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b/Assets/Behaviours.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 83bce6e0ab5db38aaaae7ec73b738130 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/Behaviours/BallStickBehaviour.cs b/Assets/Behaviours/BallStickBehaviour.cs new file mode 100644 index 0000000..59054df --- /dev/null +++ b/Assets/Behaviours/BallStickBehaviour.cs @@ -0,0 +1,186 @@ +using System.Collections.Generic; +using Models; +using UnityEngine; +using Utils.PoseTransformHandlers; + +namespace Behaviours +{ + public class BallStickBehaviour : MonoBehaviour + { + private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue]; + private readonly List _bonds = new List(); + private readonly PoseTransform[] _poseTransforms = new PoseTransform[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() + { + 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 - mid) * -5f; + } + + 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[landmark.Type.Value], landmark); + } + } + + 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().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(i, new AverageHandler()); + } + } + + 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)); + } + + /// + /// 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(int[] nodes) + { + var bonds = new List(); + + for (var i = 0; i < nodes.Length - 1; i++) + { + bonds.Add(new Bond( + _nodes[nodes[i]], + _nodes[nodes[i + 1]], + Scale)); + } + + return bonds; + } + } +} diff --git a/Assets/CubeBehaviour.cs.meta b/Assets/Behaviours/BallStickBehaviour.cs.meta similarity index 83% rename from Assets/CubeBehaviour.cs.meta rename to Assets/Behaviours/BallStickBehaviour.cs.meta index bf7446b..e8b942d 100644 --- a/Assets/CubeBehaviour.cs.meta +++ b/Assets/Behaviours/BallStickBehaviour.cs.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 11e8a976fe328b1c3bdf9f44ef9f6fa1 +guid: 574a3724e040787f7afd9341fba89cf2 MonoImporter: externalObjects: {} serializedVersion: 2 diff --git a/Assets/Behaviours/BoneBehaviour.cs b/Assets/Behaviours/BoneBehaviour.cs new file mode 100644 index 0000000..a187bd0 --- /dev/null +++ b/Assets/Behaviours/BoneBehaviour.cs @@ -0,0 +1,272 @@ +using System; +using System.Collections.Generic; +using Models; +using UnityEngine; + +namespace Behaviours +{ + public class BoneBehaviour : MonoBehaviour + { + private readonly UdpListener _listener = new UdpListener(); + private readonly GameObject[] _nodes = new GameObject[PoseLandmarkType.MaxValue]; + private readonly List _bonds = new List(); + private Dictionary _rotationNodes; + private List _landmarks; + + private Animator _animator; + private bool _isReceived; + private const float Scale = 0.2f; + + private void Start() + { + _animator = GetComponent(); + CreateRotationNodes(); + CreateNodes(); + CreateBonds(); + + _listener.AddHandler(OnReceive); + _listener.Connect(5000); + } + + private void Update() + { + if (_isReceived) + { + _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.LeftUpperArm).Rotate(0, -180, 0, + Space.Self); + _animator.GetBoneTransform(HumanBodyBones.LeftLowerArm).rotation = _bonds[10].Rotation; + _animator.GetBoneTransform(HumanBodyBones.LeftLowerArm).Rotate(0, -180, 0, + Space.Self); + + _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).rotation = _bonds[15].Rotation; + _animator.GetBoneTransform(HumanBodyBones.RightUpperArm).Rotate(0, -180, 0, + Space.Self); + + _animator.GetBoneTransform(HumanBodyBones.RightLowerArm).rotation = _bonds[16].Rotation; + _animator.GetBoneTransform(HumanBodyBones.RightLowerArm).Rotate(0, -180, 0, + Space.Self); + + _animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).rotation = _bonds[22].Rotation; + _animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg).Rotate(0, -180, 