmarkType.LeftHip);
AddParentTransform(PoseLandmarkType.LeftShoulder, PoseLandmarkType.RightHip);
AddParentTransform(PoseLandmarkType.RightShoulder, PoseLandmarkType.LeftHip);
AddParentTransform(PoseLandmarkType.RightShoulder, PoseLandmarkType.RightHip);
AddParentTransform(PoseLandmarkType.Nose, PoseLandmarkType.LeftShoulder);
AddParentTransform(PoseLandmarkType.Nose, PoseLandmarkType.RightShoulder);
AddParentTransform(PoseLandmarkType.LeftElbow, PoseLandmarkType.LeftShoulder);
AddParentTransform(PoseLandmarkType.RightElbow, PoseLandmarkType.RightShoulder);
AddParentTransform(PoseLandmarkType.LeftWrist, PoseLandmarkType.LeftElbow);
AddParentTransform(PoseLandmarkType.RightWrist, PoseLandmarkType.RightElbow);
AddParentTransform(PoseLandmarkType.LeftKnee, PoseLandmarkType.LeftHip);
AddParentTransform(PoseLandmarkType.RightKnee, PoseLandmarkType.RightHip);
AddParentTransform(PoseLandmarkType.LeftAnkle, PoseLandmarkType.LeftKnee);
AddParentTransform(PoseLandmarkType.RightAnkle, PoseLandmarkType.RightKnee);
AddParentTransform(PoseLandmarkType.LeftFootIndex, PoseLandmarkType.LeftAnkle);
AddParentTransform(PoseLandmarkType.RightFootIndex, PoseLandmarkType.RightAnkle);
}
@ -142,174 +151,4 @@ private void AddParentTransform(PoseLandmarkType target, PoseLandmarkType parent
parents.Add(PoseTransforms[(int)parent]);
}
private void TransformatorInit()
{
/*下面的语句的顺序最好别调换，不然可能会发生难以预料的事情*/
PosTransformator[] transformator = new PosTransformator[15];
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftHip";
temp.unityName = HumanBodyBones.LeftUpperLeg;
temp.parent.Add(null);
transformator[0] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightHip";
temp.unityName = HumanBodyBones.RightUpperLeg;
temp.parent.Add(null);
transformator[1] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftShoulder";
temp.unityName = HumanBodyBones.LeftUpperArm;
temp.parent.Add(transformator[0]);
temp.parent.Add(transformator[1]);
transformator[2] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightShoulder";
temp.unityName = HumanBodyBones.RightUpperArm;
temp.parent.Add(transformator[0]);
temp.parent.Add(transformator[1]);
transformator[3] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "Nose";
temp.unityName = HumanBodyBones.Head;
temp.parent.Add(transformator[2]);
temp.parent.Add(transformator[3]);
transformator[4] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftElbow";
temp.unityName = HumanBodyBones.LeftLowerArm;
temp.parent.Add(transformator[2]);
transformator[5] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightElbow";
temp.unityName = HumanBodyBones.RightLowerArm;
temp.parent.Add(transformator[3]);
transformator[6] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftWrist";
temp.unityName = HumanBodyBones.LeftHand;
temp.parent.Add(transformator[5]);
transformator[7] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightWrist";
temp.unityName = HumanBodyBones.RightHand;
temp.parent.Add(transformator[6]);
transformator[8] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftKnee";
temp.unityName = HumanBodyBones.LeftLowerLeg;
temp.parent.Add(transformator[0]);
transformator[9] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightKnee";
temp.unityName = HumanBodyBones.RightLowerLeg;
temp.parent.Add(transformator[1]);
transformator[10] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftAnkle";
temp.unityName = HumanBodyBones.LeftFoot;
temp.parent.Add(transformator[9]);
transformator[11] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightAnkle";
temp.unityName = HumanBodyBones.RightFoot;
temp.parent.Add(transformator[10]);
transformator[12] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "LeftFootIndex";
temp.unityName = HumanBodyBones.LeftToes;
temp.parent.Add(transformator[11]);
transformator[13] = temp;
}
{
var temp = new PosTransformator();
temp.mediaPipeName = "RightFootIndex";
temp.unityName = HumanBodyBones.RightToes;
temp.parent.Add(transformator[12]);
transformator[14] = temp;
}
//Landmarks_Mapping.Add("Nose",HumanBodyBones.Head); //0 10
//Landmarks_Mapping.Add("LeftShoulder",HumanBodyBones.LeftUpperArm); //11
//Landmarks_Mapping.Add("RightShoulder",HumanBodyBones.RightUpperArm); //12
//Landmarks_Mapping.Add("LeftElbow",HumanBodyBones.LeftLowerArm); //13
//Landmarks_Mapping.Add("RightElbow",HumanBodyBones.RightLowerArm); //14
//Landmarks_Mapping.Add("LeftWrist",HumanBodyBones.LeftHand); //15
//Landmarks_Mapping.Add("RightWrist",HumanBodyBones.RightHand); //16
//Landmarks_Mapping.Add("LeftHip",HumanBodyBones.LeftUpperLeg); //23
//Landmarks_Mapping.Add("RightHip",HumanBodyBones.RightUpperLeg); //24
//Landmarks_Mapping.Add("LeftKnee",HumanBodyBones.LeftLowerLeg); //25
//Landmarks_Mapping.Add("RightKnee",HumanBodyBones.RightLowerLeg); //26
//Landmarks_Mapping.Add("LeftAnkle",HumanBodyBones.LeftFoot); //27
//Landmarks_Mapping.Add("RightAnkle",HumanBodyBones.RightFoot); //28
//Landmarks_Mapping.Add("LeftFootIndex",HumanBodyBones.LeftToes); //31
//Landmarks_Mapping.Add("RightFootIndex",HumanBodyBones.RightToes); //32
foreach (var temp in transformator)
{
temp.prevQ = _animator.GetBoneTransform(temp.unityName).rotation; //获得初始角度
temp.currentQ = temp.prevQ;
_posLandmarks.Add(temp);
}
}
}
}

