refactor: 重新规划了项目结构
删除了冗余的控制类
This commit is contained in:
@@ -7,154 +7,154 @@ namespace Models
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public class PoseLandmark
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{
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private const double Tolerance = 1E-6;
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/// <summary>
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/// 单个包的长度
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/// </summary>
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public const int PacketLength = 28;
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/// <summary>
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/// 坐标点的种类
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/// </summary>
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public PoseLandmarkType Type { get; }
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/// <summary>
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/// 真实世界x坐标
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/// 以米为单位
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/// 以臀部为重心 hip
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/// </summary>
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public float X { get; }
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/// <summary>
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/// 真实世界y坐标
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/// 以米为单位
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/// 以臀部为重心
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/// </summary>
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public float Y { get; }
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/// <summary>
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/// 真实世界z坐标
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/// 以米为单位
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/// 以臀部为重心
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/// </summary>
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public float Z { get; }
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/// <summary>
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/// 该坐标点估计的可见性
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/// [0,1]
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/// </summary>
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public float Visibility { get; }
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public long TimeStamp { get; }
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public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp)
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{
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Type = new PoseLandmarkType(type);
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X = x;
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Y = y;
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Z = z;
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Visibility = visibility;
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TimeStamp = timeStamp;
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}
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/// <summary>
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/// 单个包的长度
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/// </summary>
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public const int PacketLength = 28;
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/// <summary>
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/// 转换成字节数组
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/// 便于UDP发送
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/// </summary>
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/// <returns></returns>
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public byte[] ToByteArray()
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{
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var result = new byte[PacketLength];
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/// <summary>
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/// 坐标点的种类
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/// </summary>
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public PoseLandmarkType Type { get; }
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BitConverter.GetBytes(Type.Value).CopyTo(result, 0);
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BitConverter.GetBytes(X).CopyTo(result, 4);
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BitConverter.GetBytes(Y).CopyTo(result, 8);
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BitConverter.GetBytes(Z).CopyTo(result, 12);
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BitConverter.GetBytes(Visibility).CopyTo(result, 16);
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BitConverter.GetBytes(TimeStamp).CopyTo(result, 20);
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return result;
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}
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/// <summary>
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/// 真实世界x坐标
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/// 以米为单位
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/// 以臀部为重心 hip
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/// </summary>
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public float X { get; }
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/// <summary>
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/// 解析字节数组
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/// </summary>
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/// <param name="bytes">收到的字节数组</param>
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/// <returns>字节数组中代表的坐标对象</returns>
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public static PoseLandmark ValueOf(byte[] bytes)
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{
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var result = new PoseLandmark(
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BitConverter.ToInt32(bytes, 0),
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BitConverter.ToSingle(bytes, 4),
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BitConverter.ToSingle(bytes, 8),
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BitConverter.ToSingle(bytes, 12),
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BitConverter.ToSingle(bytes, 16),
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BitConverter.ToInt64(bytes, 20));
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/// <summary>
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/// 真实世界y坐标
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/// 以米为单位
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/// 以臀部为重心
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/// </summary>
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public float Y { get; }
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return result;
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}
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/// <summary>
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/// 真实世界z坐标
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/// 以米为单位
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/// 以臀部为重心
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/// </summary>
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public float Z { get; }
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/// <summary>
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/// 解析字节数组为对象列表
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/// 单个
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/// </summary>
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/// <param name="bytes">字节数组</param>
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/// <returns></returns>
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public static List<PoseLandmark> ArrayOf(byte[] bytes)
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{
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var result = new List<PoseLandmark>();
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/// <summary>
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/// 该坐标点估计的可见性
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/// [0,1]
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/// </summary>
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public float Visibility { get; }
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for (var i = 0; i < bytes.Length; i = i + PacketLength)
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public long TimeStamp { get; }
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public PoseLandmark(int type, float x, float y, float z, float visibility, long timeStamp)
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{
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var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i),
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BitConverter.ToSingle(bytes, i + 4),
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BitConverter.ToSingle(bytes, i + 8),
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BitConverter.ToSingle(bytes, i + 12),
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BitConverter.ToSingle(bytes, i + 16),
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BitConverter.ToInt64(bytes, i + 20));
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result.Add(landmark);
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Type = new PoseLandmarkType(type);
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X = x;
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Y = y;
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Z = z;
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Visibility = visibility;
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TimeStamp = timeStamp;
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}
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return result;
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}
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public override bool Equals(object obj)
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{
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if (obj is not PoseLandmark landmark)
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/// <summary>
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/// 转换成字节数组
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/// 便于UDP发送
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/// </summary>
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/// <returns></returns>
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public byte[] ToByteArray()
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{
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return false;
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var result = new byte[PacketLength];
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BitConverter.GetBytes(Type.Value).CopyTo(result, 0);
