2020-1-capstone-design1 / LSK_Project1

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고다경
415a8f34 1 parent b9ac02dd

Rule-Based 각도 계산

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using UnityEngine;
using UnityEngine.UI;
using System.Collections;
using System.Collections.Generic;
using Kinect = Windows.Kinect;
using System.IO;
using System;
public class BodySourceView : MonoBehaviour
{
public Material BoneMaterial;
public Material xbot;
public GameObject BodySourceManager;
private Dictionary<ulong, GameObject> _Bodies = new Dictionary<ulong, GameObject>();
private BodySourceManager _BodyManager;
public Text IfSpineIsStraight;
public Text HipBalance;
public Text AngleLeftKnee;
public Text AngleRightKnee;
public Text KneeToeLeft;
public Text KneeToeRight;
public Text LeftLegUp;
public Text RightLegUp;
string hipbal, leftkneewarning, rightkneewarning, leftsidehighkick, rightsidehighkick;
private Dictionary<Kinect.JointType, Kinect.JointType> _BoneMap = new Dictionary<Kinect.JointType, Kinect.JointType>()
{
{ Kinect.JointType.FootLeft, Kinect.JointType.AnkleLeft },
{ Kinect.JointType.AnkleLeft, Kinect.JointType.KneeLeft },
{ Kinect.JointType.KneeLeft, Kinect.JointType.HipLeft },
{ Kinect.JointType.HipLeft, Kinect.JointType.SpineBase },
{ Kinect.JointType.FootRight, Kinect.JointType.AnkleRight },
{ Kinect.JointType.AnkleRight, Kinect.JointType.KneeRight },
{ Kinect.JointType.KneeRight, Kinect.JointType.HipRight },
{ Kinect.JointType.HipRight, Kinect.JointType.SpineBase },
{ Kinect.JointType.HandTipLeft, Kinect.JointType.HandLeft },
{ Kinect.JointType.ThumbLeft, Kinect.JointType.HandLeft },
{ Kinect.JointType.HandLeft, Kinect.JointType.WristLeft },
{ Kinect.JointType.WristLeft, Kinect.JointType.ElbowLeft },
{ Kinect.JointType.ElbowLeft, Kinect.JointType.ShoulderLeft },
{ Kinect.JointType.ShoulderLeft, Kinect.JointType.SpineShoulder },
{ Kinect.JointType.HandTipRight, Kinect.JointType.HandRight },
{ Kinect.JointType.ThumbRight, Kinect.JointType.HandRight },
{ Kinect.JointType.HandRight, Kinect.JointType.WristRight },
{ Kinect.JointType.WristRight, Kinect.JointType.ElbowRight },
{ Kinect.JointType.ElbowRight, Kinect.JointType.ShoulderRight },
{ Kinect.JointType.ShoulderRight, Kinect.JointType.SpineShoulder },
{ Kinect.JointType.SpineBase, Kinect.JointType.SpineMid },
{ Kinect.JointType.SpineMid, Kinect.JointType.SpineShoulder },
{ Kinect.JointType.SpineShoulder, Kinect.JointType.Neck },
{ Kinect.JointType.Neck, Kinect.JointType.Head },
};
void Update()
{
IfSpineIsStraight.text = "허리를 곧게: Tracking";
HipBalance.text = "양쪽 힙 균형: Calculating";
AngleLeftKnee.text = "왼쪽 무릎 각도: Tracking";
AngleRightKnee.text = "오른쪽 무릎 각도: Tracking";
KneeToeLeft.text = "왼쪽 무릎과 발끝: Tracking";
KneeToeRight.text = "오른쪽 무릎과 발끝: Tracking";
LeftLegUp.text = "왼쪽 다리 들어올린 각도: Tracking";
RightLegUp.text = "오른쪽 다리 들어올린 각도: Tracking";
if (BodySourceManager == null)
{
return;
}
_BodyManager = BodySourceManager.GetComponent<BodySourceManager>();
if (_BodyManager == null)
{
return;
}
Kinect.Body[] data = _BodyManager.GetData();
if (data == null)
{
return;
}
List<ulong> trackedIds = new List<ulong>();
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
trackedIds.Add(body.TrackingId);
}
