├── BarracudaBodyTracking ├── .vs │ ├── BarracudaBodyTracking │ │ └── v15 │ │ │ └── Server │ │ │ └── sqlite3 │ │ │ ├── db.lock │ │ │ ├── storage.ide │ │ │ ├── storage.ide-shm │ │ │ └── storage.ide-wal │ ├── BarracudaSingularity │ │ └── v15 │ │ │ └── Server │ │ │ └── sqlite3 │ │ │ ├── db.lock │ │ │ ├── storage.ide │ │ │ ├── storage.ide-shm │ │ │ └── storage.ide-wal │ ├── MirrorSingularity │ │ └── v15 │ │ │ └── Server │ │ │ └── sqlite3 │ │ │ ├── db.lock │ │ │ ├── storage.ide │ │ │ ├── storage.ide-shm │ │ │ └── storage.ide-wal │ ├── RiggingAnimation │ │ └── v15 │ │ │ └── Server │ │ │ └── sqlite3 │ │ │ ├── db.lock │ │ │ ├── storage.ide │ │ │ ├── storage.ide-shm │ │ │ └── storage.ide-wal │ └── RiggingAnimationKinect │ │ └── v15 │ │ └── Server │ │ └── sqlite3 │ │ ├── db.lock │ │ ├── storage.ide │ │ ├── storage.ide-shm │ │ └── storage.ide-wal ├── Assembly-CSharp-Editor-firstpass.csproj ├── Assembly-CSharp-Editor.csproj ├── Assembly-CSharp-firstpass.csproj ├── Assembly-CSharp.csproj ├── Assets │ ├── Scenes.meta │ ├── Scenes │ │ ├── SampleScene.unity │ │ └── SampleScene.unity.meta │ ├── Scripts.meta │ ├── Scripts │ │ ├── CameraMover.cs │ │ ├── CameraMover.cs.meta │ │ ├── Model.meta │ │ ├── Model │ │ │ ├── AddOnnxHere.txt │ │ │ ├── AddOnnxHere.txt.meta │ │ │ └── Resnet34_3inputs_448x448_20200609.onnx.meta │ │ ├── VNectBarracudaRunner.cs │ │ ├── VNectBarracudaRunner.cs.meta │ │ ├── VNectModel.cs │ │ ├── VNectModel.cs.meta │ │ ├── VideoCapture.cs │ │ ├── VideoCapture.cs.meta │ │ ├── info.cs │ │ └── info.cs.meta │ ├── Video.meta │ ├── Video │ │ ├── video1.mp4 │ │ └── video1.mp4.meta │ ├── model3d.meta │ └── model3d │ │ ├── InitImg.png │ │ ├── InitImg.png.meta │ │ ├── Ninja(Clone).prefab │ │ ├── Ninja(Clone).prefab.meta │ │ ├── Ninja.fbx │ │ ├── Ninja.fbx.meta │ │ ├── Skeleton.mat │ │ └── Skeleton.mat.meta ├── BarracudaBodyTracking.sln ├── BarracudaSingularity.sln ├── Mirror.Authenticators.csproj ├── Mirror.Cloud.csproj ├── Mirror.CompilerSymbols.csproj ├── Mirror.Components.csproj ├── Mirror.Editor.csproj ├── Mirror.Examples.Cloud.GUI.csproj ├── Mirror.Examples.Cloud.Pong.csproj ├── Mirror.Examples.csproj ├── Mirror.Weaver.csproj ├── Mirror.Websocket.csproj ├── Mirror.csproj ├── Mirror.example.RigidbodyPhysics.csproj ├── MirrorSingularity.sln ├── Ninja.WebSockets.csproj ├── Packages │ └── manifest.json ├── ProjectSettings │ ├── AudioManager.asset │ ├── BurstAotSettings_StandaloneWindows.json │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── URPProjectSettings.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ └── XRSettings.asset ├── RiggingAnimation.sln ├── RiggingAnimationKinect.sln ├── Telepathy.csproj └── obj │ └── Debug │ ├── TemporaryGeneratedFile_036C0B5B-1481-4323-8D20-8F5ADCB23D92.cs │ ├── TemporaryGeneratedFile_5937a670-0e60-4077-877b-f7221da3dda1.cs │ └── TemporaryGeneratedFile_E7A71F73-0F8D-4B9B-B56E-8E70B10BC5D3.cs ├── README.md └── Screenshot_1.jpg /BarracudaBodyTracking/.vs/BarracudaBodyTracking/v15/Server/sqlite3/db.lock: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/camiloNemocon/MachineLearningBodyTrackingUnity/683564ba6d3423358160c2ef2e681e7dc009c0c7/BarracudaBodyTracking/.vs/BarracudaBodyTracking/v15/Server/sqlite3/db.lock -------------------------------------------------------------------------------- /BarracudaBodyTracking/.vs/BarracudaBodyTracking/v15/Server/sqlite3/storage.ide: -------------------------------------------------------------------------------- 1 | SQLite format 3@ .A  -------------------------------------------------------------------------------- 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userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 45ff302feabc88a429e70592e1110e94 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/CameraMover.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | using UnityEngine.SocialPlatforms; 6 | 7 | /// 8 | /// Camera operation 9 | /// 10 | public class CameraMover : MonoBehaviour 11 | { 12 | // WASD：movement in four quarters 13 | // QE：up and down 14 | // drag right：rotate camera 15 | // drag left：movement in quarters 16 | // space：swith on/off of camera opperation 17 | // P：initialize rotation 18 | 19 | /// 20 | /// amount of movement 21 | /// 22 | [SerializeField, Range(0.1f, 10.0f)] 23 | private float _positionStep = 2.0f; 24 | 25 | /// 26 | /// mouse sensitivity 27 | /// 28 | [SerializeField, Range(30.0f, 150.0f)] 29 | private float _mouseSensitive = 90.0f; 30 | 31 | /// 32 | /// switch on/off of opperation of camera 33 | /// 34 | private bool _cameraMoveActive = true; 35 | 36 | /// 37 | /// camera transformation 38 | /// 39 | private Transform _camTransform; 40 | 41 | /// 42 | /// start position of camera 43 | /// 44 | private Vector3 _startMousePos; 45 | 46 | /// 47 | /// Current camera rotate angle 48 | /// 49 | private Vector3 _presentCamRotation; 50 | 51 | /// 52 | /// Current camera positoin 53 | /// 54 | private Vector3 _presentCamPos; 55 | 56 | /// 57 | /// initial condtion of rotation 58 | /// 59 | private Quaternion _initialCamRotation; 60 | 61 | /// 62 | /// activation of UI message 63 | /// 64 | private bool _uiMessageActiv; 65 | 66 | void Start() 67 | { 68 | _camTransform = this.gameObject.transform; 69 | 70 | // reserve initialize rotation 71 | _initialCamRotation = this.gameObject.transform.rotation; 72 | } 73 | 74 | void Update() 75 | { 76 | 77 | CamControlIsActive(); 78 | 79 | if (_cameraMoveActive) 80 | { 81 | ResetCameraRotation(); 82 | CameraRotationMouseControl(); 83 | CameraSlideMouseControl(); 84 | CameraPositionKeyControl(); 85 | } 86 | } 87 | 88 | /// 89 | /// activate/deactivate camera opperation 90 | /// 91 | public void CamControlIsActive() 92 | { 93 | if (Input.GetKeyDown(KeyCode.Space)) 94 | { 95 | _cameraMoveActive = !