Step 3: Moving the particles based on HPE key points
In this step, I try to move the spheres on Unity based on the key points which are come from the MQTT message. For changing the position a game object I will use the transform.position code. In the python code which is run.py (image body estimation) I change the output of the pose_3d because it separates the value x,y,z but I needed the separate the key points value therefore I took the transpose of pose_3d
|
1 |
pose_3dqt = np.array(pose_3d[0]).transpose() |
This gave me the ınduvudally point then I sent this value using mqtt with below codes.
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 |
message = str(pose_3dqt[0][0])+"/n"+str(pose_3dqt[0][1])+"/n"+str(pose_3dqt[0][2])+"/n" message = message + str(pose_3dqt[1][0])+"/n"+str(pose_3dqt[1][1])+"/n"+str(pose_3dqt[1][2])+"/n" message = message + str(pose_3dqt[2][0])+"/n"+str(pose_3dqt[2][1])+"/n"+str(pose_3dqt[2][2])+"/n" message = message + str(pose_3dqt[3][0])+"/n"+str(pose_3dqt[3][1])+"/n"+str(pose_3dqt[3][2])+"/n" message = message + str(pose_3dqt[4][0])+"/n"+str(pose_3dqt[4][1])+"/n"+str(pose_3dqt[4][2])+"/n" message = message + str(pose_3dqt[5][0])+"/n"+str(pose_3dqt[5][1])+"/n"+str(pose_3dqt[5][2])+"/n" message = message + str(pose_3dqt[6][0])+"/n"+str(pose_3dqt[6][1])+"/n"+str(pose_3dqt[6][2])+"/n" message = message + str(pose_3dqt[7][0])+"/n"+str(pose_3dqt[7][1])+"/n"+str(pose_3dqt[7][2])+"/n" message = message + str(pose_3dqt[8][0])+"/n"+str(pose_3dqt[8][1])+"/n"+str(pose_3dqt[8][2])+"/n" message = message + str(pose_3dqt[9][0])+"/n"+str(pose_3dqt[9][1])+"/n"+str(pose_3dqt[9][2])+"/n" message = message + str(pose_3dqt[10][0])+"/n"+str(pose_3dqt[10][1])+"/n"+str(pose_3dqt[10][2])+"/n" message = message + str(pose_3dqt[11][0])+"/n"+str(pose_3dqt[11][1])+"/n"+str(pose_3dqt[11][2])+"/n" message = message + str(pose_3dqt[12][0])+"/n"+str(pose_3dqt[12][1])+"/n"+str(pose_3dqt[12][2])+"/n" message = message + str(pose_3dqt[13][0])+"/n"+str(pose_3dqt[13][1])+"/n"+str(pose_3dqt[13][2])+"/n" message = message + str(pose_3dqt[14][0])+"/n"+str(pose_3dqt[14][1])+"/n"+str(pose_3dqt[14][2])+"/n" message = message + str(pose_3dqt[15][0])+"/n"+str(pose_3dqt[15][1])+"/n"+str(pose_3dqt[15][2])+"/n" message = message + str(pose_3dqt[16][0])+"/n"+str(pose_3dqt[16][1])+"/n"+str(pose_3dqt[16][2])+"/n" client.publish("hello/world",message)#publish |
In the Unity side, I receive these value and separate them. After that, I update the position of spheres ;
|
1 |
Spheres[0].transform.position = new Vector3 (x0,y0,z0); |
x0,y0,z0 is the first keypoint ‘s positions address.
Full Code of Unity side is the bellow of this page.
When the start code for image output like these.
In next step, I will send real-time values and real-time 3D pose on Unity and communicate these two with the Internet.
