def loadASFFile(asfFileName, amcFileName, scaleFactor, framePeriod):
"""
Load motion capture data from an ASF and AMC file pair.
@param asfFileName: Name of the ASF file containing the description of
the rigid body model
@param amcFileName: Name of the AMC file containing the motion data
@param scaleFactor: Scaling factor to convert lengths to m. For data
from the CMU motion capture corpus this should be 2.54/100 to
convert from inches to metres.
@return: A {SampledBodyModel} representing the root of the rigid body
model structure.
"""
with open(asfFileName, 'r') as asfFile:
data = asfParser.parseFile(asfFile)
scale = (1.0/data.units.get('length',1)) * scaleFactor
bones = dict((bone.name,bone) for bone in data.bones)
asfModel = ASFRoot(data.root)
for entry in data.hierarchy:
parent = asfModel.getBone(entry.parent)
for childName in entry.children:
ASFBone(parent, bones[childName], scale)
imusimModel = SampledBodyModel('root')
for subtree in asfModel.children:
for bone in subtree:
if not bone.isDummy:
offset = vector(0,0,0)
ancestors = bone.ascendTree()
while True:
ancestor = ancestors.next().parent
offset += ancestor.childoffset
if not ancestor.isDummy:
break
SampledJoint(parent=imusimModel.getJoint(ancestor.name),
name=bone.name,
offset=offset)
if not bone.hasChildren:
PointTrajectory(
parent=imusimModel.getJoint(bone.name),
name=bone.name+'_end',
offset=bone.childoffset
)
with open(amcFileName) as amcFile:
motion = amcParser.parseFile(amcFile)
t = 0
for frame in motion.frames:
for bone in frame.bones:
bonedata = asfModel.getBone(bone.name)
if bone.name == 'root':
data = dict((chan.lower(), v) for chan,v in
zip(bonedata.channels,bone.channels))
position = convertCGtoNED(scale * vector(data['tx'],
data['ty'],data['tz']))
imusimModel.positionKeyFrames.add(t, position)
axes, angles = zip(*[(chan[-1], angle) for chan, angle in
zip(bonedata.channels, bone.channels) if
chan.lower().startswith('r')])
rotation = (bonedata.rotationOffset.conjugate *
Quaternion.fromEuler(angles[::-1], axes[::-1]))
joint = imusimModel.getJoint(bone.name)
if joint.hasParent:
parentRot = joint.parent.rotationKeyFrames.latestValue
parentRotOffset = bonedata.parent.rotationOffset
rotation = parentRot * parentRotOffset * rotation
else:
rotation = convertCGtoNED(rotation)
joint.rotationKeyFrames.add(t, rotation)
t += framePeriod
return imusimModel
def loadASFFile(asfFileName, amcFileName, scaleFactor, framePeriod):
"""
Load motion capture data from an ASF and AMC file pair.
@param asfFileName: Name of the ASF file containing the description of
the rigid body model
@param amcFileName: Name of the AMC file containing the motion data
@param scaleFactor: Scaling factor to convert lengths to m. For data
from the CMU motion capture corpus this should be 2.54/100 to
convert from inches to metres.
@return: A {SampledBodyModel} representing the root of the rigid body
model structure.
"""
with open(asfFileName, 'r') as asfFile:
data = asfParser.parseFile(asfFile)
scale = (1.0 / data.units.get('length', 1)) * scaleFactor
bones = dict((bone.name, bone) for bone in data.bones)
asfModel = ASFRoot(data.root)
for entry in data.hierarchy:
parent = asfModel.getBone(entry.parent)
for childName in entry.children:
ASFBone(parent, bones[childName], scale)
imusimModel = SampledBodyModel('root')
for subtree in asfModel.children:
for bone in subtree:
if not bone.isDummy:
offset = vector(0, 0, 0)
ancestors = bone.ascendTree()
while True:
ancestor = ancestors.next().parent
offset += ancestor.childoffset
if not ancestor.isDummy:
break
SampledJoint(parent=imusimModel.getJoint(ancestor.name),
name=bone.name,
offset=offset)
if not bone.hasChildren:
PointTrajectory(parent=imusimModel.getJoint(bone.name),
name=bone.name + '_end',
offset=bone.childoffset)
with open(amcFileName) as amcFile:
motion = amcParser.parseFile(amcFile)
t = 0
for frame in motion.frames:
for bone in frame.bones:
bonedata = asfModel.getBone(bone.name)
if bone.name == 'root':
data = dict((chan.lower(), v) for chan, v in zip(
bonedata.channels, bone.channels))
position = convertCGtoNED(
scale * vector(data['tx'], data['ty'], data['tz']))
imusimModel.positionKeyFrames.add(t, position)
axes, angles = zip(*[(chan[-1], angle)
for chan, angle in zip(
bonedata.channels, bone.channels)
if chan.lower().startswith('r')])
rotation = (bonedata.rotationOffset.conjugate *
Quaternion.fromEuler(angles[::-1], axes[::-1]))
joint = imusimModel.getJoint(bone.name)
if joint.hasParent:
parentRot = joint.parent.rotationKeyFrames.latestValue
parentRotOffset = bonedata.parent.rotationOffset
rotation = parentRot * parentRotOffset * rotation
else:
rotation = convertCGtoNED(rotation)
joint.rotationKeyFrames.add(t, rotation)
t += framePeriod
return imusimModel