_cameraMoveActive; 96 | 97 | if (_uiMessageActiv == false) 98 | { 99 | StartCoroutine(DisplayUiMessage()); 100 | } 101 | Debug.Log("CamControl : " + _cameraMoveActive); 102 | } 103 | } 104 | 105 | /// 106 | /// reset camera rotation 107 | /// 108 | private void ResetCameraRotation() 109 | { 110 | if (Input.GetKeyDown(KeyCode.P)) 111 | { 112 | this.gameObject.transform.rotation = _initialCamRotation; 113 | Debug.Log("Cam Rotate : " + _initialCamRotation.ToString()); 114 | } 115 | } 116 | 117 | /// 118 | /// Camera rotation by mouse 119 | /// 120 | private void CameraRotationMouseControl() 121 | { 122 | if (Input.GetMouseButtonDown(0)) 123 | { 124 | _startMousePos = Input.mousePosition; 125 | _presentCamRotation.x = _camTransform.transform.eulerAngles.x; 126 | _presentCamRotation.y = _camTransform.transform.eulerAngles.y; 127 | } 128 | 129 | if (Input.GetMouseButton(0)) 130 | { 131 | // Normalization = (start position - current position) / resolution 132 | float x = (_startMousePos.x - Input.mousePosition.x) / Screen.width; 133 | float y = (_startMousePos.y - Input.mousePosition.y) / Screen.height; 134 | 135 | // current rotate angle ＋ movement amount * mouse sensitivity 136 | float eulerX = _presentCamRotation.x + y * _mouseSensitive; 137 | float eulerY = _presentCamRotation.y + x * _mouseSensitive; 138 | 139 | _camTransform.rotation = Quaternion.Euler(eulerX, eulerY, 0); 140 | } 141 | } 142 | 143 | /// 144 | /// Move camera by mouse 145 | /// 146 | private void CameraSlideMouseControl() 147 | { 148 | if (Input.GetMouseButtonDown(1)) 149 | { 150 | _startMousePos = Input.mousePosition; 151 | _presentCamPos = _camTransform.position; 152 | } 153 | 154 | if (Input.GetMouseButton(1)) 155 | { 156 | // Normalization: (start position - current position) / resolution 157 | float x = (_startMousePos.x - Input.mousePosition.x) / Screen.width; 158 | float y = (_startMousePos.y - Input.mousePosition.y) / Screen.height; 159 | 160 | x = x * _positionStep; 161 | y = y * _positionStep; 162 | 163 | Vector3 velocity = _camTransform.rotation * new Vector3(x, y, 0); 164 | velocity = velocity + _presentCamPos; 165 | _camTransform.position = velocity; 166 | } 167 | } 168 | 169 | /// 170 | /// Local movement of camera by key 171 | /// 172 | private void CameraPositionKeyControl() 173 | { 174 | Vector3 campos = _camTransform.position; 175 | 176 | if (Input.GetKey(KeyCode.D)) { campos += _camTransform.right * Time.deltaTime * _positionStep; } 177 | if (Input.GetKey(KeyCode.A)) { campos -= _camTransform.right * Time.deltaTime * _positionStep; } 178 | if (Input.GetKey(KeyCode.E)) { campos += _camTransform.up * Time.deltaTime * _positionStep; } 179 | if (Input.GetKey(KeyCode.Q)) { campos -= _camTransform.up * Time.deltaTime * _positionStep; } 180 | if (Input.GetKey(KeyCode.W)) { campos += _camTransform.forward * Time.deltaTime * _positionStep; } 181 | if (Input.GetKey(KeyCode.S)) { campos -= _camTransform.forward * Time.deltaTime * _positionStep; } 182 | 183 | _camTransform.position = campos; 184 | } 185 | 186 | /// 187 | /// Show UI message 188 | /// 189 | /// 190 | private IEnumerator DisplayUiMessage() 191 | { 192 | _uiMessageActiv = true; 193 | float time = 0; 194 | while (time < 2) 195 | { 196 | time = time + Time.deltaTime; 197 | yield return null; 198 | } 199 | _uiMessageActiv = false; 200 | } 201 | 202 | void OnGUI() 203 | { 204 | if (_uiMessageActiv == false) { return; } 205 | GUI.color = Color.black; 206 | if (_cameraMoveActive == true) 207 | { 208 | GUI.Label(new Rect(Screen.width / 2 - 50, Screen.height - 30, 100, 20), "Active Camera Operation"); 209 | } 210 | 211 | if (_cameraMoveActive == false) 212 | { 213 | GUI.Label(new Rect(Screen.width / 2 - 50, Screen.height - 30, 100, 20), "Deactive Camera Operation"); 214 | } 215 | } 216 | 217 | } -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/CameraMover.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 21dd75fa59da40945a41a0734d59eeec 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | 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-------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VNectBarracudaRunner.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.UI; 3 | using System.Collections; 4 | using System.Collections.Generic; 5 | using Unity.Barracuda; 6 | 7 | /// 8 | /// Define Joint points 9 | /// 10 | public class VNectBarracudaRunner : MonoBehaviour 11 | { 12 | /// 13 | /// Neural network model 14 | /// 15 | /// 16 | public NNModel NNModel; 17 | 18 | public WorkerFactory.Type WorkerType = WorkerFactory.Type.Auto; 19 | public bool Verbose = true; 20 | 21 | public VNectModel VNectModel; 22 | 23 | public VideoCapture videoCapture; 24 | 25 | private Model _model; 26 | private IWorker _worker; 27 | 28 | /// 29 | /// Coordinates of joint points 30 | /// 31 | private VNectModel.JointPoint[] jointPoints; 32 | 33 | /// 34 | /// Number of joint points 35 | /// 36 | private const int JointNum = 24; 37 | 38 | /// 39 | /// input image size 40 | /// 41 | public int InputImageSize; 42 | 43 | /// 44 | /// input image size (half) 45 | /// 46 | private float InputImageSizeHalf; 47 | 48 | /// 49 | /// column number of heatmap 50 | /// 51 | public int HeatMapCol; 52 | private float InputImageSizeF; 53 | 54 | /// 55 | /// Column number of heatmap in 2D image 56 | /// 57 | private int HeatMapCol_Squared; 58 | 59 | /// 60 | /// Column nuber of heatmap in 3D model 61 | /// 62 | private int HeatMapCol_Cube; 63 | private float ImageScale; 64 | 65 | /// 66 | /// Buffer memory has 2D heat map 67 | /// 68 | private float[] heatMap2D; 69 | 70 | /// 71 | /// Buffer memory has offset 2D 72 | /// 73 | private float[] offset2D; 74 | 75 | /// 76 | /// Buffer memory has 3D heat map 77 | /// 78 | private float[] heatMap3D; 79 | 80 | /// 81 | /// Buffer memory hash 3D offset 82 | /// 83 | private float[] offset3D; 84 | private float unit; 85 | 86 | /// 87 | /// Number of joints in 2D image 88 | /// 89 | private int JointNum_Squared = JointNum * 2; 90 | 91 | /// 92 | /// Number of joints in 3D model 93 | /// 94 | private int JointNum_Cube = JointNum * 3; 95 | 96 | /// 97 | /// HeatMapCol * JointNum 98 | /// 99 | private