diff --git a/Assets/MainBehaviour.cs b/Assets/MainBehaviour.cs new file mode 100644 index 0000000..00ff8bb --- /dev/null +++ b/Assets/MainBehaviour.cs @@ -0,0 +1,179 @@ +using System.Collections.Generic; +using Models; +using UnityEngine; + +public class MainBehaviour : MonoBehaviour +{ + private readonly GameObject[] _nodes = new GameObject[(int)PoseLandmarkType.MaxValue]; + private readonly List _bonds = new List(); + 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(); + + _listener.AddHandler(OnReceive); + _listener.Connect(5000); + } + + // Update is called once per frame + private void Update() + { + for (var i = 0; i < (int)PoseLandmarkType.MaxValue; i++) + { + _nodes[i].transform.position = _poseTransforms[i].AveragePos * -5; + } + + foreach (var bond in _bonds) + { + bond.UpdateBond(); + } + } + + private void OnDisable() + { + _listener.DisConnect(); + } + + private void OnReceive(List landmarks) + { + foreach (var landmark in landmarks) + { + PoseTransform.UpdatePosition(ref _poseTransforms[(int)landmark.Type], landmark); + } + } + + private void CreateNodes() + { + for (var i = 0; i < (int)PoseLandmarkType.MaxValue; i++) + { + var ball = GameObject.CreatePrimitive(PrimitiveType.Sphere); + + ball.transform.localScale = new Vector3(Scale, Scale, Scale); + + if (i <= 10) + { + ball.GetComponent().material.color = Color.red;//给头部添加颜色 + } + else if (i <= 22) + { + ball.GetComponent().material.color = Color.blue;//给手部添加颜色 + } + else if (i <= 32) + { + ball.GetComponent().material.color = Color.green;//给脚部添加颜色 + } + + _nodes[i] = ball; + _poseTransforms[i] = new PoseTransform((PoseLandmarkType)i); + } + } + + private void CreateBonds() + { + var headBonds = new[] + { + PoseLandmarkType.RightEar, + PoseLandmarkType.RightEyeOuter, + PoseLandmarkType.RightEye, + PoseLandmarkType.RightEyeInner, + PoseLandmarkType.Nose, + PoseLandmarkType.LeftEyeInner, + PoseLandmarkType.LeftEye, + PoseLandmarkType.LeftEyeOuter, + PoseLandmarkType.LeftEar + }; + _bonds.AddRange(GenerateBondsList(headBonds)); + + var monthBonds = new[] + { + PoseLandmarkType.MouthLeft, + PoseLandmarkType.MouthRight, + }; + _bonds.AddRange(GenerateBondsList(monthBonds)); + + var leftArmBonds = new[] + { + PoseLandmarkType.LeftShoulder, + PoseLandmarkType.LeftElbow, + PoseLandmarkType.LeftWrist, + PoseLandmarkType.LeftPinky, + PoseLandmarkType.LeftIndex, + PoseLandmarkType.LeftWrist, + PoseLandmarkType.LeftThumb + }; + _bonds.AddRange(GenerateBondsList(leftArmBonds)); + + var rightArmBonds = new[] + { + PoseLandmarkType.RightShoulder, + PoseLandmarkType.RightElbow, + PoseLandmarkType.RightWrist, + PoseLandmarkType.RightPinky, + PoseLandmarkType.RightIndex, + PoseLandmarkType.RightWrist, + PoseLandmarkType.RightThumb + }; + _bonds.AddRange(GenerateBondsList(rightArmBonds)); + + var leftLegBonds = new[] + { + PoseLandmarkType.LeftShoulder, + PoseLandmarkType.LeftHip, + PoseLandmarkType.LeftKnee, + PoseLandmarkType.LeftAnkle, + PoseLandmarkType.LeftHeel, + PoseLandmarkType.LeftFootIndex, + PoseLandmarkType.LeftAnkle + }; + _bonds.AddRange(GenerateBondsList(leftLegBonds)); + + var rightLegBonds = new[] + { + PoseLandmarkType.RightShoulder, + PoseLandmarkType.RightHip, + PoseLandmarkType.RightKnee, + PoseLandmarkType.RightAnkle, + PoseLandmarkType.RightHeel, + PoseLandmarkType.RightFootIndex, + PoseLandmarkType.RightAnkle + }; + _bonds.AddRange(GenerateBondsList(rightLegBonds)); + + // 最后手动添加身体上的两条横线 + _bonds.Add(new Bond( + _nodes[(int)PoseLandmarkType.LeftShoulder], + _nodes[(int)PoseLandmarkType.RightShoulder], + Scale)); + _bonds.Add(new Bond( + _nodes[(int)PoseLandmarkType.LeftHip], + _nodes[(int)PoseLandmarkType.RightHip], + Scale)); + } + + /// + /// 创建棍子列表 + /// + /// 需要连接起来的关键点 需要按顺序设置 + /// + private List GenerateBondsList(PoseLandmarkType[] nodes) + { + var bonds = new List(); + + for (var i = 0; i < nodes.Length - 1; i++) + { + bonds.Add(new Bond( + _nodes[(int)nodes[i]], + _nodes[(int)nodes[i + 1]], + Scale)); + } + + return bonds; + } +} diff --git a/Assets/MainBehaviour.cs.meta b/Assets/MainBehaviour.cs.meta new file mode 100644 index 0000000..e8b942d --- /dev/null +++ b/Assets/MainBehaviour.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 574a3724e040787f7afd9341fba89cf2 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Materials.meta b/Assets/Materials.meta new file mode 100644 index 0000000..c309ed8 --- /dev/null +++ b/Assets/Materials.