0, + Space.Self); + _animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).rotation = _bonds[23].Rotation; + _animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg).Rotate(0, -180, 0, + Space.Self); + + _animator.GetBoneTransform(HumanBodyBones.RightUpperLeg).rotation = _bonds[28].Rotation; + _animator.GetBoneTransform(HumanBodyBones.RightUpperLeg).Rotate(0, -180, 0, + Space.Self); + + _animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).rotation = _bonds[29].Rotation; + _animator.GetBoneTransform(HumanBodyBones.RightLowerLeg).Rotate(0, -180, 0, + Space.Self); + + _isReceived = false; + } + } + + + + private void OnDisable() + { + _listener.DisConnect(); + } + + private void OnReceive(List landmarks) + { + // 计算腰部 + var frontLeft = Vector3.Cross( + landmarks[PoseLandmarkType.RightHip].Position - landmarks[PoseLandmarkType.LeftHip].Position, + landmarks[PoseLandmarkType.RightShoulder].Position - landmarks[PoseLandmarkType.LeftHip].Position); + + var frontRight = Vector3.Cross( + landmarks[PoseLandmarkType.LeftShoulder].Position - landmarks[PoseLandmarkType.RightHip].Position, + landmarks[PoseLandmarkType.LeftHip].Position - landmarks[PoseLandmarkType.LeftHip].Position); + + var front = frontLeft + frontRight; + front.Normalize(); + + var oldRotation = _rotationNodes[HumanBodyBones.Hips]; + _rotationNodes[HumanBodyBones.Hips] = new RotationNode( + oldRotation.UnityName, + oldRotation.Rotation, + Quaternion.LookRotation(front)); + + _landmarks = landmarks; + _isReceived = true; + } + + private void CreateRotationNodes() + { + _rotationNodes = new Dictionary(); + + var bonesArray = new[] + { + HumanBodyBones.Hips, + HumanBodyBones.LeftUpperArm, + HumanBodyBones.LeftLowerArm, + HumanBodyBones.RightUpperArm, + HumanBodyBones.RightLowerArm, + HumanBodyBones.LeftUpperLeg, + HumanBodyBones.LeftLowerLeg, + HumanBodyBones.RightUpperLeg, + HumanBodyBones.RightLowerLeg + }; + + foreach (var bone in bonesArray) + { + var rotation = _animator.GetBoneTransform(bone).rotation; + _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().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; + } + } + + 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)); + } + + /// + /// 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(int[] nodes) + { + var bonds = new List(); + + for (var i = 0; i < nodes.Length - 1; i++) + { + bonds.Add(new Bond( + _nodes[nodes[i]], + _nodes[nodes[i + 1]], + Scale)); + } + + return bonds; + } + } +} diff --git a/Assets/Behaviours/BoneBehaviour.cs.meta b/Assets/Behaviours/BoneBehaviour.cs.meta new file mode 100644 index 0000000..8a391ae --- /dev/null +++ b/Assets/Behaviours/BoneBehaviour.cs.meta @@ -0,0 +1,11 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_bond.transform.rotation; + public Vector3 Vector => End.transform.position - Start.transform.position; + + 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/PoseLandmark.cs b/Assets/Models/PoseLandmark.cs index 6520ef2..68f8cc5 100644 --- a/Assets/Models/PoseLandmark.cs +++ b/Assets/Models/PoseLandmark.cs @@ -1,160 +1,163 @@ using System; using System.Collections.Generic; using System.Text; +using UnityEngine; namespace Models { public class PoseLandmark { private const double Tolerance = 1E-6; - - /// - /// 单个包的长度 - /// - public const int PacketLength = 28; - - /// - /// 坐标点的种类 - /// - public PoseLandmarkType Type { get; } - - /// - /// 真实世界x坐标 - /// 以米为单位 - /// 以臀部为重心 hip - /// - public float X { get; } - - /// - /// 真实世界y坐标 - /// 以米为单位 - /// 以臀部为重心 - /// - public float Y { get; } - - /// - /// 真实世界z坐标 - /// 以米为单位 - /// 以臀部为重心 - /// - public float Z { get; } - - /// - /// 该坐标点估计的可见性 - /// [0,1] - /// - public float Visibility { get; } - - public long TimeStamp { get; } - public PoseLandmark(PoseLandmarkType type, float x, float y, float z, float visibility, long timeStamp) - { - Type = type; - X = x; - Y = y; - Z = z; - Visibility = visibility; - TimeStamp = timeStamp; - } + /// + /// 单个包的长度 + /// + public const int PacketLength = 28; - /// - /// 转换成字节数组 - /// 便于UDP发送 - /// - /// - public byte[] ToByteArray() - { - var result = new byte[PacketLength]; + /// + /// 坐标点的种类 + /// + public PoseLandmarkType Type { get; } - BitConverter.GetBytes((int)Type).CopyTo(result, 0); - BitConverter.GetBytes(X).CopyTo(result, 4); - BitConverter.GetBytes(Y).CopyTo(result, 8); - BitConverter.GetBytes(Z).CopyTo(result, 12); - BitConverter.GetBytes(Visibility).CopyTo(result, 16); - BitConverter.GetBytes(TimeStamp).CopyTo(result, 20); - - return result; - } + /// + /// 真实世界x坐标 + /// 以米为单位 + /// 以臀部为重心 hip + /// + public float X { get; } - /// - /// 解析字节数组 - /// - /// 收到的字节数组 - /// 字节数组中代表的坐标对象 - public static PoseLandmark ValueOf(byte[] bytes) - { - var result = new PoseLandmark( - (PoseLandmarkType)BitConverter.ToInt32(bytes, 0), - BitConverter.ToSingle(bytes, 4), - BitConverter.ToSingle(bytes, 8), - BitConverter.ToSingle(bytes, 12), - BitConverter.ToSingle(bytes, 16), - BitConverter.ToInt64(bytes, 20)); + /// + /// 真实世界y坐标 + /// 以米为单位 + /// 以臀部为重心 + /// + public float Y { get; } - return result; - } + /// + /// 真实世界z坐标 + /// 以米为单位 + /// 以臀部为重心 + /// + public float Z { get; } - /// - /// 解析字节数组为对象列表 - /// 单个 - /// - /// 字节数组 - /// - public static List ArrayOf(byte[] bytes) - { - var result = new List(); + public Vector3 Position => new Vector3(-X, -Y, -0.2f * Z); - for (var i = 0; i < bytes.Length; i = i + PacketLength) + /// + /// 该坐标点估计的可见性 + /// [0,1] + /// + public float Visibility { get; } + + public long TimeStamp { get; } + + public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp) { - var landmark = new PoseLandmark((PoseLandmarkType)BitConverter.ToInt32(bytes, i), - BitConverter.ToSingle(bytes, i + 4), - BitConverter.ToSingle(bytes, i + 8), - BitConverter.ToSingle(bytes, i + 12), - BitConverter.ToSingle(bytes, i + 16), - BitConverter.ToInt64(bytes, i + 20)); - - result.Add(landmark); + Type = new PoseLandmarkType(type); + X = x; + Y = y; + Z = z; + Visibility = visibility; + TimeStamp = timeStamp; } - return result; - } - - public override bool Equals(object obj) - { - if (obj is not PoseLandmark landmark) + /// + /// 转换成字节数组 + /// 便于UDP发送 + /// + /// + public byte[] ToByteArray() { - return false; + var result = new byte[PacketLength]; + + BitConverter.GetBytes(Type.Value).CopyTo(result, 0); + BitConverter.GetBytes(X).CopyTo(result, 4); + BitConverter.GetBytes(Y).CopyTo(result, 8); + BitConverter.GetBytes(Z).CopyTo(result, 12); + BitConverter.GetBytes(Visibility).CopyTo(result, 16); + BitConverter.GetBytes(TimeStamp).CopyTo(result, 20); + + return result; } - else + + /// + /// 解析字节数组 + /// + /// 收到的字节数组 + /// 字节数组中代表的坐标对象 + public static PoseLandmark ValueOf(byte[] bytes) { - return Type == landmark.Type - && Math.Abs(X - landmark.X) < Tolerance - && Math.Abs(Y - landmark.Y) < Tolerance - && Math.Abs(Z - landmark.Z) < Tolerance - && Math.Abs(Visibility - landmark.Visibility) < Tolerance - && TimeStamp == landmark.TimeStamp; + var result = new PoseLandmark( + BitConverter.ToInt32(bytes, 0), + BitConverter.ToSingle(bytes, 4), + BitConverter.ToSingle(bytes, 8), + BitConverter.ToSingle(bytes, 12), + BitConverter.ToSingle(bytes, 16), + BitConverter.ToInt64(bytes, 20)); + + return result; } - } - public override int GetHashCode() - { - var hashCode = Type.GetHashCode(); - hashCode ^= X.GetHashCode(); - hashCode ^= Y.GetHashCode(); - hashCode ^= Z.GetHashCode(); - hashCode ^= Visibility.GetHashCode(); - hashCode ^= TimeStamp.GetHashCode(); + /// + /// 解析字节数组为对象列表 + /// 单个 + /// + /// 字节数组 + /// + public static List ArrayOf(byte[] bytes) + { + var result = new List(); - return hashCode; - } + for (var i = 0; i < bytes.Length; i = i + PacketLength) + { + var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i), + BitConverter.ToSingle(bytes, i + 4), + BitConverter.ToSingle(bytes, i + 8), + BitConverter.ToSingle(bytes, i + 12), + BitConverter.ToSingle(bytes, i + 16), + BitConverter.ToInt64(bytes, i + 20)); - public override string ToString() - { - var builder = new StringBuilder(); - builder.Append($"Time: {TimeStamp}, Type: {Type}:\n"); - builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n"); + result.Add(landmark); + } - return builder.ToString(); - } + return result; + } + + public override bool Equals(object obj) + { + if (obj is not PoseLandmark landmark) + { + return false; + } + else + { + return Type.Value == landmark.Type.Value + && Math.Abs(X - landmark.X) < Tolerance + && Math.Abs(Y - landmark.Y) < Tolerance + && Math.Abs(Z - landmark.Z) < Tolerance + && Math.Abs(Visibility - landmark.Visibility) < Tolerance + && TimeStamp == landmark.TimeStamp; + } + } + + public override int GetHashCode() + { + var hashCode = Type.GetHashCode(); + hashCode ^= X.GetHashCode(); + hashCode ^= Y.GetHashCode(); + hashCode ^= Z.GetHashCode(); + hashCode ^= Visibility.GetHashCode(); + hashCode ^= TimeStamp.GetHashCode(); + + return hashCode; + } + + public override string ToString() + { + var builder = new StringBuilder(); + builder.Append($"Time: {TimeStamp}, Type: {Type}:\n"); + builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n"); + + return builder.ToString(); + } } } \ No newline at end of file diff --git a/Assets/Models/PoseLandmarkType.cs b/Assets/Models/PoseLandmarkType.cs index c32eda7..513df64 100644 --- a/Assets/Models/PoseLandmarkType.cs +++ b/Assets/Models/PoseLandmarkType.cs @@ -1,40 +1,70 @@ +using System; + namespace Models { //名字 - public enum PoseLandmarkType - { - Nose, - LeftEyeInner, - LeftEye, - LeftEyeOuter, - RightEyeInner, - RightEye, - RightEyeOuter, - LeftEar, - RightEar, - MouthLeft, - MouthRight, - LeftShoulder, - RightShoulder, - LeftElbow, - RightElbow, - LeftWrist, - RightWrist, - LeftPinky, - RightPinky, - LeftIndex, - RightIndex, - LeftThumb, - RightThumb, - LeftHip, - RightHip, - LeftKnee, - RightKnee, - LeftAnkle, - RightAnkle, - LeftHeel, - RightHeel, - LeftFootIndex, - RightFootIndex - } + public readonly struct PoseLandmarkType + { + public const int Nose = 0; + public const int LeftEyeInner = 1; + public const int LeftEye = 2; + public const int LeftEyeOuter = 3; + public const int RightEyeInner = 4; + public const int RightEye = 5; + public const int RightEyeOuter = 6; + public const int LeftEar = 7; + public const int RightEar = 8; + public const int MouthLeft = 9; + public const int MouthRight = 10; + public const int LeftShoulder = 11; + public const int RightShoulder = 12; + public const int LeftElbow = 13; + public const int RightElbow = 14; + public const int LeftWrist = 15; + public const int RightWrist = 16; + public const int LeftPinky = 17; + public const int RightPinky = 18; + public const int LeftIndex = 19; + public const int RightIndex = 20; + public const int LeftThumb = 21; + public const int RightThumb = 22; + public const int LeftHip = 23; + public const int RightHip = 24; + public const int LeftKnee = 25; + public const int RightKnee = 26; + public const int LeftAnkle = 27; + public const int RightAnkle = 28; + public const int LeftHeel = 29; + public const int RightHeel = 30; + public const int LeftFootIndex = 31; + public const int RightFootIndex = 32; + public const int MaxValue = 33; + + public