int HeatMapCol_JointNum; 100 | 101 | /// 102 | /// HeatMapCol * JointNum_Squared 103 | /// 104 | private int CubeOffsetLinear; 105 | 106 | /// 107 | /// HeatMapCol * JointNum_Cube 108 | /// 109 | private int CubeOffsetSquared; 110 | 111 | /// 112 | /// For Kalman filter parameter Q 113 | /// 114 | public float KalmanParamQ; 115 | 116 | /// 117 | /// For Kalman filter parameter R 118 | /// 119 | public float KalmanParamR; 120 | 121 | /// 122 | /// Lock to update VNectModel 123 | /// 124 | private bool Lock = true; 125 | 126 | /// 127 | /// Use low pass filter flag 128 | /// 129 | public bool UseLowPassFilter; 130 | 131 | /// 132 | /// For low pass filter 133 | /// 134 | public float LowPassParam; 135 | 136 | //public Text Msg; 137 | public float WaitTimeModelLoad = 10f; 138 | private float Countdown = 0; 139 | public Texture2D InitImg; 140 | 141 | private void Start() 142 | { 143 | // Initialize 144 | HeatMapCol_Squared = HeatMapCol * HeatMapCol; 145 | HeatMapCol_Cube = HeatMapCol * HeatMapCol * HeatMapCol; 146 | HeatMapCol_JointNum = HeatMapCol * JointNum; 147 | CubeOffsetLinear = HeatMapCol * JointNum_Cube; 148 | CubeOffsetSquared = HeatMapCol_Squared * JointNum_Cube; 149 | 150 | heatMap2D = new float[JointNum * HeatMapCol_Squared]; 151 | offset2D = new float[JointNum * HeatMapCol_Squared * 2]; 152 | heatMap3D = new float[JointNum * HeatMapCol_Cube]; 153 | offset3D = new float[JointNum * HeatMapCol_Cube * 3]; 154 | unit = 1f / (float)HeatMapCol; 155 | InputImageSizeF = InputImageSize; 156 | InputImageSizeHalf = InputImageSizeF / 2f; 157 | ImageScale = InputImageSize / (float)HeatMapCol;// 224f / (float)InputImageSize; 158 | 159 | // Disabel sleep 160 | Screen.sleepTimeout = SleepTimeout.NeverSleep; 161 | 162 | // Init model 163 | _model = ModelLoader.Load(NNModel, Verbose); 164 | _worker = WorkerFactory.CreateWorker(WorkerType, _model, Verbose); 165 | 166 | StartCoroutine("WaitLoad"); 167 | 168 | } 169 | 170 | private void Update() 171 | { 172 | if (!Lock) 173 | { 174 | UpdateVNectModel(); 175 | } 176 | /*else 177 | { 178 | if (Input.GetKey(KeyCode.B)) 179 | { 180 | VNectModel = GameObject.FindWithTag("jugadorPlayer").GetComponent(); 181 | StartCoroutine("WaitLoad"); 182 | } 183 | }*/ 184 | } 185 | 186 | private IEnumerator WaitLoad() 187 | { 188 | inputs[inputName_1] = new Tensor(InitImg); 189 | inputs[inputName_2] = new Tensor(InitImg); 190 | inputs[inputName_3] = new Tensor(InitImg); 191 | 192 | // Create input and Execute model 193 | yield return _worker.StartManualSchedule(inputs); 194 | 195 | // Get outputs 196 | for (var i = 2; i < _model.outputs.Count; i++) 197 | { 198 | b_outputs[i] = _worker.PeekOutput(_model.outputs[i]); 199 | } 200 | 201 | // Get data from outputs 202 | offset3D = b_outputs[2].data.Download(b_outputs[2].shape); 203 | heatMap3D = b_outputs[3].data.Download(b_outputs[3].shape); 204 | 205 | // Release outputs 206 | for (var i = 2; i < b_outputs.Length; i++) 207 | { 208 | b_outputs[i].Dispose(); 209 | } 210 | 211 | // Init VNect model 212 | jointPoints = VNectModel.Init(); 213 | 214 | PredictPose(); 215 | 216 | yield return new WaitForSeconds(WaitTimeModelLoad); 217 | 218 | // Init VideoCapture 219 | videoCapture.Init(InputImageSize, InputImageSize); 220 | Lock = false; 221 | //Msg.gameObject.SetActive(false); 222 | } 223 | 224 | private const string inputName_1 = "input.1"; 225 | private const string inputName_2 = "input.4"; 226 | private const string inputName_3 = "input.7"; 227 | /* 228 | private const string inputName_1 = "0"; 229 | private const string inputName_2 = "1"; 230 | private const string inputName_3 = "2"; 231 | */ 232 | 233 | private void UpdateVNectModel() 234 | { 235 | input = new Tensor(videoCapture.MainTexture); 236 | if (inputs[inputName_1] == null) 237 | { 238 | inputs[inputName_1] = input; 239 | inputs[inputName_2] = new Tensor(videoCapture.MainTexture); 240 | inputs[inputName_3] = new Tensor(videoCapture.MainTexture); 241 | } 242 | else 243 | { 244 | inputs[inputName_3].Dispose(); 245 | 246 | inputs[inputName_3] = inputs[inputName_2]; 247 | inputs[inputName_2] = inputs[inputName_1]; 248 | inputs[inputName_1] = input; 249 | } 250 | 251 | StartCoroutine(ExecuteModelAsync()); 252 | } 253 | 254 | /// 255 | /// Tensor has input image 256 | /// 257 | /// 258 | Tensor input = new Tensor(); 259 | Dictionary inputs = new Dictionary() { { inputName_1, null }, { inputName_2, null }, { inputName_3, null }, }; 260 | Tensor[] b_outputs = new Tensor[4]; 261 | 262 | private IEnumerator ExecuteModelAsync() 263 | { 264 | // Create input and Execute model 265 | yield return _worker.StartManualSchedule(inputs); 266 | 267 | // Get outputs 268 | for (var i = 2; i < _model.outputs.Count; i++) 269 | { 270 | b_outputs[i] = _worker.PeekOutput(_model.outputs[i]); 271 | } 272 | 273 | // Get data from outputs 274 | offset3D = b_outputs[2].data.Download(b_outputs[2].shape); 275 | heatMap3D = b_outputs[3].data.Download(b_outputs[3].shape); 276 | 277 | // Release outputs 278 | for (var i = 2; i < b_outputs.Length; i++) 279 | { 280 | b_outputs[i].Dispose(); 281 | } 282 | 283 | PredictPose(); 284 | } 285 | 286 | /// 287 | /// Predict positions of each of joints based on network 288 | /// 289 | private void PredictPose() 290 | { 291 | for (var j = 0; j < JointNum; j++) 292 | { 293 | var maxXIndex = 0; 294 | var maxYIndex = 0; 295 | var maxZIndex = 0; 296 | jointPoints[j].score3D = 0.0f; 297 | var jj = j * HeatMapCol; 298 | for (var z = 0; z < HeatMapCol; z++) 299 | { 300 | var zz = jj + z; 301 | for (var y = 0; y < HeatMapCol; y++) 302 | { 303 | var yy = y * HeatMapCol_Squared * JointNum + zz; 304 | for (var x = 0; x < HeatMapCol; x++) 305 | { 306 | float v = heatMap3D[yy + x * HeatMapCol_JointNum]; 307 | if (v > jointPoints[j].score3D) 308 | { 309 | jointPoints[j].score3D = v; 310 | maxXIndex = x; 311 | maxYIndex = y; 312 | maxZIndex = z; 313 | } 314 | } 315 | } 316 | } 317 | 318 | jointPoints[j].Now3D.x = (offset3D[maxYIndex * CubeOffsetSquared + maxXIndex * CubeOffsetLinear + j * HeatMapCol + maxZIndex] + 0.5f + (float)maxXIndex) * ImageScale - InputImageSizeHalf; 319 | jointPoints[j].Now3D.y = InputImageSizeHalf - (offset3D[maxYIndex * CubeOffsetSquared + maxXIndex * CubeOffsetLinear + (j + JointNum) * HeatMapCol + maxZIndex] + 0.5f + (float)maxYIndex) * ImageScale; 320 | jointPoints[j].Now3D.z = (offset3D[maxYIndex * CubeOffsetSquared + maxXIndex * CubeOffsetLinear + (j + JointNum_Squared) * HeatMapCol + maxZIndex] + 0.5f + (float)(maxZIndex - 14)) * ImageScale; 321 | } 322 | 323 | // Calculate hip location 324 | var lc = (jointPoints[PositionIndex.rThighBend.Int()].Now3D + jointPoints[PositionIndex.lThighBend.Int()].Now3D) / 2f; 325 | jointPoints[PositionIndex.hip.Int()].Now3D = (jointPoints[PositionIndex.abdomenUpper.Int()].Now3D + lc) / 2f; 326 | 327 | // Calculate neck location 328 | jointPoints[PositionIndex.neck.Int()].Now3D = (jointPoints[PositionIndex.rShldrBend.Int()].Now3D + jointPoints[PositionIndex.lShldrBend.Int()].Now3D) / 2f; 329 | 330 | // Calculate head location 331 | var cEar = (jointPoints[PositionIndex.rEar.Int()].Now3D + jointPoints[PositionIndex.lEar.Int()].Now3D) / 2f; 332 | var hv = cEar - jointPoints[PositionIndex.neck.Int()].Now3D; 333 | var nhv = Vector3.Normalize(hv); 334 | var nv = jointPoints[PositionIndex.Nose.Int()].Now3D - jointPoints[PositionIndex.neck.Int()].Now3D; 335 | jointPoints[PositionIndex.head.Int()].Now3D = jointPoints[PositionIndex.neck.Int()].Now3D + nhv * Vector3.Dot(nhv, nv); 336 | 337 | 338 | // Calculate spine location 339 | //jointPoints[PositionIndex.spine.Int()].Now3D = jointPoints[PositionIndex.abdomenUpper.Int()].Now3D; 340 | 341 | // Kalman filter 342 | foreach (var jp in jointPoints) 343 | { 344 | KalmanUpdate(jp); 345 | } 346 | 347 | // Low pass filter 348 | if (UseLowPassFilter) 349 | { 350 | foreach (var jp in jointPoints) 351 | { 352 | jp.PrevPos3D[0] = jp.Pos3D; 353 | for (var i = 1; i < jp.PrevPos3D.Length; i++) 354 | { 355 | jp.PrevPos3D[i] = jp.PrevPos3D[i] * LowPassParam + jp.PrevPos3D[i - 1] * (1f - LowPassParam); 356 | } 357 | jp.Pos3D = jp.PrevPos3D[jp.PrevPos3D.Length - 1]; 358 | } 359 | } 360 | } 361 | 362 | /// 363 | /// Kalman filter 364 | /// 365 | /// joint points 366 | void KalmanUpdate(VNectModel.JointPoint measurement) 367 | { 368 | measurementUpdate(measurement); 369 | measurement.Pos3D.x = measurement.X.x + (measurement.Now3D.x - measurement.X.x) * measurement.K.x; 370 | measurement.Pos3D.y = measurement.X.y + (measurement.Now3D.y - measurement.X.y) * measurement.K.y; 371 | measurement.Pos3D.z = measurement.X.z + (measurement.Now3D.z - measurement.X.z) * measurement.K.z; 372 | measurement.X = measurement.Pos3D; 373 | } 374 | 375 | void measurementUpdate(VNectModel.JointPoint measurement) 376 | { 377 | measurement.K.x = (measurement.P.x + KalmanParamQ) / (measurement.P.x + KalmanParamQ + KalmanParamR); 378 | measurement.K.y = (measurement.P.y + KalmanParamQ) / (measurement.P.y + KalmanParamQ + KalmanParamR); 379 | measurement.K.z = (measurement.P.z + KalmanParamQ) / (measurement.P.z + KalmanParamQ + KalmanParamR); 380 | measurement.P.x = KalmanParamR * (measurement.P.x + KalmanParamQ) / (KalmanParamR + measurement.P.x + KalmanParamQ); 381 | measurement.P.y = KalmanParamR * (measurement.P.y + KalmanParamQ) / (KalmanParamR + measurement.P.y + KalmanParamQ); 382 | measurement.P.z = KalmanParamR * (measurement.P.z + KalmanParamQ) / (KalmanParamR + measurement.P.z + KalmanParamQ); 383 | } 384 | } 385 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VNectBarracudaRunner.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a27889227d895094c8cd75784aa13cc2 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VNectModel.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | /// 6 | /// Position index of joint points 7 | /// 8 | public enum PositionIndex : int 9 | { 10 | rShldrBend = 0, 11 | rForearmBend, 12 | rHand, 13 | rThumb2, 14 | rMid1, 15 | 16 | lShldrBend, 17 | lForearmBend, 18 | lHand, 19 | lThumb2, 20 | lMid1, 21 | 22 | lEar, 23 | lEye, 24 | rEar, 25 | rEye, 26 | Nose, 27 | 28 | rThighBend, 29 | rShin, 30 | rFoot, 31 | rToe, 32 | 33 | lThighBend, 34 | lShin, 35 | lFoot, 36 | lToe, 37 | 38 | abdomenUpper, 39 | 40 | //Calculated coordinates 41 | hip, 42 | head, 43 | neck, 44 | spine, 45 | 46 | Count, 47 | None, 48 | } 49 | 50 | public static partial class EnumExtend 51 | { 52 | public static int Int(this PositionIndex i) 53 | { 54 | return (int)i; 55 | } 56 | } 57 | 58 | public class VNectModel : MonoBehaviour 59 | { 60 | 61 | public class JointPoint 62 | { 63 | public Vector2 Pos2D = new Vector2(); 64 | public float score2D; 65 | 66 | public Vector3 Pos3D = new Vector3(); 67 | public Vector3 Now3D = new Vector3(); 68 | public Vector3[] PrevPos3D = new Vector3[6]; 69 | public float score3D; 70 | 71 | // Bones 72 | public Transform Transform = null; 73 | public Quaternion InitRotation; 74 | public Quaternion Inverse; 75 | public Quaternion InverseRotation; 76 | 77 | public JointPoint Child = null; 78 | public JointPoint Parent = null; 79 | 80 | // For Kalman filter 81 | public Vector3 P = new Vector3(); 82 | public Vector3 X = new Vector3(); 83 | public Vector3 K = new Vector3(); 84 | } 85 | 86 | public class Skeleton 87 | { 88 | public GameObject LineObject; 89 | public LineRenderer Line; 90 | 91 | public JointPoint start = null; 92 | public JointPoint end = null; 93 | } 94 | 95 | private List Skeletons = new List(); 96 | public Material SkeletonMaterial; 97 | 98 | public bool ShowSkeleton; 99 | private bool useSkeleton; 100 | public float SkeletonX; 101 | public float SkeletonY; 102 | public float SkeletonZ; 103 | public float SkeletonScale; 104 | 105 | // Joint position and bone 106 | private JointPoint[] jointPoints; 107 | public JointPoint[] JointPoints { get { return jointPoints; } } 108 | 109 | private Vector3 initPosition; // Initial center position 110 | 111 | private