ARKit Body 使用 Xamarin 和 C# 进行跟踪不准确

Question

我正在尝试将一些 Swift 示例（例如这个 https://github.com/iamfine/ARSkeleton）翻译成 C#，展示如何使用 ARKit Body 跟踪。

但我似乎无法将关节节点正确定位在相应的关节上。它们跟随我的body移动，但节点的位置似乎不正确。

任何熟悉 ARKit Body 跟踪的人都可以看到我做错了什么吗？

谢谢

using ARKit;
using Foundation;
using OpenTK;
using SceneKit;
using System;
using System.Collections.Generic;
using UIKit;

namespace XamarinArkitSample
{
    public partial class BodyDetectionViewController : UIViewController
    {
        private readonly ARSCNView sceneView;

        public BodyDetectionViewController()
        {
            this.sceneView = new ARSCNView
            {
                AutoenablesDefaultLighting = true,
                Delegate = new SceneViewDelegate()
            };

            this.View.AddSubview(this.sceneView);
        }

        public override void ViewDidLoad()
        {
            base.ViewDidLoad();

            this.sceneView.Frame = this.View.Frame;
        }

        public override void ViewDidAppear(bool animated)
        {
            base.ViewDidAppear(animated);

            var bodyTrackingConfiguration = new ARBodyTrackingConfiguration()
            {
                WorldAlignment = ARWorldAlignment.Gravity
            };

            this.sceneView.Session.Run(bodyTrackingConfiguration,
                ARSessionRunOptions.ResetTracking | ARSessionRunOptions.RemoveExistingAnchors);
        }

        public override void ViewDidDisappear(bool animated)
        {
            base.ViewDidDisappear(animated);
            this.sceneView.Session.Pause();
        }

        public override void DidReceiveMemoryWarning()
        {
            base.DidReceiveMemoryWarning();
        }

        public class SceneViewDelegate : ARSCNViewDelegate
        {
            Dictionary<string, JointNode> joints = new Dictionary<string, JointNode>();
            float jointRadius = 0.02f;
            UIColor jointColour = UIColor.Green;

            public override void DidAddNode(ISCNSceneRenderer renderer, SCNNode node, ARAnchor anchor)
            {
                if (anchor is ARBodyAnchor bodyAnchor)
                {
                    foreach (var jointName in ARSkeletonDefinition.DefaultBody3DSkeletonDefinition.JointNames)
                    {
                        var jointNode = MakeJoint(jointRadius, jointColour);

                        try
                        {
                            var jointPosition = GetJointPosition(bodyAnchor, jointName);
                            jointNode.Position = jointPosition;
                           
                            //System.Diagnostics.Debug.WriteLine($"Adding {jointName} node to position {jointPosition.X},{jointPosition.Y},{jointPosition.Z}");

                            if (!joints.ContainsKey(jointName))
                            {
                                node.AddChildNode(jointNode);
                                joints.Add(jointName, jointNode);
                            }
                        }
                        catch (Exception ex)
                        {
                            System.Diagnostics.Debug.WriteLine($"{ex.Message}");
                        }
                    }
                }
            }

            public override void DidUpdateNode(ISCNSceneRenderer renderer, SCNNode node, ARAnchor anchor)
            {
                if (anchor is ARBodyAnchor bodyAnchor)
                {
                    foreach (var jointName in ARSkeletonDefinition.DefaultBody3DSkeletonDefinition.JointNames)
                    {
                        try
                        {
                            var jointPosition = GetJointPosition(bodyAnchor, jointName);

                            if (joints.ContainsKey(jointName))
                            {
                                joints[jointName].Update(jointPosition);
                                //System.Diagnostics.Debug.WriteLine($"Updating {jointName} node to position {jointPosition.X},{jointPosition.Y},{jointPosition.Z}");
                            }
                        }
                        catch (Exception ex)
                        {
                            System.Diagnostics.Debug.WriteLine($"{ex.Message}");

                        }
                    }
                }
            }

            private SCNVector3 GetJointPosition(ARBodyAnchor bodyAnchor, string jointName)
            {
                // https://github.com/iamfine/ARSkeleton
                
                NMatrix4 jointTransform = bodyAnchor.Skeleton.GetModelTransform((NSString)jointName);

                // Approach 1
                SCNMatrix4 matrix = jointTransform.ToSCNMatrix4();
                SCNMatrix4 bodyAnchorTransform = bodyAnchor.Transform.ToSCNMatrix4();
                SCNMatrix4.Mult(ref matrix, ref bodyAnchorTransform, out matrix);
                return new SCNVector3(matrix.M41, matrix.M42, matrix.M43);