int Value { get; } + + public PoseLandmarkType(int value) + { + if (value >= MaxValue) + { + throw new ArgumentOutOfRangeException(nameof(value)); + } + + Value = value; + } + + public override bool Equals(object obj) + { + return Value.Equals(obj); + } + + public override int GetHashCode() + { + return Value.GetHashCode(); + } + + public override string ToString() + { + return Value.ToString(); + } + } } \ No newline at end of file diff --git a/Assets/Models/PoseTransform.cs b/Assets/Models/PoseTransform.cs new file mode 100644 index 0000000..b540465 --- /dev/null +++ b/Assets/Models/PoseTransform.cs @@ -0,0 +1,120 @@ +using System.Collections.Generic; +using UnityEngine; +using Utils; + +namespace Models +{ + /// + /// 捕捉骨骼的动作转换 + /// + public struct PoseTransform + { + /// + /// MediaPipe中动捕节点标识 + /// + public readonly PoseLandmarkType MediaPipeName; + + /// + /// Unity中绑定骨骼名称 + /// + public readonly HumanBodyBones UnityName; + + /// + /// 取平均的长度 + /// + public static int AverageLength = 3; + + /// + /// 取平均之后的结果 + /// + public Vector3 ResultPosition => _transformHandler.GetResultPosition(); + /// + /// 节点的父节点列表 + /// + public readonly List Parent; + + private readonly IPoseTransformHandler _transformHandler; + + public PoseTransform( + int type, + IPoseTransformHandler handler + ) + { + MediaPipeName = new PoseLandmarkType(type); + UnityName = GetRelatedBone(MediaPipeName); + Parent = new List(); + + _transformHandler = handler; + } + + public static void UpdatePosition(ref PoseTransform pose, PoseLandmark landmark) + { + pose._transformHandler.ReceivePoseLandmark(landmark); + } + + public static Vector3 operator +(PoseTransform a) => a.ResultPosition; + + public static Vector3 operator -(PoseTransform a) => -a.ResultPosition; + + public static Vector3 operator +(PoseTransform a, PoseTransform b) => + a.ResultPosition + b.ResultPosition; + + public static Vector3 operator -(PoseTransform a, PoseTransform b) => + a.ResultPosition - b.ResultPosition; + + public static Vector3 operator *(PoseTransform a, int b) => + a.ResultPosition * b; + + public static Vector3 operator *(int a, PoseTransform b) => + a * b.ResultPosition; + + public static Vector3 operator /(PoseTransform a, int b) => + a.ResultPosition / b; + + /// + /// 获得同相关捕捉点关联的骨骼 + /// + /// 捕捉点的种类 + /// 关联骨骼的种类 + private static HumanBodyBones GetRelatedBone(PoseLandmarkType type) + { + switch (type.Value) + { + case PoseLandmarkType.LeftHip: + return HumanBodyBones.LeftUpperLeg; + case PoseLandmarkType.RightHip: + return HumanBodyBones.RightUpperLeg; + case PoseLandmarkType.LeftShoulder: + return HumanBodyBones.LeftUpperArm; + case PoseLandmarkType.RightShoulder: + return HumanBodyBones.RightUpperArm; + case PoseLandmarkType.Nose: + return HumanBodyBones.Head; + case PoseLandmarkType.LeftElbow: + return HumanBodyBones.LeftLowerArm; + case PoseLandmarkType.RightElbow: + return HumanBodyBones.RightLowerArm; + case PoseLandmarkType.LeftWrist: + return HumanBodyBones.LeftHand; + case PoseLandmarkType.RightWrist: + return HumanBodyBones.RightHand; + case PoseLandmarkType.LeftKnee: + return HumanBodyBones.LeftLowerLeg; + case PoseLandmarkType.RightKnee: + return HumanBodyBones.RightLowerLeg; + case PoseLandmarkType.LeftAnkle: + return HumanBodyBones.LeftFoot; + case PoseLandmarkType.RightAnkle: + return HumanBodyBones.RightFoot; + case PoseLandmarkType.LeftFootIndex: + return HumanBodyBones.LeftToes; + case PoseLandmarkType.RightFootIndex: + return HumanBodyBones.RightToes; + default: + return HumanBodyBones.LastBone; + } + } + + + } +} \ No newline at end of file diff --git a/Assets/Models/PoseTransform.cs.meta b/Assets/Models/PoseTransform.cs.meta new file mode 100644 index 0000000..8447b13 --- /dev/null +++ b/Assets/Models/PoseTransform.