def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(1248, 737)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
self.gridLayout.setObjectName("gridLayout")
self.splitter_2 = QtWidgets.QSplitter(self.centralwidget)
self.splitter_2.setOrientation(QtCore.Qt.Horizontal)
self.splitter_2.setObjectName("splitter_2")
self.gridLayoutWidget_2 = QtWidgets.QWidget(self.splitter_2)
self.gridLayoutWidget_2.setObjectName("gridLayoutWidget_2")
self.gl_container = QtWidgets.QGridLayout(self.gridLayoutWidget_2)
self.gl_container.setContentsMargins(0, 0, -1, -1)
self.gl_container.setObjectName("gl_container")
self.animationViewer = SceneViewerWidget(self.gridLayoutWidget_2)
self.animationViewer.setMinimumSize(QtCore.QSize(640, 480))
self.animationViewer.setObjectName("animationViewer")
self.gl_container.addWidget(self.animationViewer, 0, 0, 1, 1)
self.splitter = QtWidgets.QSplitter(self.splitter_2)
self.splitter.setOrientation(QtCore.Qt.Vertical)
self.splitter.setObjectName("splitter")
self.sceneObjectTableWidget = SceneObjectTableWidget(self.splitter)
self.sceneObjectTableWidget.setColumnCount(3)
self.sceneObjectTableWidget.setObjectName("sceneObjectTableWidget")
self.sceneObjectTableWidget.setColumnCount(3)
self.sceneObjectTableWidget.setRowCount(0)
item = QtWidgets.QTableWidgetItem()
self.sceneObjectTableWidget.setHorizontalHeaderItem(0, item)
item = QtWidgets.QTableWidgetItem()
self.sceneObjectTableWidget.setHorizontalHeaderItem(1, item)
item = QtWidgets.QTableWidgetItem()
self.sceneObjectTableWidget.setHorizontalHeaderItem(2, item)
self.sceneObjectTableWidget.horizontalHeader().setDefaultSectionSize(50)
self.sceneObjectTableWidget.horizontalHeader().setMinimumSectionSize(200)
self.sceneObjectTableWidget.horizontalHeader().setStretchLastSection(True)
self.objectPropertiesGroupBox = QtWidgets.QGroupBox(self.splitter)
self.objectPropertiesGroupBox.setObjectName("objectPropertiesGroupBox")
self.gridLayout_2 = QtWidgets.QGridLayout(self.objectPropertiesGroupBox)
self.gridLayout_2.setObjectName("gridLayout_2")
self.objectPropertiesLayout = QtWidgets.QGridLayout()
self.objectPropertiesLayout.setObjectName("objectPropertiesLayout")
self.gridLayout_2.addLayout(self.objectPropertiesLayout, 0, 0, 1, 1)
self.gridLayout.addWidget(self.splitter_2, 0, 0, 1, 1)
MainWindow.setCentralWidget(self.centralwidget)
self.menuBar = QtWidgets.QMenuBar(MainWindow)
self.menuBar.setGeometry(QtCore.QRect(0, 0, 1248, 21))
self.menuBar.setObjectName("menuBar")
MainWindow.setMenuBar(self.menuBar)
self.statusBar = QtWidgets.QStatusBar(MainWindow)
self.statusBar.setObjectName("statusBar")
MainWindow.setStatusBar(self.statusBar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
def __init__(self,
name,
skeleton,
share_widget,
parent=None,
enable_line_edit=False,
skeleton_model=None):
self.initialized = False
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.view = SceneViewerWidget(parent, share_widget, size=(400, 400))
self.view.setObjectName("left")
self.view.setMinimumSize(400, 400)
self.view.initializeGL()
self.nameLineEdit.setText(name)
self.nameLineEdit.setEnabled(enable_line_edit)
self.name = name
self.view.enable_mouse_interaction = True
self.view.mouse_click.connect(self.on_mouse_click)
self.viewerLayout.addWidget(self.view)
self.radius = 1.0
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.skeleton = skeleton
self.view.makeCurrent()
self.scene = EditorScene(True)
self.scene.enable_scene_edit_widget = True
if skeleton_model is not None:
self.skeleton_model = skeleton_model
elif skeleton.skeleton_model is not None:
self.skeleton_model = skeleton.skeleton_model
else:
self.skeleton_model = dict()
print("create new skeleton model")
if "cos_map" not in self.skeleton_model:
self.skeleton_model["cos_map"] = dict()
if "joints" not in self.skeleton_model:
self.skeleton_model["joints"] = dict()
if "joint_constraints" not in self.skeleton_model:
self.skeleton_model["joint_constraints"] = dict()
motion_vector = MotionVector()
self.reference_frame = skeleton.reference_frame
print(self.reference_frame[:3])
motion_vector.frames = [skeleton.reference_frame]
motion_vector.n_frames = 1
o = self.scene.object_builder.create_object("animation_controller",
"skeleton", skeleton,
motion_vector,
skeleton.frame_time)
self.controller = o._components["animation_controller"]
self.skeleton = self.controller.get_skeleton()
self.skeleton_vis = o._components["skeleton_vis"]
self.init_joints(self.controller)
self.fill_joint_map()
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.applyTwistRotationButton.clicked.connect(self.slot_set_twist)
self.applySwingRotationButton.clicked.connect(self.slot_set_swing)
self.setOrthogonalTwistButton.clicked.connect(
self.slot_set_orthogonal_twist)
self.setOrthogonalSwingButton.clicked.connect(
self.slot_set_orthogonal_swing)
self.rotateTwistButton.clicked.connect(self.slot_rotate_twist)
self.rotateSwingButton.clicked.connect(self.slot_rotate_swing)
self.flipTwistButton.clicked.connect(self.slot_flip_twist)
self.flipSwingButton.clicked.connect(self.slot_flip_swing)
self.flipZAxisButton.clicked.connect(self.slot_flip_z_axis)
self.alignToUpAxisButton.clicked.connect(self.slot_align_to_up_axis)
self.alignToForwardAxisButton.clicked.connect(
self.slot_align_to_forward_axis)
self.guessSelectedButton.clicked.connect(
self.slot_guess_selected_cos_map)
self.resetSelectedCosButton.clicked.connect(
self.slot_reset_selected_cos_map)
self.guessAllCosButton.clicked.connect(self.slot_guess_cos_map)
self.resetAllCosButton.clicked.connect(self.slot_reset_cos_map)
self.loadDefaultPoseButton.clicked.connect(self.slot_load_default_pose)
self.applyScaleButton.clicked.connect(self.slot_apply_scale)
self.jointMapComboBox.currentIndexChanged.connect(
self.slot_update_joint_map)
self.aligningRootComboBox.currentIndexChanged.connect(
self.slot_update_aligning_root_joint)
self.mirrorLeftButton.clicked.connect(self.slot_mirror_left_to_right)
self.mirrorRightButton.clicked.connect(self.slot_mirror_right_to_left)
self.is_updating_joint_info = False
self.success = False
self.initialized = False
self.skeleton_data = None
self.precision = 3
self.aligning_root_node = self.skeleton.aligning_root_node
self.fill_root_combobox()
self.init_aligning_root_node()
class SkeletonEditorDialog(QDialog, Ui_Dialog):
def __init__(self,
name,
skeleton,
share_widget,
parent=None,
enable_line_edit=False,
skeleton_model=None):
self.initialized = False
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.view = SceneViewerWidget(parent, share_widget, size=(400, 400))
self.view.setObjectName("left")
self.view.setMinimumSize(400, 400)
self.view.initializeGL()
self.nameLineEdit.setText(name)
self.nameLineEdit.setEnabled(enable_line_edit)
self.name = name
self.view.enable_mouse_interaction = True
self.view.mouse_click.connect(self.on_mouse_click)
self.viewerLayout.addWidget(self.view)
self.radius = 1.0
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.skeleton = skeleton
self.view.makeCurrent()
self.scene = EditorScene(True)
self.scene.enable_scene_edit_widget = True
if skeleton_model is not None:
self.skeleton_model = skeleton_model
elif skeleton.skeleton_model is not None:
self.skeleton_model = skeleton.skeleton_model
else:
self.skeleton_model = dict()
print("create new skeleton model")
if "cos_map" not in self.skeleton_model:
self.skeleton_model["cos_map"] = dict()
if "joints" not in self.skeleton_model:
self.skeleton_model["joints"] = dict()
if "joint_constraints" not in self.skeleton_model:
self.skeleton_model["joint_constraints"] = dict()
motion_vector = MotionVector()
self.reference_frame = skeleton.reference_frame
print(self.reference_frame[:3])
motion_vector.frames = [skeleton.reference_frame]
motion_vector.n_frames = 1
o = self.scene.object_builder.create_object("animation_controller",
"skeleton", skeleton,
motion_vector,
skeleton.frame_time)
self.controller = o._components["animation_controller"]
self.skeleton = self.controller.get_skeleton()
self.skeleton_vis = o._components["skeleton_vis"]
self.init_joints(self.controller)
self.fill_joint_map()
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.applyTwistRotationButton.clicked.connect(self.slot_set_twist)
self.applySwingRotationButton.clicked.connect(self.slot_set_swing)
self.setOrthogonalTwistButton.clicked.connect(
self.slot_set_orthogonal_twist)
self.setOrthogonalSwingButton.clicked.connect(
self.slot_set_orthogonal_swing)
self.rotateTwistButton.clicked.connect(self.slot_rotate_twist)
self.rotateSwingButton.clicked.connect(self.slot_rotate_swing)
self.flipTwistButton.clicked.connect(self.slot_flip_twist)
self.flipSwingButton.clicked.connect(self.slot_flip_swing)
self.flipZAxisButton.clicked.connect(self.slot_flip_z_axis)
self.alignToUpAxisButton.clicked.connect(self.slot_align_to_up_axis)
self.alignToForwardAxisButton.clicked.connect(
self.slot_align_to_forward_axis)
self.guessSelectedButton.clicked.connect(
self.slot_guess_selected_cos_map)
self.resetSelectedCosButton.clicked.connect(
self.slot_reset_selected_cos_map)
self.guessAllCosButton.clicked.connect(self.slot_guess_cos_map)
self.resetAllCosButton.clicked.connect(self.slot_reset_cos_map)
self.loadDefaultPoseButton.clicked.connect(self.slot_load_default_pose)
self.applyScaleButton.clicked.connect(self.slot_apply_scale)
self.jointMapComboBox.currentIndexChanged.connect(
self.slot_update_joint_map)
self.aligningRootComboBox.currentIndexChanged.connect(
self.slot_update_aligning_root_joint)
self.mirrorLeftButton.clicked.connect(self.slot_mirror_left_to_right)
self.mirrorRightButton.clicked.connect(self.slot_mirror_right_to_left)
self.is_updating_joint_info = False
self.success = False
self.initialized = False
self.skeleton_data = None
self.precision = 3
self.aligning_root_node = self.skeleton.aligning_root_node
self.fill_root_combobox()
self.init_aligning_root_node()
def init_aligning_root_node(self):
print("init", self.skeleton.root, self.skeleton.aligning_root_node)
if self.aligning_root_node is None:
self.aligning_root_node = self.skeleton.root
if self.aligning_root_node is not None:
index = self.aligningRootComboBox.findText(self.aligning_root_node,
Qt.MatchFixedString)
print("found index", index, self.aligning_root_node)
if index >= 0:
self.aligningRootComboBox.setCurrentIndex(index)
def closeEvent(self, e):
self.timer.stop()
self.view.makeCurrent()
del self.view
def on_mouse_click(self, event, ray_start, ray_dir, pos, node_id):
if event.button() == Qt.LeftButton:
self.scene.select_object(node_id)
joint_knob = self.get_selected_joint()
self.update_joint_info(joint_knob)
def update_joint_info(self, joint_knob):
self.is_updating_joint_info = True
self.scene.scene_edit_widget.reset_rotation()
self.jointMapComboBox.setCurrentIndex(0)
label = "Selected Joint: "
if joint_knob is None:
label += "None"
self.jointLabel.setText(label)
self.is_updating_joint_info = False
return
label += joint_knob.joint_name
joint_name = joint_knob.joint_name
if "joints" in self.skeleton_model:
key = find_key(self.skeleton_model["joints"], joint_name)
print("key", joint_name, key)
if key is not None:
index = self.jointMapComboBox.findText(key,
Qt.MatchFixedString)
if index >= 0:
self.jointMapComboBox.setCurrentIndex(index)
if "cos_map" in self.skeleton_model and joint_name in self.skeleton_model[
"cos_map"]:
x_vector = self.skeleton_model["cos_map"][joint_name]["x"]
if x_vector is None:
x_vector = [1, 0, 0]
self.skeleton_model["cos_map"][joint_name]["x"] = x_vector
y_vector = self.skeleton_model["cos_map"][joint_name]["y"]
if y_vector is None:
y_vector = [0, 1, 0]
self.skeleton_model["cos_map"][joint_name]["y"] = y_vector
swing = np.round(x_vector, self.precision)
twist = np.round(y_vector, self.precision)
self.set_swing_text(swing)
self.set_twist_text(twist)
m = self.skeleton.nodes[joint_name].get_global_matrix(
self.reference_frame)[:3, :3]
g_swing = np.dot(m, swing)
g_swing = normalize(g_swing)
g_twist = np.dot(m, twist)
g_twist = normalize(g_twist)
q = axes_to_q(g_twist, g_swing)
m = quaternion_matrix(q)
#print("g_twist", g_twist, twist)
#print("g_swing", g_swing, swing)
self.scene.scene_edit_widget.rotation = m[:3, :3].T
else:
print("no cos map", self.skeleton_model.keys())
self.jointLabel.setText(label)
self.is_updating_joint_info = False
def set_swing_text(self, swing):
self.swingXLineEdit.setText(str(swing[0]))
self.swingYLineEdit.setText(str(swing[1]))
self.swingZLineEdit.setText(str(swing[2]))
def set_twist_text(self, twist):
self.twistXLineEdit.setText(str(twist[0]))
self.twistYLineEdit.setText(str(twist[1]))
self.twistZLineEdit.setText(str(twist[2]))
def fill_joint_map(self):
self.jointMapComboBox.clear()
for idx, joint in enumerate(STANDARD_JOINTS):
print("add", joint)
self.jointMapComboBox.addItem(joint, idx)
def fill_root_combobox(self):
self.aligningRootComboBox.clear()
for idx, joint in enumerate(self.controller.get_animated_joints()):
self.aligningRootComboBox.addItem(joint, idx)
def init_joints(self, controller):
for joint_name in controller.get_animated_joints():
if len(self.skeleton.nodes[joint_name].children
) > 0: # filter out end site joints
node = self.skeleton.nodes[joint_name]
if joint_name == self.skeleton.root or np.linalg.norm(
node.offset) > 0:
self.scene.object_builder.create_object(
"joint_control_knob", controller, joint_name,
self.radius * self.skeleton_vis.box_scale)
def draw(self):
""" draw current scene on the given view
(note before calling this function the context of the view has to be set as current using makeCurrent() and afterwards the doubble buffer has to swapped to display the current frame swapBuffers())
"""
if not self.initialized:
if self.view.graphics_context is not None:
self.view.resize(400, 400)
self.initialized = True
self.scene.update(self.dt)
self.view.makeCurrent()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.view.graphics_context.render(self.scene)
self.view.swapBuffers()
def left_display_changed(self, frame_idx):
if self.controller is not None:
self.controller.setCurrentFrameNumber(frame_idx)
self.leftDisplayFrameSpinBox.setValue(frame_idx)
def left_spinbox_frame_changed(self, frame):
self.leftStartFrameSlider.setValue(self.leftStartFrameSpinBox.value())