FULL CODE C#
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 |
using UnityEngine; using System.Collections; using System.Net; using uPLibrary.Networking.M2Mqtt; using uPLibrary.Networking.M2Mqtt.Messages; using uPLibrary.Networking.M2Mqtt.Utility; using uPLibrary.Networking.M2Mqtt.Exceptions; using System; public class MovingParticles : MonoBehaviour { private MqttClient client; public GameObject[] Spheres = new GameObject[17]; private string value; float x0=0, x1 = 0, x2 = 0, x3 = 0, x4 = 0, x5 = 0, x6 = 0, x7 = 0, x8 = 0, x9 = 0, x10 = 0, x11 = 0, x12 = 0, x13 = 0, x14 = 0, x15 = 0, x16 = 0; float y0 = 0, y1 = 0, y2 = 0, y3 = 0, y4 = 0, y5 = 0, y6 = 0, y7 = 0, y8 = 0, y9 = 0, y10 = 0, y11 = 0, y12 = 0, y13 = 0, y14 = 0, y15 = 0, y16 = 0; float z0 = 0, z1 = 0, z2 = 0, z3 = 0, z4 = 0, z5 = 0, z6 = 0, z7 = 0, z8 = 0, z9 = 0, z10 = 0, z11 = 0, z12 = 0, z13 = 0, z14 = 0, z15 = 0, z16 = 0; Vector3[] position; // Use this for initialization void Start() { // create client instance client = new MqttClient(IPAddress.Parse("172.16.145.251"), 1883, false, null); // register to message received client.MqttMsgPublishReceived += client_MqttMsgPublishReceived; string clientId = Guid.NewGuid().ToString(); client.Connect(clientId); // subscribe to the topic "/home/temperature" with QoS 2 client.Subscribe(new string[] { "hello/world" }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE }); } void client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e) { value = System.Text.Encoding.UTF8.GetString(e.Message); Debug.Log(value); string[] lines = value.Split(new[] { "/n" }, StringSplitOptions.None); x0 = float.Parse(lines[0]) / 100; y0 = float.Parse(lines[1]) / 100; z0 = float.Parse(lines[2]) / 100; x1 = float.Parse(lines[3]) / 100; y1 = float.Parse(lines[4]) / 100; z1 = float.Parse(lines[5]) / 100; x2 = float.Parse(lines[6]) / 100; y2 = float.Parse(lines[7]) / 100; z2 = float.Parse(lines[8]) / 100; x3 = float.Parse(lines[9]) / 100; y3 = float.Parse(lines[10]) / 100; z3 = float.Parse(lines[11]) / 100; x4 = float.Parse(lines[12]) / 100; y4 = float.Parse(lines[13]) / 100; z4 = float.Parse(lines[14]) / 100; x5 = float.Parse(lines[15]) / 100; y5 = float.Parse(lines[16]) / 100; z5 = float.Parse(lines[17]) / 100; x6 = float.Parse(lines[18]) / 100; y6 = float.Parse(lines[19]) / 100; z6 = float.Parse(lines[20]) / 100; x7 = float.Parse(lines[21]) / 100; y7 = float.Parse(lines[22]) / 100; z7 = float.Parse(lines[23]) / 100; x8 = float.Parse(lines[24]) / 100; y8 = float.Parse(lines[25]) / 100; z8 = float.Parse(lines[26]) / 100; x9 = float.Parse(lines[27]) / 100; y9 = float.Parse(lines[28]) / 100; z9 = float.Parse(lines[29]) / 100; x10 = float.Parse(lines[30]) / 100; y10 = float.Parse(lines[31]) / 100; z10 = float.Parse(lines[32]) / 100; x11 = float.Parse(lines[33]) / 100; y11 = float.Parse(lines[34]) / 100; z11 = float.Parse(lines[35]) / 100; x12 = float.Parse(lines[36]) / 100; y12 = float.Parse(lines[37]) / 100; z12 = float.Parse(lines[38]) / 100; x13 = float.Parse(lines[39]) / 100; y13 = float.Parse(lines[40]) / 100; z13 = float.Parse(lines[41]) / 100; x14 = float.Parse(lines[42]) / 100; y14 = float.Parse(lines[43]) / 100; z14 = float.Parse(lines[44]) / 100; x15 = float.Parse(lines[45]) / 100; y15 = float.Parse(lines[46]) / 100; z15 = float.Parse(lines[47]) / 100; x16 = float.Parse(lines[48]) / 100; y16 = float.Parse(lines[49]) / 100; z16 = float.Parse(lines[50]) / 100; } // Update is called once per frame void Update() { Spheres[0].transform.position = new Vector3 (x0,y0,z0); Spheres[1].transform.position = new Vector3(x1, y1, z1); Spheres[2].transform.position = new Vector3(x2, y2, z2); Spheres[3].transform.position = new Vector3(x3, y3, z3); Spheres[4].transform.position = new Vector3(x4, y4, z4); Spheres[5].transform.position = new Vector3(x5, y5, z5); Spheres[6].transform.position = new Vector3(x6, y6, z6); Spheres[7].transform.position = new Vector3(x7, y7, z7); Spheres[8].transform.position = new Vector3(x8, y8, z8); Spheres[9].transform.position = new Vector3(x9, y9, z9); Spheres[10].transform.position = new Vector3(x10, y10, z10); Spheres[11].transform.position = new Vector3(x11, y11, z11); Spheres[12].transform.position = new Vector3(x12, y12, z12); Spheres[13].transform.position = new Vector3(x13, y13, z13); Spheres[14].transform.position = new Vector3(x14, y14, z14); Spheres[15].transform.position = new Vector3(x15, y15, z15); Spheres[16].transform.position = new Vector3(x16, y16, z16); } } |
Hello there,
My name is Aly and I would like to know if you would have any interest to have your website here at ylmzcmlttn.com promoted as a resource on our blog alychidesign.com ?
We are in the midst of updating our broken link resources to include current and up to date resources for our readers. Our resource links are manually approved allowing us to mark a link as a do-follow link as well
.
If you may be interested please in being included as a resource on our blog, please let me know.
Thanks,
Aly