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 9e38fe43bac14375a4f16690d139411f +timeCreated: 1676859644 \ No newline at end of file diff --git a/Assets/Models/RotationNode.cs b/Assets/Models/RotationNode.cs new file mode 100644 index 0000000..269c392 --- /dev/null +++ b/Assets/Models/RotationNode.cs @@ -0,0 +1,29 @@ +using UnityEngine; + +namespace Models +{ + public struct RotationNode + { + public readonly HumanBodyBones UnityName; + public Quaternion PreviousRotation; + public Quaternion Rotation; + + public Quaternion CalculateRotate => PreviousRotation * Quaternion.Inverse(Rotation); + + public RotationNode(HumanBodyBones humanBodyBone, Quaternion previousRotation, Quaternion rotation) + { + UnityName = humanBodyBone; + PreviousRotation = previousRotation; + Rotation = rotation; + } + + public RotationNode(RotationNode node, PoseLandmark begin, PoseLandmark end) + { + UnityName = node.UnityName; + PreviousRotation = node.Rotation; + + var forward = end.Position - begin.Position; + Rotation = Quaternion.LookRotation(forward); + } + } +} \ No newline at end of file diff --git a/Assets/Models/RotationNode.cs.meta b/Assets/Models/RotationNode.cs.meta new file mode 100644 index 0000000..20d9271 --- /dev/null +++ b/Assets/Models/RotationNode.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 87e238cb51f34339a39945af13f43248 +timeCreated: 1680090845 \ No newline at end of file diff --git a/Assets/Models/VirtualSkeleton.cs b/Assets/Models/VirtualSkeleton.cs new file mode 100644 index 0000000..d325d3f --- /dev/null +++ b/Assets/Models/VirtualSkeleton.cs @@ -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().material.color = Color.white; + } + + /// + /// 覆盖基类的更新方法 + /// + 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 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file mode 100644 index 0000000..808d6ae --- /dev/null +++ b/Assets/Utils/IPoseTransformHandler.cs @@ -0,0 +1,23 @@ +using Models; +using UnityEngine; + +namespace Utils +{ + /// + /// 坐标处理接口 + /// + public interface IPoseTransformHandler + { + /// + /// 传入新收到的坐标点 + /// + /// + public void ReceivePoseLandmark(PoseLandmark landmark); + + /// + /// 获得处理之后的坐标点 + /// + /// + public Vector3 GetResultPosition(); + } +} \ No newline at end of file diff --git a/Assets/Utils/IPoseTransformHandler.cs.meta b/Assets/Utils/IPoseTransformHandler.cs.meta new file mode 100644 index 0000000..c08d74b --- /dev/null +++ b/Assets/Utils/IPoseTransformHandler.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 09e98a9502f0470f827a472058068bc4 +timeCreated: 1677676325 \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers.meta b/Assets/Utils/PoseTransformHandlers.meta new file mode 100644 index 0000000..b41ce0e --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 790fe29ab090465183945d02718de6a9 +timeCreated: 1677676888 \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/AverageHandler.cs b/Assets/Utils/PoseTransformHandlers/AverageHandler.cs new file mode 100644 index 0000000..11c0442 --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/AverageHandler.cs @@ -0,0 +1,41 @@ +using Models; +using UnityEngine; +using System.Collections.Concurrent; + +namespace Utils.PoseTransformHandlers +{ + public class AverageHandler : IPoseTransformHandler + { + public static int AverageLength = 3; + // 线程安全的队列集合 + // 据文档描述甚至没有使用锁 + private readonly ConcurrentQueue _queue = new ConcurrentQueue(); + + public void ReceivePoseLandmark(PoseLandmark landmark) + { + if (_queue.Count < AverageLength) + { + _queue.Enqueue(landmark); + } + else + { + if (_queue.TryDequeue(out _)) + { + _queue.Enqueue(landmark); + } + } + } + + public Vector3 GetResultPosition() + { + var sum = new Vector3(); + + foreach (var item in _queue) + { + sum += new Vector3(item.X, item.Y, item.Z); + } + + return sum / AverageLength; + } + } +} \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/AverageHandler.cs.meta b/Assets/Utils/PoseTransformHandlers/AverageHandler.cs.meta new file mode 100644 index 0000000..47ced42 --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/AverageHandler.