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: c2963c03969c7f6d480483b45e36590b +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Materials/PlaneMaterial.mat b/Assets/Materials/PlaneMaterial.mat new file mode 100644 index 0000000..28c017d --- /dev/null +++ b/Assets/Materials/PlaneMaterial.mat @@ -0,0 +1,80 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!21 &2100000 +Material: + serializedVersion: 8 + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_Name: PlaneMaterial + m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0} + m_ValidKeywords: [] + m_InvalidKeywords: [] + m_LightmapFlags: 4 + m_EnableInstancingVariants: 0 + m_DoubleSidedGI: 0 + m_CustomRenderQueue: -1 + stringTagMap: {} + disabledShaderPasses: [] + m_SavedProperties: + serializedVersion: 3 + m_TexEnvs: + - 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+ TransformatorInit(); //匹配初始化 InitPoseTransformList(); - //_listener.AddHandler(LogLandmarks); + _listener.AddHandler(LogLandmarks); _listener.AddHandler(RigPoint); _listener.Connect(5000); } @@ -61,7 +61,7 @@ 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) { var temp = PoseTransforms[(int)landmark.Type]; @@ -110,32 +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); } diff --git a/Assets/Models/Bond.cs b/Assets/Models/Bond.cs new file mode 100644 index 0000000..a6868d1 --- /dev/null +++ b/Assets/Models/Bond.cs @@ -0,0 +1,44 @@ +using UnityEngine; + +namespace Models +{ + /// + /// 捕捉点之间的连接线 + /// + public class Bond + { + protected readonly GameObject Start; + protected readonly GameObject End; + private readonly GameObject _bond; + + public Bond(GameObject start,GameObject end,float scale) + { + Start = start; + End = end; + + _bond = GameObject.CreatePrimitive(PrimitiveType.Cylinder); + + _bond.transform.localScale = new Vector3(scale/2, scale/2, scale/2); + + //这里可以设置材质，具体自己设置 + _bond.GetComponent().material.color = Color.cyan; + } + + + public void UpdateBond() + { + var startPos = Start.transform.position; + var endPos = End.transform.position; + var rightPosition = (startPos + endPos) / 2; + var rightRotation = endPos - startPos; + var halfLength = Vector3.Distance(startPos, endPos) / 2; + var thickness = 0.1f;//线的粗细 + + //创建圆柱体 + //bond.gameObject.transform.parent = transform; + _bond.transform.position = rightPosition; + _bond.transform.rotation = Quaternion.FromToRotation(Vector3.up, rightRotation); + _bond.transform.localScale = new Vector3(thickness, halfLength, thickness); + } + } +} \ No newline at end of file diff --git a/Assets/Models/Bond.cs.meta b/Assets/Models/Bond.cs.meta new file mode 100644 index 0000000..5dc5c31 --- /dev/null +++ b/Assets/Models/Bond.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 94a8f8c83e58421d9447173d38482d74 +timeCreated: 1677230676 \ No newline at end of file diff --git a/Assets/Models/PoseLandmarkType.cs b/Assets/Models/PoseLandmarkType.cs index c32eda7..7b86f39 100644 --- a/Assets/Models/PoseLandmarkType.cs +++ b/Assets/Models/PoseLandmarkType.cs @@ -35,6 +35,7 @@ public enum PoseLandmarkType LeftHeel, RightHeel, LeftFootIndex, - RightFootIndex + RightFootIndex, + MaxValue } } \ No newline at end of file diff --git a/Assets/Models/PoseTransform.cs b/Assets/Models/PoseTransform.cs index 1fb2f9a..8d4570d 100644 --- a/Assets/Models/PoseTransform.cs +++ b/Assets/Models/PoseTransform.cs @@ -20,9 +20,14 @@ public struct PoseTransform public readonly HumanBodyBones UnityName; /// - /// MediaPipe捕捉空间坐标 + /// 取平均的长度 /// - public Vector3 MediaPipePos; + public static int AverageLength; + + /// + /// 取平均之后的结果 + /// + public Vector3 AveragePos; /// /// 节点的父节点列表 @@ -39,23 +44,50 @@ public struct PoseTransform /// public Quaternion CurrentQuaternion; + private int _count; + private readonly Queue _landmarkQueue; + public PoseTransform( - PoseLandmarkType type + PoseLandmarkType type, + int averageLength = 5 ) { MediaPipeName = type; UnityName = GetRelatedBone(type); - MediaPipePos = new Vector3(); + AveragePos = new Vector3(); Parent = new List(); PreviousQuaternion = new Quaternion(); CurrentQuaternion = new Quaternion(); + AverageLength = averageLength; + + _count = 0; + _landmarkQueue = new Queue(); } - /// - /// 计算当前的旋转四元数 - /// - /// - public void CalculateCurrentQuaternion(PoseLandmark landmark) + public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark) + { + 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) { //var temp = _posLandmarks.Find(t=>t.mediaPipeName == landmark.Type.ToString()); @@ -134,51 +166,5 @@ 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)); - 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