self.leftEndFrameSlider.setValue(self.leftEndFrameSpinBox.value())
def left_slider_frame_changed(self, frame):
self.leftStartFrameSpinBox.setValue(self.leftStartFrameSlider.value())
self.leftEndFrameSpinBox.setValue(self.leftEndFrameSlider.value())
def slot_accept(self):
self.name = str(self.nameLineEdit.text())
if self.name != "":
print("accept")
self.success = True
self.skeleton = self.controller.get_skeleton()
self.skeleton.set_reference_frame(self.reference_frame)
if self.aligning_root_node is not None:
self.skeleton.aligning_root_node = self.aligning_root_node
self.skeleton_data = self.skeleton.to_unity_format()
if "cos_map" in self.skeleton_model:
for k in self.skeleton_model["cos_map"]:
for l in self.skeleton_model["cos_map"][k]:
if type(self.skeleton_model["cos_map"][k]
[l]) == np.ndarray:
self.skeleton_model["cos_map"][k][
l] = self.skeleton_model["cos_map"][k][
l].tolist()
else:
self.skeleton_model["cos_map"][k][
l] = self.skeleton_model["cos_map"][k][l]
self.close()
else:
print("Please provide a name")
def slot_reject(self):
self.close()
def get_selected_joint(self):
joint_knob = None
o = self.scene.selected_scene_object
if o is not None and "joint_control_knob" in o._components:
joint_knob = o._components["joint_control_knob"]
return joint_knob
def set_twist(self, joint_name):
x = round(float(self.twistXLineEdit.text()), self.precision)
y = round(float(self.twistYLineEdit.text()), self.precision)
z = round(float(self.twistZLineEdit.text()), self.precision)
#set twist axis
twist = np.array([x, y, z])
magnitude = np.linalg.norm(twist)
if magnitude > 0:
twist /= magnitude
self.skeleton_model["cos_map"][joint_name]["y"] = twist
def set_swing(self, joint_name):
x = round(float(self.swingXLineEdit.text()), self.precision)
y = round(float(self.swingYLineEdit.text()), self.precision)
z = round(float(self.swingZLineEdit.text()), self.precision)
#set swing axis
swing = np.array([x, y, z])
magnitude = np.linalg.norm(swing)
if magnitude > 0:
swing /= magnitude
self.skeleton_model["cos_map"][joint_name]["x"] = swing.tolist()
def slot_set_twist(self):
plot = False
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
self.set_swing(joint_knob.joint_name)
self.set_twist(joint_knob.joint_name)
self.update_joint_info(joint_knob)
def slot_set_swing(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
self.set_swing(joint_knob.joint_name)
self.set_twist(joint_knob.joint_name)
self.update_joint_info(joint_knob)
def slot_set_orthogonal_twist(self):
""" https://stackoverflow.com/questions/33658620/generating-two-orthogonal-vectors-that-are-orthogonal-to-a-particular-direction """
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
#get swing axis
swing = np.array(self.skeleton_model["cos_map"][joint_name]["x"])
# find orthogonal vector
y = np.array(self.skeleton_model["cos_map"][joint_name]["y"])
#y = np.random.randn(3) # take a random vector
y -= y.dot(swing) * swing # make it orthogonal to twist
y /= np.linalg.norm(y) # normalize it
#replace twist axis
self.set_twist_text(y)
self.skeleton_model["cos_map"][joint_name]["y"] = y
self.update_joint_info(joint_knob)
def slot_set_orthogonal_swing(self):
""" https://stackoverflow.com/questions/33658620/generating-two-orthogonal-vectors-that-are-orthogonal-to-a-particular-direction """
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
#get twist axis
twist = np.array(self.skeleton_model["cos_map"][joint_name]["y"])
x = np.array(self.skeleton_model["cos_map"][joint_name]["x"])
x -= x.dot(twist) * twist # make it orthogonal to twist
x /= np.linalg.norm(x) # normalize it
#replace twist axis
self.set_swing_text(x)
self.skeleton_model["cos_map"][joint_name]["x"] = x
self.update_joint_info(joint_knob)
def slot_flip_twist(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
#get twist axis
twist = np.array(self.skeleton_model["cos_map"][joint_name]["y"])
twist *= -1
self.skeleton_model["cos_map"][joint_name]["y"] = twist
self.set_twist_text(twist)
self.update_joint_info(joint_knob)
def slot_flip_swing(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
swing = np.array(self.skeleton_model["cos_map"][joint_name]["x"])
swing *= -1
self.skeleton_model["cos_map"][joint_name]["x"] = swing
self.set_swing_text(swing)
self.update_joint_info(joint_knob)
def slot_rotate_twist(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
#get twist axis
angle = round(float(self.twistRotationLineEdit.text()), self.precision)
rotation_axis = np.array(
self.skeleton_model["cos_map"][joint_name]["x"])
q = quaternion_about_axis(np.deg2rad(angle), rotation_axis)
q = normalize(q)
twist = np.array(self.skeleton_model["cos_map"][joint_name]["y"])
twist = rotate_vector(q, twist)
twist = normalize(twist)
self.skeleton_model["cos_map"][joint_name]["y"] = twist
self.set_twist_text(twist)
self.update_joint_info(joint_knob)
def slot_rotate_swing(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
angle = round(float(self.swingRotationLineEdit.text()), self.precision)
rotation_axis = np.array(
self.skeleton_model["cos_map"][joint_name]["y"])
q = quaternion_about_axis(np.deg2rad(angle), rotation_axis)
q = normalize(q)
swing = np.array(self.skeleton_model["cos_map"][joint_name]["x"])
swing = rotate_vector(q, swing)
swing = normalize(swing)
self.skeleton_model["cos_map"][joint_name]["x"] = swing
self.set_swing_text(swing)
self.update_joint_info(joint_knob)
def slot_flip_z_axis(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
twist = np.array(self.skeleton_model["cos_map"][joint_name]["y"])
swing = np.array(self.skeleton_model["cos_map"][joint_name]["x"])
new_swing = twist
new_twist = swing
#print("new swing", new_swing, swing)
self.skeleton_model["cos_map"][joint_name]["y"] = new_twist
self.skeleton_model["cos_map"][joint_name]["x"] = new_swing
self.set_swing_text(new_swing)
self.set_twist_text(new_twist)
self.update_joint_info(joint_knob)
def slot_guess_cos_map(self):
""" creates a guess for the coordinate system for all joints"""
temp_skeleton = copy(self.skeleton)
temp_skeleton.skeleton_model = self.skeleton_model
cos_map = create_local_cos_map_from_skeleton_axes_with_map(
temp_skeleton)
self.skeleton_model["cos_map"] = cos_map
joint_knob = self.get_selected_joint()
if joint_knob is not None:
self.update_joint_info(joint_knob)
def slot_reset_cos_map(self):
""" resets the coordinate systems for all joints"""
for joint_name in self.skeleton_model["cos_map"]:
up_vector = self.skeleton_model["cos_map"][joint_name]["y"]
x_vector = self.skeleton_model["cos_map"][joint_name]["x"]
if up_vector is not None and x_vector is not None:
new_up_vector, new_x_vector = self.reset_joint_cos(
joint_name, up_vector, x_vector)
self.skeleton_model["cos_map"][joint_name]["y"] = new_up_vector
self.skeleton_model["cos_map"][joint_name]["x"] = new_x_vector
joint_knob = self.get_selected_joint()
if joint_knob is not None:
self.update_joint_info(joint_knob)
def slot_guess_selected_cos_map(self):
""" creates a guess for the for the selected joint"""
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
temp_skeleton = copy(self.skeleton)