Quaternion InitGazeRotation; 112 | private Quaternion gazeInverse; 113 | 114 | // UnityChan 115 | public GameObject ModelObject; 116 | public GameObject Nose; 117 | private Animator anim; 118 | 119 | // Move in z direction 120 | private float centerTall = 224 * 0.75f; 121 | private float tall = 224 * 0.75f; 122 | private float prevTall = 224 * 0.75f; 123 | public float ZScale = 0.8f; 124 | 125 | private void Update() 126 | { 127 | if (jointPoints != null) 128 | { 129 | PoseUpdate(); 130 | } 131 | } 132 | 133 | /// 134 | /// Initialize joint points 135 | /// 136 | /// 137 | public JointPoint[] Init() 138 | { 139 | jointPoints = new JointPoint[PositionIndex.Count.Int()]; 140 | for (var i = 0; i < PositionIndex.Count.Int(); i++) jointPoints[i] = new JointPoint(); 141 | 142 | anim = ModelObject.GetComponent(); 143 | 144 | // Right Arm 145 | jointPoints[PositionIndex.rShldrBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightUpperArm); 146 | jointPoints[PositionIndex.rForearmBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightLowerArm); 147 | jointPoints[PositionIndex.rHand.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightHand); 148 | jointPoints[PositionIndex.rThumb2.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightThumbIntermediate); 149 | jointPoints[PositionIndex.rMid1.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightMiddleProximal); 150 | // Left Arm 151 | jointPoints[PositionIndex.lShldrBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftUpperArm); 152 | jointPoints[PositionIndex.lForearmBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftLowerArm); 153 | jointPoints[PositionIndex.lHand.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftHand); 154 | jointPoints[PositionIndex.lThumb2.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftThumbIntermediate); 155 | jointPoints[PositionIndex.lMid1.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftMiddleProximal); 156 | 157 | // Face 158 | jointPoints[PositionIndex.lEar.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head); 159 | jointPoints[PositionIndex.lEye.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftEye); 160 | jointPoints[PositionIndex.rEar.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head); 161 | jointPoints[PositionIndex.rEye.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightEye); 162 | jointPoints[PositionIndex.Nose.Int()].Transform = Nose.transform; 163 | 164 | // Right Leg 165 | jointPoints[PositionIndex.rThighBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightUpperLeg); 166 | jointPoints[PositionIndex.rShin.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightLowerLeg); 167 | jointPoints[PositionIndex.rFoot.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightFoot); 168 | jointPoints[PositionIndex.rToe.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.RightToes); 169 | 170 | // Left Leg 171 | jointPoints[PositionIndex.lThighBend.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftUpperLeg); 172 | jointPoints[PositionIndex.lShin.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftLowerLeg); 173 | jointPoints[PositionIndex.lFoot.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftFoot); 174 | jointPoints[PositionIndex.lToe.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.LeftToes); 175 | 176 | // etc 177 | jointPoints[PositionIndex.abdomenUpper.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Spine); 178 | jointPoints[PositionIndex.hip.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Hips); 179 | jointPoints[PositionIndex.head.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Head); 180 | jointPoints[PositionIndex.neck.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Neck); 181 | jointPoints[PositionIndex.spine.Int()].Transform = anim.GetBoneTransform(HumanBodyBones.Spine); 182 | 183 | // Child Settings 184 | // Right Arm 185 | jointPoints[PositionIndex.rShldrBend.Int()].Child = jointPoints[PositionIndex.rForearmBend.Int()]; 186 | jointPoints[PositionIndex.rForearmBend.Int()].Child = jointPoints[PositionIndex.rHand.Int()]; 187 | jointPoints[PositionIndex.rForearmBend.Int()].Parent = jointPoints[PositionIndex.rShldrBend.Int()]; 188 | 189 | // Left Arm 190 | jointPoints[PositionIndex.lShldrBend.Int()].Child = jointPoints[PositionIndex.lForearmBend.Int()]; 191 | jointPoints[PositionIndex.lForearmBend.Int()].Child = jointPoints[PositionIndex.lHand.Int()]; 192 | jointPoints[PositionIndex.lForearmBend.Int()].Parent = jointPoints[PositionIndex.lShldrBend.Int()]; 193 | 194 | // Fase 195 | 196 | // Right Leg 197 | jointPoints[PositionIndex.rThighBend.Int()].Child = jointPoints[PositionIndex.rShin.Int()]; 198 | jointPoints[PositionIndex.rShin.Int()].Child = jointPoints[PositionIndex.rFoot.Int()]; 199 | jointPoints[PositionIndex.rFoot.Int()].Child = jointPoints[PositionIndex.rToe.Int()]; 200 | jointPoints[PositionIndex.rFoot.Int()].Parent = jointPoints[PositionIndex.rShin.Int()]; 201 | 202 | // Left Leg 203 | jointPoints[PositionIndex.lThighBend.Int()].Child = jointPoints[PositionIndex.lShin.Int()]; 204 | jointPoints[PositionIndex.lShin.Int()].Child = jointPoints[PositionIndex.lFoot.Int()]; 205 | jointPoints[PositionIndex.lFoot.Int()].Child = jointPoints[PositionIndex.lToe.Int()]; 206 | jointPoints[PositionIndex.lFoot.Int()].Parent = jointPoints[PositionIndex.lShin.Int()]; 207 | 208 | // etc 209 | jointPoints[PositionIndex.spine.Int()].Child = jointPoints[PositionIndex.neck.Int()]; 210 | jointPoints[PositionIndex.neck.Int()].Child = jointPoints[PositionIndex.head.Int()]; 211 | //jointPoints[PositionIndex.head.Int()].Child = jointPoints[PositionIndex.Nose.Int()]; 212 | 213 | useSkeleton = ShowSkeleton; 214 | if (useSkeleton) 215 | { 216 | 217 | 218 | // Line Child Settings 219 | // Right Arm 220 | AddSkeleton(PositionIndex.rShldrBend, PositionIndex.rForearmBend); 221 | AddSkeleton(PositionIndex.rForearmBend, PositionIndex.rHand); 222 | AddSkeleton(PositionIndex.rHand, PositionIndex.rThumb2); 