                // Approach 2
                /*
                var result = bodyAnchor.Transform.Column3 + jointTransform.Column3;
                return new SCNVector3(result);
                */
            }

            private JointNode MakeJoint(float jointRadius, UIColor jointColour)
            {
                var jointNode = new JointNode();

                var material = new SCNMaterial();
                material.Diffuse.Contents = jointColour;

                var jointGeometry = SCNSphere.Create(jointRadius);
                jointGeometry.FirstMaterial = material;
                jointNode.Geometry = jointGeometry;

                return jointNode;
            }
        }

        public class JointNode : SCNNode
        {
            public void Update(SCNVector3 position)
            {
                this.Position = position;
            }
        }
    }

    
    public static class Extensions
    {
        public static SCNMatrix4 ToSCNMatrix4(this NMatrix4 self)
        {
            var newMatrix = new SCNMatrix4(
                self.M11, self.M21, self.M31, self.M41,
                self.M12, self.M22, self.M32, self.M42,
                self.M13, self.M23, self.M33, self.M43,
                self.M14, self.M24, self.M34, self.M44
            );

            return newMatrix;
        }
    }
    
}

Answer 1

所以我让它工作了。看来我过于复杂了如何确定每个关节节点的 X、Y、Z 位置。我需要做的就是这个。

private SCNVector3 GetJointPosition(ARBodyAnchor bodyAnchor, string jointName)
{
   NMatrix4 jointTransform = bodyAnchor.Skeleton.GetModelTransform((NSString)jointName);
   return new SCNVector3(jointTransform.Column3);
}

这是完整的列表..

using ARKit;
using Foundation;
using OpenTK;
using SceneKit;
using System;
using System.Collections.Generic;
using UIKit;

namespace XamarinArkitSample
{
    public partial class BodyDetectionViewController : UIViewController
    {
        private readonly ARSCNView sceneView;

        public BodyDetectionViewController()
        {
            this.sceneView = new ARSCNView
            {
                AutoenablesDefaultLighting = true,
                Delegate = new SceneViewDelegate()
            };

            this.View.AddSubview(this.sceneView);
        }

        public override void ViewDidLoad()
        {
            base.ViewDidLoad();

            this.sceneView.Frame = this.View.Frame;
        }

        public override void ViewDidAppear(bool animated)
        {
            base.ViewDidAppear(animated);

            var bodyTrackingConfiguration = new ARBodyTrackingConfiguration()
            {
                WorldAlignment = ARWorldAlignment.Gravity
            };

            this.sceneView.Session.Run(bodyTrackingConfiguration);
        }

        public override void ViewDidDisappear(bool animated)
        {
            base.ViewDidDisappear(animated);
            this.sceneView.Session.Pause();
        }

        public override void DidReceiveMemoryWarning()
        {
            base.DidReceiveMemoryWarning();
        }

        public class SceneViewDelegate : ARSCNViewDelegate
        { 
            Dictionary<string, JointNode> joints = new Dictionary<string, JointNode>();
            float jointRadius = 0.04f;
            UIColor jointColour = UIColor.Yellow;

            public override void DidAddNode(ISCNSceneRenderer renderer, SCNNode node, ARAnchor anchor)
            {
                if (!(anchor is ARBodyAnchor bodyAnchor))
                    return;

                foreach (var jointName in ARSkeletonDefinition.DefaultBody3DSkeletonDefinition.JointNames)
                {
                    JointNode jointNode = MakeJoint(jointRadius, jointColour);

                    var jointPosition = GetJointPosition(bodyAnchor, jointName);
                    jointNode.Position = jointPosition;
                           
                    if (!joints.ContainsKey(jointName))
                    {
                        node.AddChildNode(jointNode);
                        joints.Add(jointName, jointNode);
                    }
                }
            }

            public override void DidUpdateNode(ISCNSceneRenderer renderer, SCNNode node, ARAnchor anchor)
            {
                if (!(anchor is ARBodyAnchor bodyAnchor))
                    return;

                foreach (var jointName in ARSkeletonDefinition.DefaultBody3DSkeletonDefinition.JointNames)
                {       
                    var jointPosition = GetJointPosition(bodyAnchor, jointName);

                    if (joints.ContainsKey(jointName))
                    {
                        joints[jointName].Update(jointPosition);
                    }   
                }
            }

            private SCNVector3 GetJointPosition(ARBodyAnchor bodyAnchor, string jointName)
            {
                NMatrix4 jointTransform = bodyAnchor.Skeleton.GetModelTransform((NSString)jointName);
                return new SCNVector3(jointTransform.Column3);
            }

            private JointNode MakeJoint(float jointRadius, UIColor jointColour)
            {
                var jointNode = new JointNode();

                var material = new SCNMaterial();
                material.Diffuse.Contents = jointColour;

                var jointGeometry = SCNSphere.Create(jointRadius);
                jointGeometry.FirstMaterial = material;
                jointNode.Geometry = jointGeometry;

                return jointNode;
            }
        }

        public class JointNode : SCNNode
        {
            public void Update(SCNVector3 position)
            {
                this.Position = position;
            }
        }
    }

    
    public static class Extensions
    {
        public static SCNMatrix4 ToSCNMatrix4(this NMatrix4 self)
        {
            var row0 = new SCNVector4(self.M11, self.M12, self.M13, self.M14);
            var row1 = new SCNVector4(self.M21, self.M22, self.M23, self.M24);
            var row2 = new SCNVector4(self.M31, self.M32, self.M33, self.M34);
            var row3 = new SCNVector4(self.M41, self.M42, self.M43, self.M44);
            return new SCNMatrix4(row0, row1, row2, row3);
        }
    }
}

经过一些调整后看起来像这样..

还有它在这里工作的视频..

https://www.youtube.com/watch?v=VxM1RMlYdAo

ARKit Body 使用 Xamarin 和 C# 进行跟踪不准确

ARKit Body Tracking using Xamarin and C# Inaccurate

c#

xamarin

swift

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