temp_skeleton.skeleton_model = self.skeleton_model
cos_map = create_local_cos_map_from_skeleton_axes_with_map(
temp_skeleton)
self.skeleton_model["cos_map"][joint_name] = cos_map[joint_name]
self.update_joint_info(joint_knob)
def slot_reset_selected_cos_map(self):
""" creates resetrs the coordinate system for the selected joint"""
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
if joint_name in self.skeleton_model["cos_map"]:
up_vector = self.skeleton_model["cos_map"][joint_name]["y"]
x_vector = self.skeleton_model["cos_map"][joint_name]["x"]
new_up_vector, new_x_vector = self.reset_joint_cos(
joint_name, up_vector, x_vector)
self.skeleton_model["cos_map"][joint_name]["y"] = new_up_vector
self.skeleton_model["cos_map"][joint_name]["x"] = new_x_vector
self.update_joint_info(joint_knob)
def slot_update_joint_map(self):
if not self.is_updating_joint_info and "joints" in self.skeleton_model:
joint_knob = self.get_selected_joint()
if joint_knob is not None:
new_joint_key = str(self.jointMapComboBox.currentText())
old_joint_key = find_key(self.skeleton_model["joints"],
joint_knob.joint_name)
if old_joint_key in self.skeleton_model["joints"]:
self.skeleton_model["joints"][old_joint_key] = None
self.skeleton_model["joints"][
new_joint_key] = joint_knob.joint_name
print("update joint mapping", joint_knob.joint_name,
new_joint_key)
else:
print("is updating joint info")
def reset_joint_cos(self,
joint_name,
up_vector,
x_vector,
target_up_vector=DEFAULT_TARGET_CS_UP):
""" rotates the up_vector to look towards target_up_vector and rotates the x_vector with the same rotation """
m = self.skeleton.nodes[joint_name].get_global_matrix(
self.skeleton.reference_frame)[:3, :3]
m_inv = np.linalg.inv(m)
target_up_vector = normalize(target_up_vector)
local_target = np.dot(m_inv, target_up_vector)
local_target = normalize(local_target)
q = quaternion_from_vector_to_vector(up_vector, local_target)
x_vector = rotate_vector(q, x_vector)
x_vector -= x_vector.dot(
local_target) * local_target # make it orthogonal to twist
x_vector /= np.linalg.norm(x_vector) # normalize it
x_vector = normalize(x_vector)
return local_target, x_vector
def slot_update_aligning_root_joint(self):
if not self.is_updating_joint_info and "joints" in self.skeleton_model:
self.aligning_root_node = str(
self.aligningRootComboBox.currentText())
def slot_load_default_pose(self):
filename = QFileDialog.getOpenFileName(self, 'Load From File', '.')[0]
filename = str(filename)
if os.path.isfile(filename):
motion = load_motion_from_bvh(filename)
if len(motion.frames):
self.reference_frame = motion.frames[0]
frames = [self.reference_frame]
self.controller.replace_frames(frames)
self.controller.set_reference_frame(0)
self.controller.updateTransformation()
print("replaced frames")
def slot_apply_scale(self):
scale = float(self.scaleLineEdit.text())
if scale > 0:
self.controller.set_scale(scale)
frames = [self.reference_frame]
self.controller.replace_frames(frames)
self.controller.currentFrameNumber = 0
self.controller.updateTransformation()
def slot_align_to_up_axis(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
if joint_name in self.skeleton_model["cos_map"]:
up_vector = self.skeleton_model["cos_map"][joint_name]["y"]
x_vector = self.skeleton_model["cos_map"][joint_name]["x"]
q_offset = get_axis_correction(self.skeleton, joint_name,
up_vector, OPENGL_UP_AXIS)
up_vector = rotate_vector(q_offset, up_vector)
x_vector = rotate_vector(q_offset, x_vector)
self.skeleton_model["cos_map"][joint_name]["x"] = normalize(
x_vector)
self.skeleton_model["cos_map"][joint_name]["y"] = normalize(
up_vector)
self.update_joint_info(joint_knob)
def slot_align_to_forward_axis(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
if joint_name in self.skeleton_model["cos_map"]:
up_vector = self.skeleton_model["cos_map"][joint_name]["y"]
m = self.skeleton.nodes[joint_name].get_global_matrix(
self.skeleton.reference_frame)[:3, :3]
m_inv = np.linalg.inv(m)
target_vector = np.dot(m, up_vector)
target_vector[1] = 0
target_vector = normalize(target_vector)
local_up = np.dot(m_inv, target_vector)
local_up = normalize(local_up)
self.skeleton_model["cos_map"][joint_name]["y"] = local_up
x_vector = self.skeleton_model["cos_map"][joint_name]["x"]
q = quaternion_from_vector_to_vector(up_vector, local_up)
x_vector = rotate_vector(q, x_vector)
x_vector -= x_vector.dot(
local_up) * local_up # make it orthogonal to twist
x_vector /= np.linalg.norm(x_vector) # normalize it
self.skeleton_model["cos_map"][joint_name]["x"] = normalize(
x_vector)
self.update_joint_info(joint_knob)
def slot_mirror_left_to_right(self):
self.skeleton_model = mirror_join_map(self.skeleton,
self.skeleton_model,
STANDARD_MIRROR_MAP_LEFT)
print("mirrored left to right")
print(self.skeleton_model["joints"])
def slot_mirror_right_to_left(self):
self.skeleton_model = mirror_join_map(self.skeleton,
self.skeleton_model,
STANDARD_MIRROR_MAP_RIGHT)
print("mirrored right to left")
def __init__(self, controller, scene, share_widget, parent=None):
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.leftView = SceneViewerWidget(parent,
share_widget,
size=(400, 400),
use_frame_buffer=False)
self.leftView.setObjectName("left")
self.leftView.setMinimumSize(400, 400)
self.leftView.initializeGL()
self.leftView.enable_mouse_interaction = False
self.leftViewerLayout.addWidget(self.leftView)
self.rightView = SceneViewerWidget(parent,
self.leftView,
size=(400, 400),
use_frame_buffer=False)
self.rightView.setObjectName("right")
self.rightView.setMinimumSize(400, 400)
self.rightView.initializeGL()
self.rightView.enable_mouse_interaction = False
self.rightViewerLayout.addWidget(self.rightView)
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.scene = scene
self.right_controller = None
self.skeleton = None
self.rightView.makeCurrent()
self.right_scene = EditorScene(True)
if controller is not None:
self.right_controller = self.copy_controller(
controller, self.right_scene)
self.skeleton = self.right_controller.get_skeleton()
n_frames = self.right_controller.getNumberOfFrames()
self._fill_list_with_joints(controller)
else:
n_frames = 0
self.leftView.makeCurrent()
self.left_scene = EditorScene(True)
self.copyButton.clicked.connect(self.copy_from_left_to_right)
self.left_controller = None
self.controllers = dict()
self._fill_list_with_scene_objects(scene)
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.selectAllJointsButton.clicked.connect(self.slot_select_all_joints)
self.selectJointChildrenButton.clicked.connect(
self.slot_select_joint_children)
self.deselectJointChildrenButton.clicked.connect(
self.slot_deselect_joint_children)
self.clearSelectedJointsButton.clicked.connect(
self.slot_clear_all_joints)
self.leftStartFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftEndFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftStartFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftEndFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftDisplayFrameSlider.valueChanged.connect(
self.left_display_changed)
self.leftDisplayFrameSpinBox.valueChanged.connect(
self.left_display_changed)
