jackfiled/MotionCapture
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feature: 模型绑定四肢和身体

Browse Source
This commit is contained in:
jackfiled 2023-03-30 14:26:38 +08:00
parent 77bf523001
commit f812a1b831
6 changed files with 203 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
Assets/Behaviours/BallStickBehaviour.cs
View File

@ -28,9 +28,12 @@ private void Start()
// Update is called once per frame
private void Update()
{
var mid = _poseTransforms[PoseLandmarkType.LeftHip] + _poseTransforms[PoseLandmarkType.RightHip];
mid = mid / 2;
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
{
_nodes[i].transform.position = _poseTransforms[i].ResultPosition * -5;
_nodes[i].transform.position = (_poseTransforms[i].ResultPosition - mid) * -5f;
}
foreach (var bond in _bonds)
@ -62,15 +65,15 @@ private void CreateNodes()
if (i <= 10)
{
ball.GetComponent<Renderer>().material.color = Color.red;//给头部添加颜色
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
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
ball.GetComponent<Renderer>().material.color = Color.green; //给脚部添加颜色
}
_nodes[i] = ball;

186
Assets/Behaviours/BoneBehaviour.cs
View File

@ -7,14 +7,21 @@ namespace Behaviours
public class BoneBehaviour : MonoBehaviour
{
private readonly UdpListener _listener = new UdpListener();
private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue];
private readonly List<Bond> _bonds = new List<Bond>();
private Dictionary<HumanBodyBones, RotationNode> _rotationNodes;
private List<PoseLandmark> _landmarks;
private Animator _animator;
private bool _isReceived;
private const float Scale = 0.2f;
private void Start()
{
_animator = GetComponent<Animator>();
CreateRotationNodes();
CreateNodes();
CreateBonds();
_listener.AddHandler(OnReceive);
_listener.Connect(5000);
@ -22,9 +29,41 @@ private void Start()
private void Update()
{
foreach (var node in _rotationNodes)
if (_isReceived)
{
_animator.GetBoneTransform(node.Key).rotation = node.Value.Rotation;
_animator.GetBoneTransform(HumanBodyBones.Hips).rotation = _rotationNodes[HumanBodyBones.Hips].Rotation;
/*var rotation = _rotationNodes[HumanBodyBones.Hips].CalculateRotate
* Quaternion.Inverse(_rotationNodes[HumanBodyBones.RightUpperArm].CalculateRotate);
_animator.GetBoneTransform(HumanBodyBones.RightUpperArm).Rotate(rotation.eulerAngles);*/
var mid = (_landmarks[PoseLandmarkType.LeftHip].Position +
_landmarks[PoseLandmarkType.RightHip].Position) / 2;
for (var i = 0; i < PoseLandmarkType.MaxValue; i++)
{
_nodes[i].transform.position = (_landmarks[i].Position - mid) * 5f;
}
foreach (var bond in _bonds)
{
bond.UpdateBond();
}
_animator.GetBoneTransform(HumanBodyBones.LeftUpperArm).rotation = _bonds[9].Rotation;
_animator.GetBoneTransform(HumanBodyBones.LeftLowerArm).rotation = _bonds[10].Rotation;
_animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation = _bonds[15].Rotation;
_animator.GetBoneTransform(HumanBodyBones.RightLowerArm).rotation = _bonds[16].Rotation;
_animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).rotation = _bonds[22].Rotation;
_animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).rotation = _bonds[23].Rotation;
_animator.GetBoneTransform(HumanBodyBones.RightUpperLeg).rotation = _bonds[28].Rotation;
_animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).rotation = _bonds[29].Rotation;
_isReceived = false;
}
}
@ -39,12 +78,12 @@ private void OnReceive(List<PoseLandmark> landmarks)
{
// 计算腰部
var frontLeft = Vector3.Cross(
landmarks[PoseLandmarkType.RightHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3,
landmarks[PoseLandmarkType.RightShoulder].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);
landmarks[PoseLandmarkType.RightHip].Position - landmarks[PoseLandmarkType.LeftHip].Position,
landmarks[PoseLandmarkType.RightShoulder].Position - landmarks[PoseLandmarkType.LeftHip].Position);
var frontRight = Vector3.Cross(
landmarks[PoseLandmarkType.LeftShoulder].Vector3 - landmarks[PoseLandmarkType.RightHip].Vector3,
landmarks[PoseLandmarkType.LeftHip].Vector3 - landmarks[PoseLandmarkType.LeftHip].Vector3);
landmarks[PoseLandmarkType.LeftShoulder].Position - landmarks[PoseLandmarkType.RightHip].Position,
landmarks[PoseLandmarkType.LeftHip].Position - landmarks[PoseLandmarkType.LeftHip].Position);
var front = frontLeft + frontRight;
front.Normalize();
@ -54,6 +93,14 @@ private void OnReceive(List<PoseLandmark> landmarks)
oldRotation.UnityName,
oldRotation.Rotation,
Quaternion.LookRotation(front));
_rotationNodes[HumanBodyBones.RightUpperArm] = new RotationNode(
_rotationNodes[HumanBodyBones.RightUpperArm],
landmarks[PoseLandmarkType.RightShoulder],
landmarks[PoseLandmarkType.RightElbow]);
_landmarks = landmarks;
_isReceived = true;
}
private void CreateRotationNodes()
@ -79,5 +126,132 @@ private void CreateRotationNodes()
_rotationNodes.Add(bone, new RotationNode(bone, rotation, rotation));
}
}
private void CreateNodes()
{
for (var i = 0; i < 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;
}
}
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[PoseLandmarkType.LeftShoulder],
_nodes[PoseLandmarkType.RightShoulder],
Scale));
_bonds.Add(new Bond(
_nodes[PoseLandmarkType.LeftHip],
_nodes[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(int[] nodes)
{
var bonds = new List<Bond>();
for (var i = 0; i < nodes.Length - 1; i++)
{
bonds.Add(new Bond(
_nodes[nodes[i]],
_nodes[nodes[i + 1]],
Scale));
}
return bonds;
}
}
}