6
Assets/Models/PosTransformator.cs
View File

@ -1,4 +1,5 @@
using System.Collections.Generic;
/*
using System.Collections.Generic;
using UnityEngine;
namespace Models
@ -23,4 +24,5 @@ public class PosTransformator
public Quaternion currentQ;
//该骨骼节点的当前角度
}
}
}
*/

78
Assets/Models/PoseTransform.cs
View File

@ -1,5 +1,6 @@
using System.Collections.Generic;
using UnityEngine;
using System;
namespace Models
{
@ -21,7 +22,7 @@ public struct PoseTransform
/// <summary>
/// MediaPipe捕捉空间坐标
/// </summary>
public Vector3 MediaPipePos;
public Vector3 MediaPipePos;
/// <summary>
/// 节点的父节点列表
@ -57,6 +58,35 @@ PoseLandmarkType type
public void CalculateCurrentQuaternion(PoseLandmark landmark)
{
//var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString());
var sum = new Vector3(0,0,0);
if (landmark.Visibility > 0.6)
{
var temp = new Vector4(landmark.X, landmark.Y, landmark.Z, 1);
MediaPipePos = new Vector3(-temp.x, -temp.y, -temp.z);
}
if (UnityName != HumanBodyBones.LastBone)
{
Debug.Log(UnityName+".MediaPipePos:"+MediaPipePos);
}
foreach (var parents in Parent)
{
sum += parents.MediaPipePos;
//Debug.Log("parents:"+parents.UnityName+".MediaPipePos:"+parents.MediaPipePos);
}
//Debug.Log("sum:"+sum);
var currentPos = sum / Parent.Count;
CurrentQuaternion = Quaternion.LookRotation(MediaPipePos - currentPos);
}
/// <summary>
@ -104,5 +134,51 @@ private static HumanBodyBones GetRelatedBone(PoseLandmarkType type)
}
//绕X轴旋转
private Matrix4x4 RotateAxisX(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(1,0,0,0));
matrix.SetRow(1, new Vector4(0,cosrot,-sinrot,0));
matrix.SetRow(2, new Vector4(0,sinrot,cosrot,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
//绕Y轴旋转
private Matrix4x4 RotateAxisY(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(cosrot,0,sinrot,0));
matrix.SetRow(1, new Vector4(0,1,0,0));
matrix.SetRow(2, new Vector4(-sinrot,0,cosrot,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
//绕Z轴旋转
private Matrix4x4 RotateAxisZ(float rot)
{
var matrix = new Matrix4x4();
float cosrot = MathF.Cos(rot);
float sinrot = MathF.Sin(rot);
matrix.SetRow(0, new Vector4(cosrot,-sinrot,0,0));
matrix.SetRow(1, new Vector4(sinrot,cosrot,0,0));
matrix.SetRow(2, new Vector4(0,0,1,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
}
}

13
Assets/Scenes/SampleScene.unity
View File

@ -38,7 +38,7 @@ RenderSettings:
m_ReflectionIntensity: 1
m_CustomReflection: {fileID: 0}
m_Sun: {fileID: 705507994}
m_IndirectSpecularColor: {r: 0.18029127, g: 0.22572401, b: 0.3069303, a: 1}
m_IndirectSpecularColor: {r: 0.18028378, g: 0.22571412, b: 0.30692285, a: 1}
m_UseRadianceAmbientProbe: 0
--- !u!157 &3
LightmapSettings:
@ -174,6 +174,10 @@ PrefabInstance:
propertyPath: m_LocalEulerAnglesHint.z
value: 0
objectReference: {fileID: 0}
- target: {fileID: -2845779275431937956, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_IsActive
value: 0
objectReference: {fileID: 0}
- target: {fileID: 919132149155446097, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_Name
value: troop
@ -197,6 +201,11 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: a2b30b6aa6e08c4468a02e1fcabcd485, type: 3}
m_Name:
m_EditorClassIdentifier:
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Transform:
m_CorrespondingSourceObject: {fileID: -8679921383154817045, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
m_PrefabInstance: {fileID: 404755305}
m_PrefabAsset: {fileID: 0}
--- !u!1 &705507993
GameObject:
m_ObjectHideFlags: 0
@ -388,7 +397,7 @@ MonoBehaviour:
m_Script: {fileID: 11500000, guid: 9189b565e8ba9bfc3bdaa38149e3e13f, type: 3}
m_Name:
m_EditorClassIdentifier:
target: {fileID: 0}
target: {fileID: 404755309}
--- !u!1 &1880773849
GameObject:
m_ObjectHideFlags: 0