}
List<ulong> knownIds = new List<ulong>(_Bodies.Keys);
// First delete untracked bodies
foreach (ulong trackingId in knownIds)
{
if (!trackedIds.Contains(trackingId))
{
Destroy(_Bodies[trackingId]);
_Bodies.Remove(trackingId);
}
}
foreach (var body in data)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
if (!_Bodies.ContainsKey(body.TrackingId))
{
_Bodies[body.TrackingId] = CreateBodyObject(body.TrackingId);
}
RefreshBodyObject(body, _Bodies[body.TrackingId]);
}
}
}
private GameObject CreateBodyObject(ulong id)
{
GameObject body = new GameObject("Body:" + id);
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
{
GameObject jointObj = GameObject.CreatePrimitive(PrimitiveType.Cube);
LineRenderer lr = jointObj.AddComponent<LineRenderer>();
lr.SetVertexCount(2);
lr.material = BoneMaterial;
//////////////////
//lr.material = xbot;
/////////////////
lr.SetWidth(0.05f, 0.05f);
jointObj.transform.localScale = new Vector3(0.3f, 0.3f, 0.3f);
jointObj.name = jt.ToString();
jointObj.transform.parent = body.transform;
}
return body;
}
int num = 0;
string str = "";
private void RefreshBodyObject(Kinect.Body body, GameObject bodyObject)
{
//StreamWriter sw = new StreamWriter(new FileStream("a.txt", FileMode.Create));
// sw.WriteLine("Hello");
//sw.Close();
// Debug.Log("바디트래킹됨=================" + num++);
//NewBehaviourScript.test();
// str += "바디트래킹됨=================" + num++ + "\n";
for (Kinect.JointType jt = Kinect.JointType.SpineBase; jt <= Kinect.JointType.ThumbRight; jt++)
{
Kinect.Joint sourceJoint = body.Joints[jt];
Kinect.Joint? targetJoint = null;
///////////////////////////
Angles MyAngles = new Angles();
byte[] ReadAngles = MyAngles.GetVector(body);
// ReadAngles[0].ToString();
//Debug.Log("HipLeft " + ReadAngles[1].ToString());
//Debug.Log("HipRight " + ReadAngles[2].ToString());
//Debug.Log("KneeLeft " + ReadAngles[3].ToString());
//Debug.Log("KneeRight " + ReadAngles[4].ToString());
if (ReadAngles[1] - ReadAngles[2] <= 5)
{
hipbal = "양쪽 균형이 잡혀있습니다.";
}
else {
hipbal = "양쪽 힘이 동일하지 않습니다. 균형을 잡으세요";
}
if (ReadAngles[5] > 90)
{
leftkneewarning = "왼쪽 무릎이 발끝을 넘어갔습니다.";
}
else {
leftkneewarning = "";
}
if (ReadAngles[6] > 90)
{
rightkneewarning = "오른쪽 무릎이 발끝을 넘어갔습니다.";
}
else
{
rightkneewarning = "";
}
if (ReadAngles[7] < 45)
{
leftsidehighkick = "왼쪽 다리를 좀 더 높이 들어올리세요";
}
else {
leftsidehighkick = "";
}
if (ReadAngles[8] < 45)
{
rightsidehighkick = "오른쪽 다리를 좀 더 높이 들어올리세요";
}
else
{
rightsidehighkick = "";
}
IfSpineIsStraight.text = "허리를 곧게: " + ReadAngles[0].ToString();
HipBalance.text = "양쪽 힙 균형: " + hipbal;
AngleLeftKnee.text = "왼쪽 무릎 각도: " + ReadAngles[3].ToString();
AngleRightKnee.text = "오른쪽 무릎 각도: " + ReadAngles[4].ToString();
KneeToeLeft.text = "올바르지 않은 자세: " + leftkneewarning;
KneeToeRight.text = "올바르지 않은 자세: " + rightkneewarning;
LeftLegUp.text = "왼쪽 다리 운동중: " + leftsidehighkick;
RightLegUp.text = "오른쪽 다리 운동중: " + rightsidehighkick;
///////////////////////////
Debug.Log(body.Joints[Kinect.JointType.SpineBase].Position.X);
if (body.Joints[jt].JointType.ToString() == "SpineBase")
{
Debug.Log(sourceJoint.Position.X);
//str += sourceJoint.Position.X;
//str += "\n";
Debug.Log(sourceJoint.Position.Y);
//str += sourceJoint.Position.Y;
//str += "\n";