self.rightStartFrameSlider.valueChanged.connect(
self.right_slider_frame_changed)
self.rightStartFrameSpinBox.valueChanged.connect(
self.right_spinbox_frame_changed)
self.rightEndFrameSlider.valueChanged.connect(
self.right_slider_frame_changed)
self.rightEndFrameSpinBox.valueChanged.connect(
self.right_spinbox_frame_changed)
self.rightDisplayFrameSpinBox.valueChanged.connect(
self.right_display_changed)
self.rightDisplayFrameSlider.valueChanged.connect(
self.right_display_changed)
self.sceneObjectListWidget.itemClicked.connect(
self.load_src_controller)
self.success = False
self.n_frames = n_frames
self.start_frame = 0
self.end_frame = n_frames - 1 #
self.set_right_frame_range()
self.initialized = False
class CopyFromSourceDialog(QDialog, Ui_Dialog):
def __init__(self, controller, scene, share_widget, parent=None):
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.leftView = SceneViewerWidget(parent,
share_widget,
size=(400, 400),
use_frame_buffer=False)
self.leftView.setObjectName("left")
self.leftView.setMinimumSize(400, 400)
self.leftView.initializeGL()
self.leftView.enable_mouse_interaction = False
self.leftViewerLayout.addWidget(self.leftView)
self.rightView = SceneViewerWidget(parent,
self.leftView,
size=(400, 400),
use_frame_buffer=False)
self.rightView.setObjectName("right")
self.rightView.setMinimumSize(400, 400)
self.rightView.initializeGL()
self.rightView.enable_mouse_interaction = False
self.rightViewerLayout.addWidget(self.rightView)
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.scene = scene
self.right_controller = None
self.skeleton = None
self.rightView.makeCurrent()
self.right_scene = EditorScene(True)
if controller is not None:
self.right_controller = self.copy_controller(
controller, self.right_scene)
self.skeleton = self.right_controller.get_skeleton()
n_frames = self.right_controller.getNumberOfFrames()
self._fill_list_with_joints(controller)
else:
n_frames = 0
self.leftView.makeCurrent()
self.left_scene = EditorScene(True)
self.copyButton.clicked.connect(self.copy_from_left_to_right)
self.left_controller = None
self.controllers = dict()
self._fill_list_with_scene_objects(scene)
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.selectAllJointsButton.clicked.connect(self.slot_select_all_joints)
self.selectJointChildrenButton.clicked.connect(
self.slot_select_joint_children)
self.deselectJointChildrenButton.clicked.connect(
self.slot_deselect_joint_children)
self.clearSelectedJointsButton.clicked.connect(
self.slot_clear_all_joints)
self.leftStartFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftEndFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftStartFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftEndFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftDisplayFrameSlider.valueChanged.connect(
self.left_display_changed)
self.leftDisplayFrameSpinBox.valueChanged.connect(
self.left_display_changed)
self.rightStartFrameSlider.valueChanged.connect(
self.right_slider_frame_changed)
self.rightStartFrameSpinBox.valueChanged.connect(
self.right_spinbox_frame_changed)
self.rightEndFrameSlider.valueChanged.connect(
self.right_slider_frame_changed)
self.rightEndFrameSpinBox.valueChanged.connect(
self.right_spinbox_frame_changed)
self.rightDisplayFrameSpinBox.valueChanged.connect(
self.right_display_changed)
self.rightDisplayFrameSlider.valueChanged.connect(
self.right_display_changed)
self.sceneObjectListWidget.itemClicked.connect(
self.load_src_controller)
self.success = False
self.n_frames = n_frames
self.start_frame = 0
self.end_frame = n_frames - 1 #
self.set_right_frame_range()
self.initialized = False
def closeEvent(self, e):
self.timer.stop()
self.leftView.makeCurrent()
del self.leftView
self.rightView.makeCurrent()
del self.rightView
def copy_from_left_to_right(self):
""" copy values from left start to end to right start to end and interpolate with the rest """
if self.left_controller is not None and self.right_controller is not None and self.skeleton is not None:
left_frames = self.left_controller.get_frames()
right_frames = self.right_controller.get_frames()
n_right_frames = self.right_controller.getNumberOfFrames()
print("loaded", len(right_frames), n_right_frames)
dest_start = self.rightStartFrameSlider.value()
src_start = self.leftStartFrameSlider.value()
src_end = self.leftEndFrameSlider.value() + 1
dest_end = self.rightEndFrameSlider.value() + 1
n_dest_frames = dest_end - dest_start
if n_dest_frames <= 0:
print("wrong dest frames", dest_start, dest_end)
return
#extract number of copied frames from source
n_copied_frames = src_end - src_start
if n_copied_frames <= 0:
print("wrong src frames", src_start, src_end)
return
joint_list, joint_index_list = self.get_selected_joints()
print("copy", joint_list, joint_index_list)
modified_frames = self.copy_joint_values(left_frames, right_frames,
joint_list,
joint_index_list,
src_start, src_end,
dest_start, dest_end)
n_blend_range = int(self.blendRangeLineEdit.text())
if n_blend_range > 0:
modified_frames = self.apply_blending(modified_frames,
joint_list,
joint_index_list,
dest_start, dest_end - 1,
n_blend_range)
self.right_controller.replace_frames(modified_frames)
n_new_right_frames = self.right_controller.getNumberOfFrames()
print("finished overwriting", n_right_frames, n_new_right_frames)
def copy_joint_values(self, left_frames, right_frames, joint_list,
joint_index_list, src_start, src_end, dest_start,
dest_end):
n_copied_frames = src_end - src_start
n_dest_frames = dest_end - dest_start
modified_frames = np.array(right_frames)
if n_copied_frames > 1:
src_frames = stretch_motion(self.skeleton,
left_frames[src_start:src_end],
n_dest_frames)
else:
src_frames = []
for i in range(n_dest_frames):
src_frames.append(left_frames[src_start])
src_frames = np.array(src_frames)
print("copy ", n_copied_frames, n_dest_frames)
for frame_idx in range(n_dest_frames):
modified_frames[dest_start + frame_idx][
joint_index_list] = src_frames[frame_idx][joint_index_list]
return modified_frames
def apply_blending(self, frames, joint_list, joint_index_list, dest_start,
dest_end, n_blend_range):
n_frames = len(frames)
blend_start = max(dest_start - n_blend_range, 0)
start_window = dest_start - blend_start
blend_end = min(dest_end + n_blend_range, n_frames - 1)
end_window = blend_end - dest_end
#remove root indices
print("blend ", dest_start, dest_end, n_blend_range, start_window,
end_window)
quat_joint_index_list = list(joint_index_list)
if self.skeleton.root in joint_list:
# apply root smnoothing and remove from index list
if start_window > 0:
frames = smooth_translation_in_quat_frames(
frames, dest_start, start_window)
if end_window > 0:
frames = smooth_translation_in_quat_frames(
frames, dest_end, end_window)
for i in range(3):
quat_joint_index_list.remove(i)
if len(quat_joint_index_list) > 0:
o = 0
for j in joint_list:
q_indices = quat_joint_index_list[o:o + 4]
if start_window > 0:
frames = create_transition_for_joints_using_slerp(
frames, q_indices, blend_start, dest_start,
start_window, BLEND_DIRECTION_FORWARD)
if end_window > 0:
print(j, q_indices)
frames = create_transition_for_joints_using_slerp(
frames, q_indices, dest_end, blend_end, end_window,
BLEND_DIRECTION_BACKWARD)
o += 4
return frames
def get_selected_joints(self):
joint_list = []
joint_index_list = []
for row_idx in range(self.jointTableWidget.rowCount()):
index_cell = self.jointTableWidget.item(row_idx, 0)
if index_cell.checkState() == Qt.Checked:
name_cell = self.jointTableWidget.item(row_idx, 1)
joint_name = str(name_cell.text())
joint_list.append(joint_name)
if joint_name == self.skeleton.root:
offset = 0
n_channels = 7
else:
offset = self.skeleton.nodes[
joint_name].quaternion_frame_index * 4 + 3
n_channels = 4
joint_index_list += list(range(offset, offset + n_channels))
return joint_list, joint_index_list
def _fill_list_with_joints(self, controller):
#self.jointTableWidget.clear()
for joint_name in controller.get_animated_joints():
insertRow = self.jointTableWidget.rowCount()
self.jointTableWidget.insertRow(insertRow)
indexItem = QTableWidgetItem("")
indexItem.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
indexItem.setCheckState(Qt.Unchecked)
self.jointTableWidget.setItem(insertRow, 0, indexItem)
self.jointTableWidget.setItem(insertRow, 1,
QTableWidgetItem(str(joint_name)))
def copy_controller(self, controller, target_scene):
skeleton = controller.get_skeleton_copy()
mv = controller.get_motion_vector_copy()
o = target_scene.object_builder.create_object("animation_controller",
"",
skeleton,
mv,
mv.frame_time,
semantic_annotation=None)
return o._components["animation_controller"]
def load_src_controller(self, item):
if item is None:
return
selected_item = str(self.sceneObjectListWidget.currentItem().text())
if self.left_controller is not None:
node_id = self.left_controller.scene_object.node_id
self.left_scene.removeObject(node_id)
src_controller = self.controllers[selected_item]
self.left_controller = self.copy_controller(src_controller,
self.left_scene)
n_frames = src_controller.getNumberOfFrames()
self.leftStartFrameSlider.setRange(0, n_frames - 1)
self.leftStartFrameSlider.setValue(0)
self.leftEndFrameSlider.setRange(0, n_frames - 1)
self.leftEndFrameSlider.setValue(n_frames - 1)
self.leftDisplayFrameSlider.setRange(0, n_frames - 1)
self.leftDisplayFrameSlider.setRange(0, n_frames - 1)
def draw(self):
""" draw current scene on the given view
(note before calling this function the context of the view has to be set as current using makeCurrent() and afterwards the doubble buffer has to swapped to display the current frame swapBuffers())
"""
if not self.initialized:
if self.leftView.graphics_context is not None and self.rightView.graphics_context is not None:
self.leftView.resize(400, 400)
self.rightView.resize(400, 400)
self.initialized = True
self.left_scene.update(self.dt)
self.leftView.makeCurrent()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.leftView.graphics_context.render(self.left_scene)
self.leftView.swapBuffers()
self.right_scene.update(self.dt)
self.rightView.makeCurrent()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.rightView.graphics_context.render(self.right_scene)
self.rightView.swapBuffers()
#print(len(self.right_scene.lightSources))
def right_display_changed(self, frame_idx):
if self.right_controller is not None:
self.right_controller.setCurrentFrameNumber(frame_idx)
self.rightDisplayFrameSpinBox.setValue(frame_idx)
def left_display_changed(self, frame_idx):
if self.left_controller is not None:
self.left_controller.setCurrentFrameNumber(frame_idx)
self.leftDisplayFrameSpinBox.setValue(frame_idx)
def _fill_list_with_scene_objects(self, scene):
for sceneObject in get_animation_controllers(scene):
item = QListWidgetItem()
item.setText(sceneObject.name)
item.setData(Qt.UserRole, sceneObject.node_id)
self.sceneObjectListWidget.addItem(item)
self.controllers[sceneObject.name] = sceneObject._components[
"animation_controller"]
def set_right_frame_range(self):
self.leftStartFrameSlider.setRange(0, self.n_frames - 1)
self.leftEndFrameSlider.setRange(0, self.n_frames - 1)
self.leftStartFrameSpinBox.setRange(0, self.n_frames - 1)
self.leftEndFrameSpinBox.setRange(0, self.n_frames - 1)
self.leftEndFrameSlider.setValue(self.n_frames - 1)
self.leftEndFrameSpinBox.setValue(self.n_frames - 1)
self.rightStartFrameSlider.setRange(0, self.n_frames - 1)
self.rightStartFrameSpinBox.setRange(0, self.n_frames - 1)
self.rightEndFrameSlider.setRange(0, self.n_frames - 1)
self.rightEndFrameSpinBox.setRange(0, self.n_frames - 1)
self.rightEndFrameSlider.setValue(self.n_frames - 1)
self.rightEndFrameSpinBox.setValue(self.n_frames - 1)
self.rightDisplayFrameSlider.setRange(0, self.n_frames - 1)
self.rightDisplayFrameSpinBox.setRange(0, self.n_frames - 1)
def left_spinbox_frame_changed(self, frame):
self.leftStartFrameSlider.setValue(self.leftStartFrameSpinBox.value())
self.leftEndFrameSlider.setValue(self.leftEndFrameSpinBox.value())
def left_slider_frame_changed(self, frame):
self.leftStartFrameSpinBox.setValue(self.leftStartFrameSlider.value())
self.leftEndFrameSpinBox.setValue(self.leftEndFrameSlider.value())
def right_spinbox_frame_changed(self, frame):
self.rightStartFrameSlider.setValue(
self.rightStartFrameSpinBox.value())
self.rightEndFrameSlider.setValue(self.rightEndFrameSpinBox.value())
def right_slider_frame_changed(self, frame):
self.rightStartFrameSpinBox.setValue(
self.rightStartFrameSlider.value())
self.rightEndFrameSpinBox.setValue(self.rightEndFrameSlider.value())
def slot_accept(self):
self.success = True
self.close()
def slot_reject(self):
self.close()
def slot_select_all_joints(self):
for row_idx in range(self.jointTableWidget.rowCount()):
index_cell = self.jointTableWidget.item(row_idx, 0)
index_cell.setCheckState(Qt.Checked)
def slot_clear_all_joints(self):
for row_idx in range(self.jointTableWidget.rowCount()):
index_cell = self.jointTableWidget.item(row_idx, 0)
index_cell.setCheckState(Qt.Unchecked)
def slot_select_joint_children(self):
for row_idx in range(self.jointTableWidget.rowCount()):
index_cell = self.jointTableWidget.item(row_idx, 0)
name_cell = self.jointTableWidget.item(row_idx, 1)
if index_cell.isSelected() or name_cell.isSelected():
joint_name = str(name_cell.text())
self.change_joint_children_state(joint_name, Qt.Checked)
def slot_deselect_joint_children(self):
for row_idx in range(self.jointTableWidget.rowCount()):
index_cell = self.jointTableWidget.item(row_idx, 0)
name_cell = self.jointTableWidget.item(row_idx, 1)
if index_cell.isSelected() or name_cell.isSelected():
joint_name = str(name_cell.text())
self.change_joint_children_state(joint_name, Qt.Unchecked)
def change_joint_children_state(self, joint_name, state):
self.change_joint_state(joint_name, state)
if joint_name in self.skeleton.nodes:
for n in self.skeleton.nodes[joint_name].children:
self.change_joint_children_state(n.node_name, state)
def change_joint_state(self, joint_name, state):
print("select", joint_name)
for row_idx in range(self.jointTableWidget.rowCount()):
name_cell = self.jointTableWidget.item(row_idx, 1)
if joint_name == str(name_cell.text()):
index_cell = self.jointTableWidget.item(row_idx, 0)
