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Merge branch 'feature-ball' into dev

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# Conflicts:
#	Assets/ModelBehaviour.cs
#	Assets/Models/PoseTransform.cs
This commit is contained in:
jackfiled 2023-02-28 12:29:45 +08:00
commit abf97571e7
18 changed files with 962 additions and 68 deletions
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179
Assets/MainBehaviour.cs Normal file
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using System.Collections.Generic;
using Models;
using UnityEngine;
public class MainBehaviour : MonoBehaviour
{
private readonly GameObject[] _nodes = new GameObject[(int)PoseLandmarkType.MaxValue];
private readonly List<Bond> _bonds = new List<Bond>();
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<PoseLandmark> 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<Renderer>().material.color = Color.red;//给头部添加颜色
}
else if (i <= 22)
{
ball.GetComponent<Renderer>().material.color = Color.blue;//给手部添加颜色
}
else if (i <= 32)
{
ball.GetComponent<Renderer>().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));
}
/// <summary>
/// 创建棍子列表
/// </summary>
/// <param name="nodes">需要连接起来的关键点 需要按顺序设置</param>
/// <returns></returns>
private List<Bond> GenerateBondsList(PoseLandmarkType[] nodes)
{
var bonds = new List<Bond>();
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;
}
}

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6
Assets/ModelBehaviour.cs
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@ -8,7 +8,7 @@ public class ModelBehaviour : MonoBehaviour
private readonly UdpListener _listener = new UdpListener(); 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>(); 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 _animator = GetComponent<Animator>(); // 获取动画控件
TransformatorInit(); //匹配初始化
InitPoseTransformList(); InitPoseTransformList();
//_listener.AddHandler(LogLandmarks); _listener.AddHandler(LogLandmarks);
_listener.AddHandler(RigPoint); _listener.AddHandler(RigPoint);
_listener.Connect(5000); _listener.Connect(5000);
} }

44
Assets/Models/Bond.cs Normal file
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@ -0,0 +1,44 @@
using UnityEngine;
namespace Models
{
/// <summary>
/// 捕捉点之间的连接线
/// </summary>
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<Renderer>().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);
}
}
}

3
Assets/Models/Bond.cs.meta Normal file
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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 94a8f8c83e58421d9447173d38482d74
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3
Assets/Models/PoseLandmarkType.cs
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@ -35,6 +35,7 @@ public enum PoseLandmarkType
LeftHeel, LeftHeel,
RightHeel, RightHeel,
LeftFootIndex, LeftFootIndex,
RightFootIndex RightFootIndex,
MaxValue
} }
} }

96
Assets/Models/PoseTransform.cs
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@ -20,9 +20,14 @@ public struct PoseTransform
public readonly HumanBodyBones UnityName; public readonly HumanBodyBones UnityName;
/// <summary> /// <summary>
/// MediaPipe捕捉空间坐标 /// 取平均的长度
/// </summary> /// </summary>
public Vector3 MediaPipePos; public static int AverageLength;
/// <summary>
/// 取平均之后的结果
/// </summary>
public Vector3 AveragePos;
/// <summary> /// <summary>
/// 节点的父节点列表 /// 节点的父节点列表
@ -39,23 +44,50 @@ public struct PoseTransform
/// </summary> /// </summary>
public Quaternion CurrentQuaternion; public Quaternion CurrentQuaternion;
private int _count;
private readonly Queue<PoseLandmark> _landmarkQueue;
public PoseTransform( public PoseTransform(
PoseLandmarkType type PoseLandmarkType type,
int averageLength = 5
) )
{ {
MediaPipeName = type; MediaPipeName = type;
UnityName = GetRelatedBone(type); UnityName = GetRelatedBone(type);
MediaPipePos = new Vector3(); AveragePos = new Vector3();
Parent = new List<PoseTransform>(); Parent = new List<PoseTransform>();
PreviousQuaternion = new Quaternion(); PreviousQuaternion = new Quaternion();
CurrentQuaternion = new Quaternion(); CurrentQuaternion = new Quaternion();
AverageLength = averageLength;
_count = 0;
_landmarkQueue = new Queue<PoseLandmark>();
} }
/// <summary> public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark)
/// 计算当前的旋转四元数 {
/// </summary> if (pose._count < AverageLength)
/// <param name="landmark"></param> {
public void CalculateCurrentQuaternion(PoseLandmark landmark) 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()); //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));
matrix.SetRow(2, new Vector4(0,0,1,0));
matrix.SetRow(3, new Vector4(0,0,0,1));
return matrix;
}
} }
} }

35
Assets/Models/VirtualSkeleton.cs Normal file
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@ -0,0 +1,35 @@
using UnityEngine;
namespace Models
{
public class VirtualSkeleton : Bond
{
private readonly GameObject _virtualSkeleton;
public VirtualSkeleton(GameObject start,GameObject end,float scale) : base(start,end,scale)
{
_virtualSkeleton = GameObject.CreatePrimitive(PrimitiveType.Cylinder);
_virtualSkeleton.transform.localScale = new Vector3(scale/2, scale/2, scale/2);
_virtualSkeleton.GetComponent<Renderer>().material.color = Color.white;
}
/// <summary>
/// 覆盖基类的更新方法
/// </summary>
public new void UpdateBond()
{
var startPos = Start.transform.position;
var endPos = End.transform.position;
var rightPosition = (startPos + endPos) / 2;
var rightRotation = endPos - startPos;
var lThickness = 0.2f;
_virtualSkeleton.transform.position = rightPosition;
_virtualSkeleton.transform.rotation = Quaternion.FromToRotation(Vector3.up, rightRotation);
_virtualSkeleton.transform.localScale = new Vector3(lThickness, lThickness, lThickness);
}
}
}

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67
Assets/Utils/RotateUtils.cs Normal file
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using System;
using UnityEngine;
namespace Utils
{
/// <summary>
/// 旋转工具类
/// </summary>
public static class RotateUtils
{
private static Matrix4x4 _matrix;
/// <summary>
/// 获得绕X轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisX(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0 ,new Vector4(1,0,0,0));
_matrix.SetRow(1, new Vector4(0, cos, -sin, 0));
_matrix.SetRow(2, new Vector4(0, sin, cos, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
/// <summary>
/// 获得绕Y轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisY(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0, new Vector4(cos, 0, sin, 0));
_matrix.SetRow(1, new Vector4(0, 1, 0, 1));
_matrix.SetRow(2, new Vector4(-sin, 0, cos, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
/// <summary>
/// 获得绕Z轴旋转矩阵
/// </summary>
/// <param name="degree">旋转的角度</param>
/// <returns></returns>
public static Matrix4x4 RotateAxisZ(float degree)
{
var sin = MathF.Sin(degree);
var cos = MathF.Cos(degree);
_matrix.SetRow(0, new Vector4(cos, -sin, 0, 0));
_matrix.SetRow(1, new Vector4(sin, cos, 0, 0));
_matrix.SetRow(2, new Vector4(0, 0, 1, 0));
_matrix.SetRow(3, new Vector4(0, 0, 0, 1));
return _matrix;
}
}
}

3
Assets/Utils/RotateUtils.cs.meta Normal file
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0
Assets/UdpListener.cs → Assets/Utils/UdpListener.cs
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0
Assets/UdpListener.cs.meta → Assets/Utils/UdpListener.cs.meta
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