223 | AddSkeleton(PositionIndex.rHand, PositionIndex.rMid1); 224 | 225 | // Left Arm 226 | AddSkeleton(PositionIndex.lShldrBend, PositionIndex.lForearmBend); 227 | AddSkeleton(PositionIndex.lForearmBend, PositionIndex.lHand); 228 | AddSkeleton(PositionIndex.lHand, PositionIndex.lThumb2); 229 | AddSkeleton(PositionIndex.lHand, PositionIndex.lMid1); 230 | 231 | // Fase 232 | AddSkeleton(PositionIndex.lEar, PositionIndex.Nose); 233 | AddSkeleton(PositionIndex.rEar, PositionIndex.Nose); 234 | 235 | // Right Leg 236 | AddSkeleton(PositionIndex.rThighBend, PositionIndex.rShin); 237 | AddSkeleton(PositionIndex.rShin, PositionIndex.rFoot); 238 | AddSkeleton(PositionIndex.rFoot, PositionIndex.rToe); 239 | 240 | // Left Leg 241 | AddSkeleton(PositionIndex.lThighBend, PositionIndex.lShin); 242 | AddSkeleton(PositionIndex.lShin, PositionIndex.lFoot); 243 | AddSkeleton(PositionIndex.lFoot, PositionIndex.lToe); 244 | 245 | // etc 246 | AddSkeleton(PositionIndex.spine, PositionIndex.neck); 247 | AddSkeleton(PositionIndex.neck, PositionIndex.head); 248 | AddSkeleton(PositionIndex.head, PositionIndex.Nose); 249 | AddSkeleton(PositionIndex.neck, PositionIndex.rShldrBend); 250 | AddSkeleton(PositionIndex.neck, PositionIndex.lShldrBend); 251 | AddSkeleton(PositionIndex.rThighBend, PositionIndex.rShldrBend); 252 | AddSkeleton(PositionIndex.lThighBend, PositionIndex.lShldrBend); 253 | AddSkeleton(PositionIndex.rShldrBend, PositionIndex.abdomenUpper); 254 | AddSkeleton(PositionIndex.lShldrBend, PositionIndex.abdomenUpper); 255 | AddSkeleton(PositionIndex.rThighBend, PositionIndex.abdomenUpper); 256 | AddSkeleton(PositionIndex.lThighBend, PositionIndex.abdomenUpper); 257 | AddSkeleton(PositionIndex.lThighBend, PositionIndex.rThighBend); 258 | } 259 | 260 | // Set Inverse 261 | var forward = TriangleNormal(jointPoints[PositionIndex.hip.Int()].Transform.position, jointPoints[PositionIndex.lThighBend.Int()].Transform.position, jointPoints[PositionIndex.rThighBend.Int()].Transform.position); 262 | foreach (var jointPoint in jointPoints) 263 | { 264 | if (jointPoint.Transform != null) 265 | { 266 | jointPoint.InitRotation = jointPoint.Transform.rotation; 267 | } 268 | 269 | if (jointPoint.Child != null) 270 | { 271 | jointPoint.Inverse = GetInverse(jointPoint, jointPoint.Child, forward); 272 | jointPoint.InverseRotation = jointPoint.Inverse * jointPoint.InitRotation; 273 | } 274 | } 275 | var hip = jointPoints[PositionIndex.hip.Int()]; 276 | initPosition = jointPoints[PositionIndex.hip.Int()].Transform.position; 277 | hip.Inverse = Quaternion.Inverse(Quaternion.LookRotation(forward)); 278 | hip.InverseRotation = hip.Inverse * hip.InitRotation; 279 | 280 | // For Head Rotation 281 | var head = jointPoints[PositionIndex.head.Int()]; 282 | head.InitRotation = jointPoints[PositionIndex.head.Int()].Transform.rotation; 283 | var gaze = jointPoints[PositionIndex.Nose.Int()].Transform.position - jointPoints[PositionIndex.head.Int()].Transform.position; 284 | head.Inverse = Quaternion.Inverse(Quaternion.LookRotation(gaze)); 285 | head.InverseRotation = head.Inverse * head.InitRotation; 286 | 287 | var lHand = jointPoints[PositionIndex.lHand.Int()]; 288 | var lf = TriangleNormal(lHand.Pos3D, jointPoints[PositionIndex.lMid1.Int()].Pos3D, jointPoints[PositionIndex.lThumb2.Int()].Pos3D); 289 | lHand.InitRotation = lHand.Transform.rotation; 290 | lHand.Inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.lThumb2.Int()].Transform.position - jointPoints[PositionIndex.lMid1.Int()].Transform.position, lf)); 291 | lHand.InverseRotation = lHand.Inverse * lHand.InitRotation; 292 | 293 | var rHand = jointPoints[PositionIndex.rHand.Int()]; 294 | var rf = TriangleNormal(rHand.Pos3D, jointPoints[PositionIndex.rThumb2.Int()].Pos3D, jointPoints[PositionIndex.rMid1.Int()].Pos3D); 295 | rHand.InitRotation = jointPoints[PositionIndex.rHand.Int()].Transform.rotation; 296 | rHand.Inverse = Quaternion.Inverse(Quaternion.LookRotation(jointPoints[PositionIndex.rThumb2.Int()].Transform.position - jointPoints[PositionIndex.rMid1.Int()].Transform.position, rf)); 297 | rHand.InverseRotation = rHand.Inverse * rHand.InitRotation; 298 | 299 | jointPoints[PositionIndex.hip.Int()].score3D = 1f; 300 | jointPoints[PositionIndex.neck.Int()].score3D = 1f; 301 | jointPoints[PositionIndex.Nose.Int()].score3D = 1f; 302 | jointPoints[PositionIndex.head.Int()].score3D = 1f; 303 | jointPoints[PositionIndex.spine.Int()].score3D = 1f; 304 | 305 | 306 | return JointPoints; 307 | } 308 | 309 | public void PoseUpdate() 310 | { 311 | // caliculate movement range of z-coordinate from height 312 | var t1 = Vector3.Distance(jointPoints[PositionIndex.head.Int()].Pos3D, jointPoints[PositionIndex.neck.Int()].Pos3D); 313 | var t2 = Vector3.Distance(jointPoints[PositionIndex.neck.Int()].Pos3D, jointPoints[PositionIndex.spine.Int()].Pos3D); 314 | var pm = (jointPoints[PositionIndex.rThighBend.Int()].Pos3D + jointPoints[PositionIndex.lThighBend.Int()].Pos3D) / 2f; 315 | var t3 = Vector3.Distance(jointPoints[PositionIndex.spine.Int()].Pos3D, pm); 316 | var t4r = Vector3.Distance(jointPoints[PositionIndex.rThighBend.Int()].Pos3D, jointPoints[PositionIndex.rShin.Int()].Pos3D); 317 | var t4l = Vector3.Distance(jointPoints[PositionIndex.lThighBend.Int()].Pos3D, jointPoints[PositionIndex.lShin.Int()].Pos3D); 318 | var t4 = (t4r + t4l) / 2f; 319 | var t5r = Vector3.Distance(jointPoints[PositionIndex.rShin.Int()].Pos3D, jointPoints[PositionIndex.rFoot.Int()].Pos3D); 320 | var t5l = Vector3.Distance(jointPoints[PositionIndex.lShin.Int()].Pos3D, jointPoints[PositionIndex.lFoot.Int()].Pos3D); 321 | var t5 = (t5r + t5l) / 2f; 322 | var t = t1 + t2 + t3 + t4 + t5; 323 | 324 | 325 | // Low pass filter in z direction 326 | tall = t * 0.7f + prevTall * 0.3f; 327 | prevTall = tall; 328 | 329 | if (tall == 0) 330 | { 331 | tall = centerTall; 332 | } 333 | var dz = (centerTall - tall) / centerTall * ZScale; 334 | 335 | // movement and