index_cell.setCheckState(state)
break
def __init__(self, controller, scene, share_widget, parent=None):
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.leftView = SceneViewerWidget(parent,
share_widget,
size=(400, 400))
self.leftView.setObjectName("left")
self.leftView.setMinimumSize(400, 400)
self.leftView.initializeGL()
self.leftView.enable_mouse_interaction = True
self.leftView.mouse_click.connect(self.on_mouse_click)
self.leftView.mouse_move.connect(self.on_mouse_move)
self.leftView.mouse_release.connect(self.on_mouse_release)
self.leftViewerLayout.addWidget(self.leftView)
self.radius = 1.0
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.scene = scene
self.original_controller = controller
self.controller = None
self.skeleton = None
self.leftView.makeCurrent()
self.left_scene = EditorScene(True)
self.left_scene.enable_scene_edit_widget = True
self.left_scene.scene_edit_widget.register_move_callback(
self.on_move_widget)
self._animation_editor = None
if controller is not None:
self.controller = self.copy_controller(controller, self.left_scene)
fps = int(1.0 / self.controller._motion.mv.frame_time)
self.fpsLineEdit.setText(str(fps))
self.skeleton = self.controller.get_skeleton()
n_frames = self.controller.getNumberOfFrames()
self.skeleton_vis = self.controller.scene_object._components[
"skeleton_vis"]
self.init_joints(self.controller)
else:
n_frames = 0
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.deleteBeforeButton.clicked.connect(self.slot_delete_frames_before)
self.deleteAfterButton.clicked.connect(self.slot_delete_frames_after)
self.concatenateButton.clicked.connect(self.slot_concatenate)
self.translateJointButton.clicked.connect(self.slot_translate_joint)
self.rotateJointButton.clicked.connect(self.slot_rotate_joint)
self.smoothFramesButton.clicked.connect(self.slot_smooth_frames)
self.mirrorAnimationButton.clicked.connect(self.slot_mirror_animation)
self.fixJointButton.clicked.connect(self.slot_fix_joint)
self.clearConstraintsButton.clicked.connect(
self.slot_clear_constraints)
self.undoButton.clicked.connect(self.slot_undo)
self.exportCommandsButton.clicked.connect(
self.slot_export_command_history)
self.applyConstraintsButton.clicked.connect(
self.slot_apply_constraints)
self.resampleButton.clicked.connect(self.slot_resample_motion)
self.setFPSButton.clicked.connect(self.slot_set_fps)
self.flipBlenderCoordinateSystemButton.clicked.connect(
self.flip_blender_coordinate_systems)
self.leftStartFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftEndFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftStartFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftEndFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftDisplayFrameSlider.valueChanged.connect(
self.left_display_changed)
self.leftDisplayFrameSpinBox.valueChanged.connect(
self.left_display_changed)
#self.close.triggered.connect(self.on_close)
self.guessGroundHeightButton.clicked.connect(self.guess_ground_height)
self.moveToGroundButton.clicked.connect(self.move_to_ground)
self.detectFootContactsButton.clicked.connect(
self.detect_foot_contacts)
self.groundFeetButton.clicked.connect(self.ground_feet)
self.setAnnotationStartButton.clicked.connect(
self.set_annotation_edit_start)
self.createAnnotationButton.clicked.connect(
self.create_annotation_section)
self.removeAnnotationButton.clicked.connect(
self.remove_annotation_section)
self.edited_knob = None
self.success = False
self.n_frames = n_frames
self.start_frame = 0
self.end_frame = n_frames - 1 #
self.set_frame_range()
self.initialized = False
self.collect_constraints = True
self.original_frames = np.array(self.controller.get_frames())
self.annotation_editor = AnnotationEditor()
self.contactLabelView.setTimeLineParameters(100000, 10)
self.contactLabelView.initScene()
self.contactLabelView.show()
if not self._animation_editor.motion_grounding.initialized:
self.detectFootContactsButton.setEnabled(False)
self.groundFeetButton.setEnabled(False)
else:
ground_annotation = collections.OrderedDict()
color_map = collections.OrderedDict()
for label in self._animation_editor.foot_constraint_generator.contact_joints:
color_map[label] = get_random_color()
ground_annotation[label] = []
self.annotation_editor.set_annotation(ground_annotation, color_map)
self.fill_label_combobox()
self.init_label_time_line()
class AnimationEditorDialog(QDialog, Ui_Dialog):
def __init__(self, controller, scene, share_widget, parent=None):
QDialog.__init__(self, parent)
Ui_Dialog.setupUi(self, self)
self.leftView = SceneViewerWidget(parent,
share_widget,
size=(400, 400))
self.leftView.setObjectName("left")
self.leftView.setMinimumSize(400, 400)
self.leftView.initializeGL()
self.leftView.enable_mouse_interaction = True
self.leftView.mouse_click.connect(self.on_mouse_click)
self.leftView.mouse_move.connect(self.on_mouse_move)
self.leftView.mouse_release.connect(self.on_mouse_release)
self.leftViewerLayout.addWidget(self.leftView)
self.radius = 1.0
self.fps = 60
self.dt = 1 / 60
self.timer = QTimer()
self.timer.timeout.connect(self.draw)
self.timer.start(0)
self.timer.setInterval(1000.0 / self.fps)
self.scene = scene
self.original_controller = controller
self.controller = None
self.skeleton = None
self.leftView.makeCurrent()
self.left_scene = EditorScene(True)
self.left_scene.enable_scene_edit_widget = True
self.left_scene.scene_edit_widget.register_move_callback(
self.on_move_widget)
self._animation_editor = None
if controller is not None:
self.controller = self.copy_controller(controller, self.left_scene)
fps = int(1.0 / self.controller._motion.mv.frame_time)
self.fpsLineEdit.setText(str(fps))
self.skeleton = self.controller.get_skeleton()
n_frames = self.controller.getNumberOfFrames()
self.skeleton_vis = self.controller.scene_object._components[
"skeleton_vis"]
self.init_joints(self.controller)
else:
n_frames = 0
self.selectButton.clicked.connect(self.slot_accept)
self.cancelButton.clicked.connect(self.slot_reject)
self.deleteBeforeButton.clicked.connect(self.slot_delete_frames_before)
self.deleteAfterButton.clicked.connect(self.slot_delete_frames_after)
self.concatenateButton.clicked.connect(self.slot_concatenate)
self.translateJointButton.clicked.connect(self.slot_translate_joint)
self.rotateJointButton.clicked.connect(self.slot_rotate_joint)
self.smoothFramesButton.clicked.connect(self.slot_smooth_frames)
self.mirrorAnimationButton.clicked.connect(self.slot_mirror_animation)
self.fixJointButton.clicked.connect(self.slot_fix_joint)
self.clearConstraintsButton.clicked.connect(
self.slot_clear_constraints)
self.undoButton.clicked.connect(self.slot_undo)
self.exportCommandsButton.clicked.connect(
self.slot_export_command_history)
self.applyConstraintsButton.clicked.connect(
self.slot_apply_constraints)
self.resampleButton.clicked.connect(self.slot_resample_motion)
self.setFPSButton.clicked.connect(self.slot_set_fps)
self.flipBlenderCoordinateSystemButton.clicked.connect(
self.flip_blender_coordinate_systems)
self.leftStartFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftEndFrameSlider.valueChanged.connect(
