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Merge pull request 'feature-binding: 动作绑定完成' (#1) from feature-binding into master

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Reviewed-on: https://rrricardo.top/git/MotionCapture/MotionCapture/pulls/1
This commit is contained in:
jackfiled
2023-03-30 21:32:33 +08:00
parent d9acef1e18 9a09585f01
commit ca24486eac
46 changed files with 2283 additions and 349 deletions
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6
Assets/Avatars/Stormtrigger/troop.fbx.meta
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@@ -39,7 +39,7 @@ ModelImporter:
animationDoRetargetingWarnings: 0 animationDoRetargetingWarnings: 0
importAnimatedCustomProperties: 0 importAnimatedCustomProperties: 0
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animationCompression: 1 animationCompression: 3
animationRotationError: 0.5 animationRotationError: 0.5
animationPositionError: 0.5 animationPositionError: 0.5
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@@ -106,11 +106,11 @@ ModelImporter:
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8
Assets/Behaviours.meta Normal file
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186
Assets/Behaviours/BallStickBehaviour.cs Normal file
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@@ -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<Bond> _bonds = new List<Bond>();
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<PoseLandmark> 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<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(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));
}
/// <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/CubeBehaviour.cs.meta → Assets/Behaviours/BallStickBehaviour.cs.meta
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Assets/Behaviours/BoneBehaviour.cs Normal file
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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<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);
}
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<PoseLandmark> 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<HumanBodyBones, RotationNode>();
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<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;
}
}
}

11
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0
Assets/CameraBehaviour.cs → Assets/Behaviours/CameraBehaviour.cs
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Assets/CameraBehaviour.cs.meta → Assets/Behaviours/CameraBehaviour.cs.meta
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38
Assets/CubeBehaviour.cs
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@@ -1,38 +0,0 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Text;
using Models;
using UnityEngine;
public class CubeBehaviour : MonoBehaviour
{
public Vector3 rotateAmount = new Vector3(0, 1, 0);
private readonly UdpListener _listener = new UdpListener();
// Start is called before the first frame update
private void Start()
{
_listener.AddHandler(LogLandmarks);
_listener.Connect(5000);
}
// Update is called once per frame
private void Update()
{
transform.Rotate(rotateAmount);
}
private void OnDisable()
{
_listener.DisConnect();
}
private static void LogLandmarks(List<PoseLandmark> landmarks)
{
foreach (var landmark in landmarks)
{
Debug.Log(landmark.ToString());
}
}
}

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Assets/Models/Bond.cs Normal file
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using UnityEngine;
using Utils;
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 Quaternion Rotation => _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<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);
}
}
}