2
Assets/Models/Bond.cs
View File

@ -11,6 +11,8 @@ public class Bond
protected readonly GameObject End;
private readonly GameObject _bond;
public Quaternion Rotation => _bond.transform.rotation;
public Bond(GameObject start,GameObject end,float scale)
{
Start = start;

2
Assets/Models/PoseLandmark.cs
View File

@ -40,7 +40,7 @@ public class PoseLandmark
/// </summary>
public float Z { get; }
public Vector3 Vector3 => new Vector3(X, Y, Z);
public Vector3 Position => new Vector3(-X, -Y, -0.2f * Z);
/// <summary>
/// 该坐标点估计的可见性

6
Assets/Models/RotationNode.cs
View File

@ -4,11 +4,11 @@ namespace Models
{
public struct RotationNode
{
public HumanBodyBones UnityName;
public readonly HumanBodyBones UnityName;
public Quaternion PreviousRotation;
public Quaternion Rotation;
public Quaternion CalculateRotate => PreviousRotation * Quaternion.Inverse(PreviousRotation);
public Quaternion CalculateRotate => PreviousRotation * Quaternion.Inverse(Rotation);
public RotationNode(HumanBodyBones humanBodyBone, Quaternion previousRotation, Quaternion rotation)
{
@ -22,7 +22,7 @@ public RotationNode(RotationNode node, PoseLandmark begin, PoseLandmark end)
UnityName = node.UnityName;
PreviousRotation = node.Rotation;
var forward = new Vector3(end.X - begin.X, end.Y - begin.Y, end.Z - begin.Z);
var forward = end.Position - begin.Position;
Rotation = Quaternion.LookRotation(forward);
}
}

8
Assets/Scenes/SampleScene.unity
View File

@ -136,11 +136,11 @@ PrefabInstance:
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_LocalPosition.x
value: 0
value: -12.91
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_LocalPosition.y
value: 0
value: -4.98
objectReference: {fileID: 0}
- target: {fileID: -8679921383154817045, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_LocalPosition.z
@ -178,6 +178,10 @@ PrefabInstance:
propertyPath: m_IsActive
value: 0
objectReference: {fileID: 0}
- target: {fileID: -464305122009946348, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_LocalPosition.x
value: -4.32
objectReference: {fileID: 0}
- target: {fileID: 919132149155446097, guid: c5470c9a1aff50643b6a9ff0bab4297d, type: 3}
propertyPath: m_Name
value: troop