rotatation of center 336 | var forward = TriangleNormal(jointPoints[PositionIndex.hip.Int()].Pos3D, jointPoints[PositionIndex.lThighBend.Int()].Pos3D, jointPoints[PositionIndex.rThighBend.Int()].Pos3D); 337 | jointPoints[PositionIndex.hip.Int()].Transform.position = jointPoints[PositionIndex.hip.Int()].Pos3D * 0.005f + new Vector3(initPosition.x, initPosition.y, initPosition.z + dz); 338 | jointPoints[PositionIndex.hip.Int()].Transform.rotation = Quaternion.LookRotation(forward) * jointPoints[PositionIndex.hip.Int()].InverseRotation; 339 | 340 | // rotate each of bones 341 | foreach (var jointPoint in jointPoints) 342 | { 343 | if (jointPoint.Parent != null) 344 | { 345 | var fv = jointPoint.Parent.Pos3D - jointPoint.Pos3D; 346 | jointPoint.Transform.rotation = Quaternion.LookRotation(jointPoint.Pos3D - jointPoint.Child.Pos3D, fv) * jointPoint.InverseRotation; 347 | } 348 | else if (jointPoint.Child != null) 349 | { 350 | jointPoint.Transform.rotation = Quaternion.LookRotation(jointPoint.Pos3D - jointPoint.Child.Pos3D, forward) * jointPoint.InverseRotation; 351 | } 352 | } 353 | 354 | // Head Rotation 355 | var gaze = jointPoints[PositionIndex.Nose.Int()].Pos3D - jointPoints[PositionIndex.head.Int()].Pos3D; 356 | var f = TriangleNormal(jointPoints[PositionIndex.Nose.Int()].Pos3D, jointPoints[PositionIndex.rEar.Int()].Pos3D, jointPoints[PositionIndex.lEar.Int()].Pos3D); 357 | var head = jointPoints[PositionIndex.head.Int()]; 358 | head.Transform.rotation = Quaternion.LookRotation(gaze, f) * head.InverseRotation; 359 | 360 | 361 | 362 | // Wrist rotation (Test code) 363 | var lHand = jointPoints[PositionIndex.lHand.Int()]; 364 | var lf = TriangleNormal(lHand.Pos3D, jointPoints[PositionIndex.lMid1.Int()].Pos3D, jointPoints[PositionIndex.lThumb2.Int()].Pos3D); 365 | lHand.Transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.lThumb2.Int()].Pos3D - jointPoints[PositionIndex.lMid1.Int()].Pos3D, lf) * lHand.InverseRotation; 366 | 367 | var rHand = jointPoints[PositionIndex.rHand.Int()]; 368 | var rf = TriangleNormal(rHand.Pos3D, jointPoints[PositionIndex.rThumb2.Int()].Pos3D, jointPoints[PositionIndex.rMid1.Int()].Pos3D); 369 | //rHand.Transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.rThumb2.Int()].Pos3D - jointPoints[PositionIndex.rMid1.Int()].Pos3D, rf) * rHand.InverseRotation; 370 | rHand.Transform.rotation = Quaternion.LookRotation(jointPoints[PositionIndex.rThumb2.Int()].Pos3D - jointPoints[PositionIndex.rMid1.Int()].Pos3D, rf) * rHand.InverseRotation; 371 | 372 | foreach (var sk in Skeletons) 373 | { 374 | var s = sk.start; 375 | var e = sk.end; 376 | 377 | sk.Line.SetPosition(0, new Vector3(s.Pos3D.x * SkeletonScale + SkeletonX, s.Pos3D.y * SkeletonScale + SkeletonY, s.Pos3D.z * SkeletonScale + SkeletonZ)); 378 | sk.Line.SetPosition(1, new Vector3(e.Pos3D.x * SkeletonScale + SkeletonX, e.Pos3D.y * SkeletonScale + SkeletonY, e.Pos3D.z * SkeletonScale + SkeletonZ)); 379 | } 380 | } 381 | 382 | Vector3 TriangleNormal(Vector3 a, Vector3 b, Vector3 c) 383 | { 384 | Vector3 d1 = a - b; 385 | Vector3 d2 = a - c; 386 | 387 | Vector3 dd = Vector3.Cross(d1, d2); 388 | dd.Normalize(); 389 | 390 | return dd; 391 | } 392 | 393 | private Quaternion GetInverse(JointPoint p1, JointPoint p2, Vector3 forward) 394 | { 395 | return Quaternion.Inverse(Quaternion.LookRotation(p1.Transform.position - p2.Transform.position, forward)); 396 | } 397 | 398 | /// 399 | /// Add skelton from joint points 400 | /// 401 | /// position index 402 | /// position index 403 | private void AddSkeleton(PositionIndex s, PositionIndex e) 404 | { 405 | var sk = new Skeleton() 406 | { 407 | LineObject = new GameObject("Line"), 408 | start = jointPoints[s.Int()], 409 | end = jointPoints[e.Int()], 410 | }; 411 | 412 | sk.Line = sk.LineObject.AddComponent(); 413 | sk.Line.startWidth = 0.04f; 414 | sk.Line.endWidth = 0.01f; 415 | 416 | // define the number of vertex 417 | sk.Line.positionCount = 2; 418 | sk.Line.material = SkeletonMaterial; 419 | 420 | Skeletons.Add(sk); 421 | } 422 | } 423 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VNectModel.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3558338e378282c4a91d1a3356b57301 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VideoCapture.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using UnityEngine.UI; 3 | using UnityEngine.Video; 4 | 5 | public class VideoCapture : MonoBehaviour 6 | { 7 | //public GameObject InputTexture; 8 | //public RawImage VideoScreen; 9 | public GameObject VideoBackground; 10 | public float VideoBackgroundScale; 11 | public LayerMask _layer; 12 | public bool UseWebCam = true; 13 | public int WebCamIndex = 0; 14 | public VideoPlayer VideoPlayer; 15 | 16 | private WebCamTexture webCamTexture; 17 | private RenderTexture videoTexture; 18 | 19 | private int videoScreenWidth = 2560; 20 | private int bgWidth, bgHeight; 21 | 22 | public RenderTexture MainTexture { get; private set; } 23 | 24 | /// 25 | /// Initialize Camera 26 | /// 27 | /// 28 | /// 29 | public void Init(int bgWidth, int bgHeight) 30 | { 31 | this.bgWidth = bgWidth; 32 | this.bgHeight = bgHeight; 33 | 34 | //aca inicia y arranca y se determina si usar camara web o video 35 | if (UseWebCam) CameraPlayStart(); 36 | else VideoPlayStart(); 37 | } 38 | 39 | /// 40 | /// Play Web Camera 41 | /// 42 | public void CameraPlayStart() 43 | { 44 | WebCamDevice[] devices = WebCamTexture.devices; 45 | if(devices.Length <= WebCamIndex) 46 | { 47 | WebCamIndex = 0; 48 | } 49 | 50 | webCamTexture = new WebCamTexture(devices[WebCamIndex].name); 51 | 52 | //var sd = VideoScreen.GetComponent(); 53 | //VideoScreen.texture = webCamTexture; 54 | 55 | webCamTexture.Play(); 56 | 57 | //sd.sizeDelta = new Vector2(videoScreenWidth, videoScreenWidth * webCamTexture.height / webCamTexture.width); 58 | var aspect = (float)webCamTexture.width / webCamTexture.height; 59 | VideoBackground.transform.localScale = new Vector3(aspect, 1, 1) * VideoBackgroundScale; 