From 3685ecee0813dd3b8a37d874b7e8420e02695d97 Mon Sep 17 00:00:00 2001 From: Ichirinko <1621543655@qq.com> Date: Sat, 25 Feb 2023 11:19:47 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E4=BA=86=E6=97=8B=E8=BD=AC?= =?UTF-8?q?=E6=96=B9=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Assets/ModelBehaviour.cs | 219 ++++-------------------------- Assets/Models/PosTransformator.cs | 6 +- Assets/Models/PoseTransform.cs | 78 ++++++++++- Assets/Scenes/SampleScene.unity | 13 +- 4 files changed, 121 insertions(+), 195 deletions(-) diff --git a/Assets/ModelBehaviour.cs b/Assets/ModelBehaviour.cs index c153a57..5353c58 100644 --- a/Assets/ModelBehaviour.cs +++ b/Assets/ModelBehaviour.cs @@ -8,7 +8,7 @@ public class ModelBehaviour : MonoBehaviour private readonly UdpListener _listener = new UdpListener(); - private static readonly List _posLandmarks = new List(); + //private static readonly List _posLandmarks = new List(); private static readonly List PoseTransforms = new List(); @@ -16,10 +16,10 @@ private void Start() { _animator = GetComponent(); // 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 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 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); - } - - } -} \ No newline at end of file +} diff --git a/Assets/Models/PosTransformator.cs b/Assets/Models/PosTransformator.cs index ae4386e..2f82a7b 100644 --- a/Assets/Models/PosTransformator.cs +++ b/Assets/Models/PosTransformator.cs @@ -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 } -} \ No newline at end of file +} +*/ \ No newline at end of file diff --git a/Assets/Models/PoseTransform.cs b/Assets/Models/PoseTransform.cs index d20e446..1fb2f9a 100644 --- a/Assets/Models/PoseTransform.cs +++ b/Assets/Models/PoseTransform.cs @@ -1,5 +1,6 @@ using System.Collections.Generic; using UnityEngine; +using System; namespace Models { @@ -21,7 +22,7 @@ public struct PoseTransform /// /// MediaPipe捕捉空间坐标 /// - public Vector3 MediaPipePos; + public Vector3 MediaPipePos; /// /// 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); + } /// @@ -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; + } + + } } \ No newline at end of file diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity index 4aadfb8..72a28c8 100644 --- a/Assets/Scenes/SampleScene.unity +++ b/Assets/Scenes/SampleScene.unity @@ -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: +--- !u!4 &404755309 stripped +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