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: c02b0d03301d408faf81931a69679f5c +timeCreated: 1677676898 \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/NormalHandler.cs b/Assets/Utils/PoseTransformHandlers/NormalHandler.cs new file mode 100644 index 0000000..3020fbf --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/NormalHandler.cs @@ -0,0 +1,20 @@ +using Models; +using UnityEngine; + +namespace Utils.PoseTransformHandlers +{ + public class NormalHandler : IPoseTransformHandler + { + private Vector3 _result; + + public void ReceivePoseLandmark(PoseLandmark landmark) + { + _result = new Vector3(landmark.X, landmark.Y, landmark.Z); + } + + public Vector3 GetResultPosition() + { + return _result; + } + } +} \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/NormalHandler.cs.meta b/Assets/Utils/PoseTransformHandlers/NormalHandler.cs.meta new file mode 100644 index 0000000..40473c0 --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/NormalHandler.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 93a33f47f3654fd3b27dd18db88fcc55 +timeCreated: 1677678654 \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs b/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs new file mode 100644 index 0000000..918e581 --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs @@ -0,0 +1,21 @@ +using Models; +using UnityEngine; + +namespace Utils.PoseTransformHandlers +{ + public class ZAxisHandler : IPoseTransformHandler + { + private Vector3 _result; + + public void ReceivePoseLandmark(PoseLandmark landmark) + { + _result = new Vector3(landmark.X, landmark.Y, landmark.Z * 0.2f); + _result = _result * -1; + } + + public Vector3 GetResultPosition() + { + return _result; + } + } +} \ No newline at end of file diff --git a/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs.meta b/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs.meta new file mode 100644 index 0000000..31f7c86 --- /dev/null +++ b/Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: 12369669a7fc44eaae881f89678649b1 +timeCreated: 1678024599 \ No newline at end of file diff --git a/Assets/Utils/RotateUtils.cs b/Assets/Utils/RotateUtils.cs new file mode 100644 index 0000000..5a8e52f --- /dev/null +++ b/Assets/Utils/RotateUtils.cs @@ -0,0 +1,67 @@ +using System; +using UnityEngine; + +namespace Utils +{ + /// + /// 旋转工具类 + /// + public static class RotateUtils + { + private static Matrix4x4 _matrix; + + /// + /// 获得绕X轴旋转矩阵 + /// + /// 旋转的角度 + /// + 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; + } + + /// + /// 获得绕Y轴旋转矩阵 + /// + /// 旋转的角度 + /// + 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; + } + + /// + /// 获得绕Z轴旋转矩阵 + /// + /// 旋转的角度 + /// + 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; + } + } +} \ No newline at end of file diff --git a/Assets/Utils/RotateUtils.cs.meta b/Assets/Utils/RotateUtils.cs.meta new file mode 100644 index 0000000..3f6599f --- /dev/null +++ b/Assets/Utils/RotateUtils.cs.meta @@ -0,0 +1,3 @@ +fileFormatVersion: 2 +guid: d748c6669d714e65a5ca9164c5798583 +timeCreated: 1677319275 \ No newline at end of file diff --git a/Assets/UdpListener.cs b/Assets/Utils/UdpListener.cs similarity index 100% rename from Assets/UdpListener.cs rename to Assets/Utils/UdpListener.cs diff --git a/Assets/UdpListener.cs.meta b/Assets/Utils/UdpListener.cs.meta similarity index 