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BitConverter.GetBytes(X).CopyTo(result, 4);
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BitConverter.GetBytes(Y).CopyTo(result, 8);
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BitConverter.GetBytes(Z).CopyTo(result, 12);
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BitConverter.GetBytes(Visibility).CopyTo(result, 16);
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BitConverter.GetBytes(TimeStamp).CopyTo(result, 20);
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return result;
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}
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else
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/// <summary>
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/// 解析字节数组
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/// </summary>
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/// <param name="bytes">收到的字节数组</param>
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/// <returns>字节数组中代表的坐标对象</returns>
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public static PoseLandmark ValueOf(byte[] bytes)
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{
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return Type.Value == landmark.Type.Value
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&& Math.Abs(X - landmark.X) < Tolerance
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&& Math.Abs(Y - landmark.Y) < Tolerance
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&& Math.Abs(Z - landmark.Z) < Tolerance
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&& Math.Abs(Visibility - landmark.Visibility) < Tolerance
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&& TimeStamp == landmark.TimeStamp;
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var result = new PoseLandmark(
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BitConverter.ToInt32(bytes, 0),
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BitConverter.ToSingle(bytes, 4),
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BitConverter.ToSingle(bytes, 8),
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BitConverter.ToSingle(bytes, 12),
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BitConverter.ToSingle(bytes, 16),
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BitConverter.ToInt64(bytes, 20));
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return result;
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}
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}
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public override int GetHashCode()
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{
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var hashCode = Type.GetHashCode();
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hashCode ^= X.GetHashCode();
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hashCode ^= Y.GetHashCode();
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hashCode ^= Z.GetHashCode();
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hashCode ^= Visibility.GetHashCode();
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hashCode ^= TimeStamp.GetHashCode();
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/// <summary>
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/// 解析字节数组为对象列表
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/// 单个
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/// </summary>
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/// <param name="bytes">字节数组</param>
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/// <returns></returns>
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public static List<PoseLandmark> ArrayOf(byte[] bytes)
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{
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var result = new List<PoseLandmark>();
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return hashCode;
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}
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for (var i = 0; i < bytes.Length; i = i + PacketLength)
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{
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var landmark = new PoseLandmark(BitConverter.ToInt32(bytes, i),
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BitConverter.ToSingle(bytes, i + 4),
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BitConverter.ToSingle(bytes, i + 8),
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BitConverter.ToSingle(bytes, i + 12),
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BitConverter.ToSingle(bytes, i + 16),
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BitConverter.ToInt64(bytes, i + 20));
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public override string ToString()
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{
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var builder = new StringBuilder();
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builder.Append($"Time: {TimeStamp}, Type: {Type}:\n");
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builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n");
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result.Add(landmark);
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}
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return builder.ToString();
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}
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return result;
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}
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public override bool Equals(object obj)
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{
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if (obj is not PoseLandmark landmark)
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{
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return false;
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}
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else
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{
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return Type.Value == landmark.Type.Value
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&& Math.Abs(X - landmark.X) < Tolerance
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&& Math.Abs(Y - landmark.Y) < Tolerance
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&& Math.Abs(Z - landmark.Z) < Tolerance
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&& Math.Abs(Visibility - landmark.Visibility) < Tolerance
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&& TimeStamp == landmark.TimeStamp;
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}
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}
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public override int GetHashCode()
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{
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var hashCode = Type.GetHashCode();
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hashCode ^= X.GetHashCode();
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hashCode ^= Y.GetHashCode();
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hashCode ^= Z.GetHashCode();
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hashCode ^= Visibility.GetHashCode();
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hashCode ^= TimeStamp.GetHashCode();
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return hashCode;
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}
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public override string ToString()
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{
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var builder = new StringBuilder();
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builder.Append($"Time: {TimeStamp}, Type: {Type}:\n");
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builder.Append($"\tX:{X}, Y:{Y}, Z:{Z}, Visibility: {Visibility}\n");
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return builder.ToString();
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}
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}
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}
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@@ -28,22 +28,11 @@ namespace Models
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/// 取平均之后的结果
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/// </summary>
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public Vector3 ResultPosition => _transformHandler.GetResultPosition();
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/// <summary>
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/// 节点的父节点列表
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/// </summary>
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public readonly List<PoseLandmarkType> Parent;
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/// <summary>
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/// 骨骼节点的初始角度
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/// </summary>
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public Quaternion PreviousQuaternion;
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/// <summary>
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/// 骨骼节点的当前角度
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/// </summary>
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public Quaternion CurrentQuaternion;
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private readonly IPoseTransformHandler _transformHandler;
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public PoseTransform(
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@@ -54,8 +43,6 @@ namespace Models
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MediaPipeName = new PoseLandmarkType(type);
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UnityName = GetRelatedBone(MediaPipeName);
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Parent = new List<PoseLandmarkType>();
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PreviousQuaternion = new Quaternion();
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CurrentQuaternion = new Quaternion();
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_transformHandler = handler;
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}
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@@ -65,11 +52,6 @@ namespace Models
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pose._transformHandler.ReceivePoseLandmark(landmark);
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}
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public static void CalculateRotation(ref PoseTransform poseTransform, PoseLandmark landmark)
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{
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}
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public static Vector3 operator +(PoseTransform a) => a.ResultPosition;
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public static Vector3 operator -(PoseTransform a) => -a.ResultPosition;
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