Debug.Log(sourceJoint.Position.Z);
}
//str += body.Joints[jt].JointType;
//str += "\n";
//str += sourceJoint.Position.Z;
//str += "\n";
//Debug.Log("<<<<<<<<<<<<<<<<<");
// str += "<<<<<<<<<<<<<<<<<<<\n";
if (_BoneMap.ContainsKey(jt))
{
targetJoint = body.Joints[_BoneMap[jt]];
}
Transform jointObj = bodyObject.transform.Find(jt.ToString());
jointObj.localPosition = GetVector3FromJoint(sourceJoint);
LineRenderer lr = jointObj.GetComponent<LineRenderer>();
if (targetJoint.HasValue)
{
lr.SetPosition(0, jointObj.localPosition);
lr.SetPosition(1, GetVector3FromJoint(targetJoint.Value));
lr.SetColors(GetColorForState(sourceJoint.TrackingState), GetColorForState(targetJoint.Value.TrackingState));
}
else
{
lr.enabled = false;
}
}
}
private static Color GetColorForState(Kinect.TrackingState state)
{
switch (state)
{
case Kinect.TrackingState.Tracked:
return Color.green;
case Kinect.TrackingState.Inferred:
return Color.red;
default:
return Color.black;
}
}
private static Vector3 GetVector3FromJoint(Kinect.Joint joint)
{
return new Vector3(joint.Position.X * 10, joint.Position.Y * 10, joint.Position.Z * 10);
}
public class Angles
{
public double AngleBetweenTwoVectors(Vector3 Va, Vector3 Vb)
{
double dotProduct;
Va.Normalize();
Vb.Normalize();
dotProduct = Vector3.Dot(Va, Vb);
return (double)Math.Acos(dotProduct) * (180/ Math.PI);
}
public byte[] GetVector(Kinect.Body body)
{
Vector3 SpineShoulder = new Vector3(body.Joints[Kinect.JointType.SpineShoulder].Position.X, body.Joints[Kinect.JointType.SpineShoulder].Position.Y, body.Joints[Kinect.JointType.SpineShoulder].Position.Z);
Vector3 RightShoulder = new Vector3(body.Joints[Kinect.JointType.ShoulderRight].Position.X, body.Joints[Kinect.JointType.ShoulderRight].Position.Y, body.Joints[Kinect.JointType.ShoulderRight].Position.Z);
Vector3 LeftShoulder = new Vector3(body.Joints[Kinect.JointType.ShoulderLeft].Position.X, body.Joints[Kinect.JointType.ShoulderLeft].Position.Y, body.Joints[Kinect.JointType.ShoulderLeft].Position.Z);
Vector3 RightElbow = new Vector3(body.Joints[Kinect.JointType.ElbowRight].Position.X, body.Joints[Kinect.JointType.ElbowRight].Position.Y, body.Joints[Kinect.JointType.ElbowRight].Position.Z);
Vector3 LeftElbow = new Vector3(body.Joints[Kinect.JointType.ElbowLeft].Position.X, body.Joints[Kinect.JointType.ElbowLeft].Position.Y, body.Joints[Kinect.JointType.ElbowLeft].Position.Z);
Vector3 RightWrist = new Vector3(body.Joints[Kinect.JointType.WristRight].Position.X, body.Joints[Kinect.JointType.WristRight].Position.Y, body.Joints[Kinect.JointType.WristRight].Position.Z);
Vector3 LeftWrist = new Vector3(body.Joints[Kinect.JointType.WristLeft].Position.X, body.Joints[Kinect.JointType.WristLeft].Position.Y, body.Joints[Kinect.JointType.WristLeft].Position.Z);
Vector3 UpVector = new Vector3((float)0.0, (float)1.0, (float)0.0);
//////////////////////////////////////
Vector3 SpineMid = new Vector3(body.Joints[Kinect.JointType.SpineMid].Position.X, body.Joints[Kinect.JointType.SpineMid].Position.Y, body.Joints[Kinect.JointType.SpineMid].Position.Z);
Vector3 SpineBase = new Vector3(body.Joints[Kinect.JointType.SpineBase].Position.X, body.Joints[Kinect.JointType.SpineBase].Position.Y, body.Joints[Kinect.JointType.SpineBase].Position.Z);