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15
Assets/Models/PoseLandmark.cs
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@@ -1,6 +1,7 @@
using System; using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Text; using System.Text;
using UnityEngine;
namespace Models namespace Models
{ {
@@ -39,6 +40,8 @@ namespace Models
/// </summary> /// </summary>
public float Z { get; } public float Z { get; }
public Vector3 Position => new Vector3(-X, -Y, -0.2f * Z);
/// <summary> /// <summary>
/// 该坐标点估计的可见性 /// 该坐标点估计的可见性
/// [0,1] /// [0,1]
@@ -47,9 +50,9 @@ namespace Models
public long TimeStamp { get; } public long TimeStamp { get; }
public PoseLandmark(PoseLandmarkType type, float x, float y, float z, float visibility, long timeStamp) public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp)
{ {
Type = type; Type = new PoseLandmarkType(type);
X = x; X = x;
Y = y; Y = y;
Z = z; Z = z;
@@ -66,7 +69,7 @@ namespace Models
{ {
var result = new byte[PacketLength]; var result = new byte[PacketLength];
BitConverter.GetBytes((int)Type).CopyTo(result, 0); BitConverter.GetBytes(Type.Value).CopyTo(result, 0);
BitConverter.GetBytes(X).CopyTo(result, 4); BitConverter.GetBytes(X).CopyTo(result, 4);
BitConverter.GetBytes(Y).CopyTo(result, 8); BitConverter.GetBytes(Y).CopyTo(result, 8);
BitConverter.GetBytes(Z).CopyTo(result, 12); BitConverter.GetBytes(Z).CopyTo(result, 12);
@@ -84,7 +87,7 @@ namespace Models
public static PoseLandmark ValueOf(byte[] bytes) public static PoseLandmark ValueOf(byte[] bytes)
{ {
var result = new PoseLandmark( var result = new PoseLandmark(
(PoseLandmarkType)BitConverter.ToInt32(bytes, 0), BitConverter.ToInt32(bytes, 0),
BitConverter.ToSingle(bytes, 4), BitConverter.ToSingle(bytes, 4),
BitConverter.ToSingle(bytes, 8), BitConverter.ToSingle(bytes, 8),
BitConverter.ToSingle(bytes, 12), BitConverter.ToSingle(bytes, 12),
@@ -106,7 +109,7 @@ namespace Models
for (var i = 0; i < bytes.Length; i = i + PacketLength) for (var i = 0; i < bytes.Length; i = i + PacketLength)
{ {
var landmark = new PoseLandmark((PoseLandmarkType)BitConverter.ToInt32(bytes, i), var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i),
BitConverter.ToSingle(bytes, i + 4), BitConverter.ToSingle(bytes, i + 4),
BitConverter.ToSingle(bytes, i + 8), BitConverter.ToSingle(bytes, i + 8),
BitConverter.ToSingle(bytes, i + 12), BitConverter.ToSingle(bytes, i + 12),
@@ -127,7 +130,7 @@ namespace Models
} }
else else
{ {
return Type == landmark.Type return Type.Value == landmark.Type.Value
&& Math.Abs(X - landmark.X) < Tolerance && Math.Abs(X - landmark.X) < Tolerance
&& Math.Abs(Y - landmark.Y) < Tolerance && Math.Abs(Y - landmark.Y) < Tolerance
&& Math.Abs(Z - landmark.Z) < Tolerance && Math.Abs(Z - landmark.Z) < Tolerance

98
Assets/Models/PoseLandmarkType.cs
View File

@@ -1,40 +1,70 @@
using System;
namespace Models namespace Models
{ {
//名字 //名字
public enum PoseLandmarkType public readonly struct PoseLandmarkType
{ {
Nose, public const int Nose = 0;
LeftEyeInner, public const int LeftEyeInner = 1;
LeftEye, public const int LeftEye = 2;
LeftEyeOuter, public const int LeftEyeOuter = 3;
RightEyeInner, public const int RightEyeInner = 4;
RightEye, public const int RightEye = 5;
RightEyeOuter, public const int RightEyeOuter = 6;
LeftEar, public const int LeftEar = 7;
RightEar, public const int RightEar = 8;
MouthLeft, public const int MouthLeft = 9;
MouthRight, public const int MouthRight = 10;
LeftShoulder, public const int LeftShoulder = 11;
RightShoulder, public const int RightShoulder = 12;
LeftElbow, public const int LeftElbow = 13;
RightElbow, public const int RightElbow = 14;
LeftWrist, public const int LeftWrist = 15;
RightWrist, public const int RightWrist = 16;
LeftPinky, public const int LeftPinky = 17;
RightPinky, public const int RightPinky = 18;
LeftIndex, public const int LeftIndex = 19;
RightIndex, public const int RightIndex = 20;
LeftThumb, public const int LeftThumb = 21;
RightThumb, public const int RightThumb = 22;
LeftHip, public const int LeftHip = 23;
RightHip, public const int RightHip = 24;
LeftKnee, public const int LeftKnee = 25;
RightKnee, public const int RightKnee = 26;
LeftAnkle, public const int LeftAnkle = 27;
RightAnkle, public const int RightAnkle = 28;
LeftHeel, public const int LeftHeel = 29;
RightHeel, public const int RightHeel = 30;
LeftFootIndex, public const int LeftFootIndex = 31;
RightFootIndex 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();
}
} }
} }