60 | VideoBackground.GetComponent().material.mainTexture = webCamTexture; 61 | 62 | InitMainTexture(); 63 | } 64 | 65 | /// 66 | /// Play video 67 | /// 68 | public void VideoPlayStart() 69 | { 70 | videoTexture = new RenderTexture((int)VideoPlayer.clip.width, (int)VideoPlayer.clip.height, 24); 71 | 72 | VideoPlayer.renderMode = VideoRenderMode.RenderTexture; 73 | VideoPlayer.targetTexture = videoTexture; 74 | 75 | //var sd = VideoScreen.GetComponent(); 76 | //sd.sizeDelta = new Vector2(videoScreenWidth, (int)(videoScreenWidth * VideoPlayer.clip.height / VideoPlayer.clip.width)); 77 | //VideoScreen.texture = videoTexture; 78 | 79 | VideoPlayer.Play(); 80 | 81 | var aspect = (float)videoTexture.width / videoTexture.height; 82 | 83 | VideoBackground.transform.localScale = new Vector3(aspect, 1, 1) * VideoBackgroundScale; 84 | VideoBackground.GetComponent().material.mainTexture = videoTexture; 85 | 86 | InitMainTexture(); 87 | } 88 | 89 | /// 90 | /// Initialize Main Texture 91 | /// 92 | private void InitMainTexture() 93 | { 94 | GameObject go = new GameObject("MainTextureCamera", typeof(Camera)); 95 | 96 | go.transform.parent = VideoBackground.transform; 97 | go.transform.localScale = new Vector3(-1.0f, -1.0f, 1.0f); 98 | go.transform.localPosition = new Vector3(0.0f, 0.0f, -2.0f); 99 | go.transform.localEulerAngles = Vector3.zero; 100 | go.layer = _layer; 101 | 102 | var camera = go.GetComponent(); 103 | camera.orthographic = true; 104 | camera.orthographicSize = 0.5f ; 105 | camera.depth = -5; 106 | camera.depthTextureMode = 0; 107 | camera.clearFlags = CameraClearFlags.Color; 108 | camera.backgroundColor = Color.black; 109 | camera.cullingMask = _layer; 110 | camera.useOcclusionCulling = false; 111 | camera.nearClipPlane = 1.0f; 112 | camera.farClipPlane = 5.0f; 113 | camera.allowMSAA = false; 114 | camera.allowHDR = false; 115 | 116 | MainTexture = new RenderTexture(bgWidth, bgHeight, 0, RenderTextureFormat.RGB565, RenderTextureReadWrite.sRGB) 117 | { 118 | useMipMap = false, 119 | autoGenerateMips = false, 120 | wrapMode = TextureWrapMode.Clamp, 121 | filterMode = FilterMode.Point, 122 | }; 123 | 124 | camera.targetTexture = MainTexture; 125 | //if (InputTexture.activeSelf) InputTexture.GetComponent().material.mainTexture = MainTexture; 126 | } 127 | } 128 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/VideoCapture.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b0015fead31b30e44a6ac6586bfda03c 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/Assets/Scripts/info.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.UI; 5 | 6 | public class info : MonoBehaviour 7 | { 8 | public Text dato; 9 | 10 | public GameObject ob; 11 | 12 | 13 | // Update is called once per frame 14 | void Update() 15 | { 16 | float X = ob.transform.rotation.x; 17 | float Y = ob.transform.rotation.y; 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GlobalSection(SolutionProperties) = preSolution 36 | HideSolutionNode = FALSE 37 | EndGlobalSection 38 | EndGlobal 39 | -------------------------------------------------------------------------------- /BarracudaBodyTracking/MirrorSingularity.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 15 4 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Assembly-CSharp-firstpass", "Assembly-CSharp-firstpass.csproj", "{13B31722-FF98-8AA3-C561-C374104EE6C0}" 5 | EndProject 6 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Mirror", "Mirror.csproj", "{3735A7B0-D731-5D4F-51B3-58727343AF4F}" 7 | EndProject 8 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Telepathy", "Telepathy.csproj", "{B22E43BB-E02C-AC08-2970-83EEB9E81084}" 9 | EndProject 10 | Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Mirror.Websocket", "Mirror.Websocket.csproj", 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proyect is a system body tracking using Machine Learning in Unity through Barracuda to move avatar 3d model 3 | 4 | 5 | This proyect is a system body tracking using Machine Learning in Unity 6 | through Barracuda, using a training model (https://digital-standard.com/threedpose/models/Resnet34_3inputs_448x448_20200609.onnx) in ONX to recognice the body from a video or webcam to transfer the joint position to a model 3d. 7 | 8 | This project is based on the "ThreeDPoseUnityBarracuda”, developed by Hinori (https://github.com/digital-standard/ThreeDPoseUnityBarracuda). 9 | 10 | 11 | This is the new tutorial with unity package to Unity: 12 | [https://youtu.be/p-ZyqOd9Wqs](https://youtu.be/Mpp3H5bqb_c) 13 | 14 | This is the steps for Unity 2019 15 | In this project you can add easly a 3d model, following the next steps: 16 | 17 | 1. Download file .onnx model: https://drive.google.com/file/d/1yviZ3Mze8MNf2TYpYA12_p66YOzfkmvY/view?usp=sharing 18 | 2. Copy the file .onnx on folder: BarracudaBodyTracking\Assets\Scripts\Model 19 | 3. Open SampleScene from Scenes folder 20 | 4. Put the .onnx file into NNModel checkbox, ininspector of BarracudaRunner Component of the herarchy (https://drive.google.com/drive/folders/1CG-R0I8QfW8EGsgMyWn7Yk1pwOeK2DR9?usp=share_link) 21 | 5. Unity -> Play 22 | 23 | If you like to change model 3d Avatar you need: 24 | 1. Add 3d model with rigging (bones for al the body include hands finger bones) in Unity project. 25 | 2. Modify the features of the rigging, using the tool Rig/Configure of Unity. 26 | 3. The bones are automatically associated with the components of the 3d model. 27 | 4. Put the 3d model on the scene and add the script VNectModel to the 3d model. 28 | 5. On BarracudaRunner Object in inspector select the new 3d model on VNectModel section. 29 | -------------------------------------------------------------------------------- /Screenshot_1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/camiloNemocon/MachineLearningBodyTrackingUnity/683564ba6d3423358160c2ef2e681e7dc009c0c7/Screenshot_1.jpg --------------------------------------------------------------------------------