Vector3 HipLeft = new Vector3(body.Joints[Kinect.JointType.HipLeft].Position.X, body.Joints[Kinect.JointType.HipLeft].Position.Y, body.Joints[Kinect.JointType.HipLeft].Position.Z);
Vector3 KneeLeft = new Vector3(body.Joints[Kinect.JointType.KneeLeft].Position.X, body.Joints[Kinect.JointType.KneeLeft].Position.Y, body.Joints[Kinect.JointType.KneeLeft].Position.Z);
Vector3 AnkleLeft = new Vector3(body.Joints[Kinect.JointType.AnkleLeft].Position.X, body.Joints[Kinect.JointType.AnkleLeft].Position.Y, body.Joints[Kinect.JointType.AnkleLeft].Position.Z);
Vector3 HipRight = new Vector3(body.Joints[Kinect.JointType.HipRight].Position.X, body.Joints[Kinect.JointType.HipRight].Position.Y, body.Joints[Kinect.JointType.HipRight].Position.Z);
Vector3 KneeRight = new Vector3(body.Joints[Kinect.JointType.KneeRight].Position.X, body.Joints[Kinect.JointType.KneeRight].Position.Y, body.Joints[Kinect.JointType.KneeRight].Position.Z);
Vector3 AnkleRight = new Vector3(body.Joints[Kinect.JointType.AnkleRight].Position.X, body.Joints[Kinect.JointType.AnkleRight].Position.Y, body.Joints[Kinect.JointType.AnkleRight].Position.Z);
Vector3 FootRight = new Vector3(body.Joints[Kinect.JointType.FootRight].Position.X, body.Joints[Kinect.JointType.FootRight].Position.Y, body.Joints[Kinect.JointType.FootRight].Position.Z);
Vector3 FootLeft = new Vector3(body.Joints[Kinect.JointType.FootLeft].Position.X, body.Joints[Kinect.JointType.FootLeft].Position.Y, body.Joints[Kinect.JointType.FootLeft].Position.Z);
/*
double AngleRightElbow = AngleBetweenTwoVectors(RightElbow - RightShoulder, RightElbow - RightWrist);
double AngleRightShoulder = AngleBetweenTwoVectors(UpVector, RightShoulder - RightElbow);
double AngleLeftElbow = AngleBetweenTwoVectors(LeftElbow - LeftShoulder, LeftElbow - LeftWrist);
double AngleLeftShoulder = AngleBetweenTwoVectors(UpVector, LeftShoulder - LeftElbow);
*/
double StraightSpine = AngleBetweenTwoVectors(SpineShoulder - SpineMid, SpineBase - SpineMid); //스쿼트, 런지 - Joint 3개로도 가능
double AngleLeftHip = AngleBetweenTwoVectors(SpineBase - SpineShoulder, HipLeft - KneeLeft); //스쿼트, 런지
double AngleRightHip = AngleBetweenTwoVectors(SpineBase - SpineShoulder, HipRight - KneeRight); //스쿼트, 런지
double AngleLeftKnee = AngleBetweenTwoVectors(KneeLeft - HipLeft, KneeLeft - AnkleLeft); //스쿼트, 런지, 사이드하이킥 - Joint 3개로도 가능
double AngleRightKnee = AngleBetweenTwoVectors(KneeRight - HipRight, KneeRight - AnkleRight); //스쿼트, 런지, 사이드하이킥 - Joint 3개로도 가능
double KneeToeLeft = AngleBetweenTwoVectors(AnkleLeft - FootLeft, KneeLeft - FootLeft); //스쿼트 - Joint 3개로도 가능
double KneeToeRight = AngleBetweenTwoVectors(AnkleRight - FootRight, KneeRight - FootRight); //스쿼트 - Joint 3개로도 가능
double LeftLegUp = AngleBetweenTwoVectors(SpineMid - SpineShoulder, KneeLeft - HipLeft); //사이드 하이킥
double RightLegUp = AngleBetweenTwoVectors(SpineMid - SpineShoulder, KneeRight - HipRight); //사이드 하이킥
byte[] Angles = { Convert.ToByte(StraightSpine),
Convert.ToByte(AngleLeftHip), Convert.ToByte(AngleRightHip),
Convert.ToByte(AngleLeftKnee), Convert.ToByte(AngleRightKnee),
Convert.ToByte(KneeToeLeft), Convert.ToByte(KneeToeRight),
Convert.ToByte(LeftLegUp), Convert.ToByte(RightLegUp)};
return Angles;
}
}
}