120
Assets/Models/PoseTransform.cs Normal file
View File

@@ -0,0 +1,120 @@
using System.Collections.Generic;
using UnityEngine;
using Utils;
namespace Models
{
/// <summary>
/// 捕捉骨骼的动作转换
/// </summary>
public struct PoseTransform
{
/// <summary>
/// MediaPipe中动捕节点标识
/// </summary>
public readonly PoseLandmarkType MediaPipeName;
/// <summary>
/// Unity中绑定骨骼名称
/// </summary>
public readonly HumanBodyBones UnityName;
/// <summary>
/// 取平均的长度
/// </summary>
public static int AverageLength = 3;
/// <summary>
/// 取平均之后的结果
/// </summary>
public Vector3 ResultPosition => _transformHandler.GetResultPosition();
/// <summary>
/// 节点的父节点列表
/// </summary>
public readonly List<PoseLandmarkType> Parent;
private readonly IPoseTransformHandler _transformHandler;
public PoseTransform(
int type,
IPoseTransformHandler handler
)
{
MediaPipeName = new PoseLandmarkType(type);
UnityName = GetRelatedBone(MediaPipeName);
Parent = new List<PoseLandmarkType>();
_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;
/// <summary>
/// 获得同相关捕捉点关联的骨骼
/// </summary>
/// <param name="type">捕捉点的种类</param>
/// <returns>关联骨骼的种类</returns>
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;
}
}
}
}

3
Assets/Models/PoseTransform.cs.meta Normal file
View File

@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 9e38fe43bac14375a4f16690d139411f
timeCreated: 1676859644

29
Assets/Models/RotationNode.cs Normal file
View File

@@ -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);
}
}
}

3
Assets/Models/RotationNode.cs.meta Normal file
View File

@@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 87e238cb51f34339a39945af13f43248
timeCreated: 1680090845

35
Assets/Models/VirtualSkeleton.cs Normal file
View File

@@ -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);
}
}
}

3
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guid: 5f725336fc6a4481a4c7d74ec0e3b17b
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23
Assets/Utils/IPoseTransformHandler.cs Normal file
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@@ -0,0 +1,23 @@
using Models;
using UnityEngine;
namespace Utils
{
/// <summary>
/// 坐标处理接口
/// </summary>
public interface IPoseTransformHandler
{
/// <summary>
/// 传入新收到的坐标点
/// </summary>
/// <param name="landmark"></param>
public void ReceivePoseLandmark(PoseLandmark landmark);
/// <summary>
/// 获得处理之后的坐标点
/// </summary>
/// <returns></returns>
public Vector3 GetResultPosition();
}
}

3
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41
Assets/Utils/PoseTransformHandlers/AverageHandler.cs Normal file
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@@ -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<PoseLandmark> _queue = new ConcurrentQueue<PoseLandmark>();
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;
}
}
}

3
Assets/Utils/PoseTransformHandlers/AverageHandler.cs.meta Normal file
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20
Assets/Utils/PoseTransformHandlers/NormalHandler.cs Normal file
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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;
}
}
}

3
Assets/Utils/PoseTransformHandlers/NormalHandler.cs.meta Normal file
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21
Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs Normal file
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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;
}
}
}

3
Assets/Utils/PoseTransformHandlers/ZAxisHandler.cs.meta Normal file
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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
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6
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"com.unity.timeline": "1.6.4", "com.unity.timeline": "1.6.4",
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36
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},
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}, },
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"com.unity.test-framework": "1.1.31", "com.unity.test-framework": "1.1.31",
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} }
@@ -47,7 +45,7 @@
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}, },
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}, },
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},
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}, },
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},
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},
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"depth": 2, "depth": 2,
@@ -146,7 +126,7 @@
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