100% rename from Assets/UdpListener.cs.meta rename to Assets/Utils/UdpListener.cs.meta diff --git a/Packages/manifest.json b/Packages/manifest.json index 18cb02c..752cde3 100644 --- a/Packages/manifest.json +++ b/Packages/manifest.json @@ -1,15 +1,15 @@ { "dependencies": { - "com.unity.collab-proxy": "1.17.7", + "com.unity.collab-proxy": "2.0.0", "com.unity.feature.development": "1.0.1", "com.unity.ide.rider": "3.0.18", - "com.unity.ide.visualstudio": "2.0.16", + "com.unity.ide.visualstudio": "2.0.17", "com.unity.ide.vscode": "1.2.5", "com.unity.test-framework": "1.1.31", "com.unity.textmeshpro": "3.0.6", "com.unity.timeline": "1.6.4", "com.unity.ugui": "1.0.0", - "com.unity.visualscripting": "1.7.8", + "com.unity.visualscripting": "1.8.0", "com.unity.modules.ai": "1.0.0", "com.unity.modules.androidjni": "1.0.0", "com.unity.modules.animation": "1.0.0", diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json index 9e9f9a2..60586d4 100644 --- a/Packages/packages-lock.json +++ b/Packages/packages-lock.json @@ -1,12 +1,10 @@ { "dependencies": { "com.unity.collab-proxy": { - "version": "1.17.7", + "version": "2.0.0", "depth": 0, "source": "registry", - "dependencies": { - "com.unity.services.core": "1.0.1" - }, + "dependencies": {}, "url": "https://packages.unity.com" }, "com.unity.editorcoroutines": { @@ -28,11 +26,11 @@ "depth": 0, "source": "builtin", "dependencies": { - "com.unity.ide.visualstudio": "2.0.16", - "com.unity.ide.rider": "3.0.16", + "com.unity.ide.visualstudio": "2.0.17", + "com.unity.ide.rider": "3.0.18", "com.unity.ide.vscode": "1.2.5", "com.unity.editorcoroutines": "1.0.0", - "com.unity.performance.profile-analyzer": "1.1.1", + "com.unity.performance.profile-analyzer": "1.2.2", "com.unity.test-framework": "1.1.31", "com.unity.testtools.codecoverage": "1.2.2" } @@ -47,7 +45,7 @@ "url": "https://packages.unity.com" }, "com.unity.ide.visualstudio": { - "version": "2.0.16", + "version": "2.0.17", "depth": 0, "source": "registry", "dependencies": { @@ -62,31 +60,13 @@ "dependencies": {}, "url": "https://packages.unity.com" }, - "com.unity.nuget.newtonsoft-json": { - "version": "3.0.2", - "depth": 2, - "source": "registry", - "dependencies": {}, - "url": "https://packages.unity.com" - }, "com.unity.performance.profile-analyzer": { - "version": "1.1.1", + "version": "1.2.2", "depth": 1, "source": "registry", "dependencies": {}, "url": "https://packages.unity.com" }, - "com.unity.services.core": { - "version": "1.6.0", - "depth": 1, - "source": "registry", - "dependencies": { - "com.unity.modules.unitywebrequest": "1.0.0", - "com.unity.nuget.newtonsoft-json": "3.0.2", - "com.unity.modules.androidjni": "1.0.0" - }, - "url": "https://packages.unity.com" - }, "com.unity.settings-manager": { "version": "1.0.3", "depth": 2, @@ -146,7 +126,7 @@ } }, "com.unity.visualscripting": { - "version": "1.7.8", + "version": "1.8.0", "depth": 0, "source": "registry", "dependencies": { diff --git a/ProjectSettings/PackageManagerSettings.asset b/ProjectSettings/PackageManagerSettings.asset index 6c3e794..9990e02 100644 --- a/ProjectSettings/PackageManagerSettings.asset +++ b/ProjectSettings/PackageManagerSettings.asset @@ -25,7 +25,6 @@ MonoBehaviour: m_Scopes: [] m_IsDefault: 1 m_Capabilities: 7 - m_ConfigSource: 0 m_UserSelectedRegistryName: m_UserAddingNewScopedRegistry: 0 m_RegistryInfoDraft: diff --git a/ProjectSettings/ProjectVersion.txt b/ProjectSettings/ProjectVersion.txt index 3643b02..8e3af85 100644 --- a/ProjectSettings/ProjectVersion.txt +++ b/ProjectSettings/ProjectVersion.txt @@ -1,2 +1,2 @@ -m_EditorVersion: 2021.3.16f1 -m_EditorVersionWithRevision: 2021.3.16f1 (4016570cf34f) +m_EditorVersion: 2021.3.19f1 +m_EditorVersionWithRevision: 2021.3.19f1 (c9714fde33b6)