self.left_slider_frame_changed)
self.leftStartFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftEndFrameSpinBox.valueChanged.connect(
self.left_spinbox_frame_changed)
self.leftDisplayFrameSlider.valueChanged.connect(
self.left_display_changed)
self.leftDisplayFrameSpinBox.valueChanged.connect(
self.left_display_changed)
#self.close.triggered.connect(self.on_close)
self.guessGroundHeightButton.clicked.connect(self.guess_ground_height)
self.moveToGroundButton.clicked.connect(self.move_to_ground)
self.detectFootContactsButton.clicked.connect(
self.detect_foot_contacts)
self.groundFeetButton.clicked.connect(self.ground_feet)
self.setAnnotationStartButton.clicked.connect(
self.set_annotation_edit_start)
self.createAnnotationButton.clicked.connect(
self.create_annotation_section)
self.removeAnnotationButton.clicked.connect(
self.remove_annotation_section)
self.edited_knob = None
self.success = False
self.n_frames = n_frames
self.start_frame = 0
self.end_frame = n_frames - 1 #
self.set_frame_range()
self.initialized = False
self.collect_constraints = True
self.original_frames = np.array(self.controller.get_frames())
self.annotation_editor = AnnotationEditor()
self.contactLabelView.setTimeLineParameters(100000, 10)
self.contactLabelView.initScene()
self.contactLabelView.show()
if not self._animation_editor.motion_grounding.initialized:
self.detectFootContactsButton.setEnabled(False)
self.groundFeetButton.setEnabled(False)
else:
ground_annotation = collections.OrderedDict()
color_map = collections.OrderedDict()
for label in self._animation_editor.foot_constraint_generator.contact_joints:
color_map[label] = get_random_color()
ground_annotation[label] = []
self.annotation_editor.set_annotation(ground_annotation, color_map)
self.fill_label_combobox()
self.init_label_time_line()
def closeEvent(self, e):
self.timer.stop()
self.leftView.makeCurrent()
try:
del self.leftView
except:
print("ignore the error and keep going")
def slot_undo(self):
frames = self._animation_editor.undo()
if frames is not None:
self.n_frames = len(frames)
self.set_frame_range()
self.original_controller.replace_frames(frames)
self.original_controller.updateTransformation()
print("undo")
else:
print("nothing to undo")
def on_mouse_click(self, event, ray_start, ray_dir, pos, node_id):
if event.button() == Qt.LeftButton:
self.left_scene.select_object(node_id, (ray_start, ray_dir))
joint_knob = self.get_selected_joint()
label = "Selected Joint: "
if joint_knob is not None:
label += joint_knob.joint_name
else:
label += "None"
self.jointLabel.setText(label)
def on_mouse_release(self, event):
self.left_scene.deactivate_axis()
if self.edited_knob is None:
return
position = self.edited_knob.scene_object.getPosition()
offset = position - self.left_scene.scene_edit_widget.original_position
joint_name = self.edited_knob.joint_name
ik_frame_idx = self.leftDisplayFrameSlider.value()
copy_start = self.leftStartFrameSlider.value()
copy_end = self.leftEndFrameSlider.value() + 1
if copy_start > copy_end:
print("frame range is wrong", copy_start, copy_end)
return
frame_range = copy_start, copy_end
self.edited_knob.edit_mode = True
use_ccd = self.ccdCheckBox.checkState() == Qt.Checked
blend_window_size = int(self.blendRangeLineEdit.text())
self._animation_editor.translate_joint(joint_name,
offset,
ik_frame_idx,
frame_range,
blend_window_size,
use_ccd,
plot=False,
apply=True)
self.edited_knob.edit_mode = False
self.show_change()
self.edited_knob = None
def on_mouse_move(self, event, last_mouse_pos, cam_pos, cam_ray):
self.left_scene.handle_mouse_movement(cam_pos, cam_ray)
def init_joints(self, controller):
for joint_name in controller.get_animated_joints():
if len(self.skeleton.nodes[joint_name].children
) > 0: # filter out end site joints
child_node = self.skeleton.nodes[joint_name].children[0]
if np.linalg.norm(child_node.offset) > 0:
self.left_scene.object_builder.create_object(
"joint_control_knob", controller, joint_name,
self.radius * self.skeleton_vis.box_scale)
def copy_controller(self, controller, target_scene):
skeleton = controller.get_skeleton_copy()
mv = controller.get_motion_vector_copy()
print("copied", mv.n_frames, len(mv.frames),
controller.getNumberOfFrames())
o = target_scene.object_builder.create_object("animation_controller",
"",
skeleton,
mv,
mv.frame_time,
semantic_annotation=None)
#target_scene.object_builder.create_component("animation_editor", o)
self._animation_editor = AnimationEditor(
o) #o._components["animation_editor"]
return o._components["animation_controller"]
def draw(self):
""" draw current scene on the given view
(note before calling this function the context of the view has to be set as current using makeCurrent() and afterwards the doubble buffer has to swapped to display the current frame swapBuffers())
"""
try:
if not self.initialized:
if self.leftView.graphics_context is not None:
self.leftView.resize(400, 400)
self.initialized = True
except:
import sys
sys.exit(0)
self.left_scene.update(self.dt)
self.leftView.makeCurrent()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.leftView.graphics_context.render(self.left_scene)
self.leftView.swapBuffers()
def left_display_changed(self, frame_idx):
if self.controller is not None:
self.controller.setCurrentFrameNumber(frame_idx)
self.leftDisplayFrameSpinBox.setValue(frame_idx)
self.contactLabelView.setFrame(frame_idx)
def left_spinbox_frame_changed(self, frame):
self.leftStartFrameSlider.setValue(self.leftStartFrameSpinBox.value())
self.leftEndFrameSlider.setValue(self.leftEndFrameSpinBox.value())
def left_slider_frame_changed(self, frame):
self.leftStartFrameSpinBox.setValue(self.leftStartFrameSlider.value())
self.leftEndFrameSpinBox.setValue(self.leftEndFrameSlider.value())
def slot_accept(self):
self.success = True
self.close()
def slot_reject(self):
self.close()
def set_frame_range(self):
self.leftDisplayFrameSlider.setRange(0, self.n_frames - 1)
self.leftDisplayFrameSpinBox.setRange(0, self.n_frames - 1)
self.leftStartFrameSlider.setRange(0, self.n_frames - 1)
self.leftEndFrameSlider.setRange(0, self.n_frames - 1)
self.leftStartFrameSpinBox.setRange(0, self.n_frames - 1)
self.leftEndFrameSpinBox.setRange(0, self.n_frames - 1)
self.leftEndFrameSlider.setValue(self.n_frames - 1)
self.leftEndFrameSpinBox.setValue(self.n_frames - 1)
def get_selected_joint(self):
joint_knob = None
o = self.left_scene.selected_scene_object
if o is not None and "joint_control_knob" in o._components:
joint_knob = o._components["joint_control_knob"]
return joint_knob
def slot_translate_joint(self):
plot = False
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
x = float(self.translateXLineEdit.text())
y = float(self.translateYLineEdit.text())
z = float(self.translateZLineEdit.text())
offset = [x, y, z]
joint_name = joint_knob.joint_name
ik_frame_idx = self.leftDisplayFrameSlider.value()
copy_start = self.leftStartFrameSlider.value()
copy_end = self.leftEndFrameSlider.value() + 1
if copy_start > copy_end:
print("frame range is wrong", copy_start, copy_end)
return
frame_range = copy_start, copy_end
joint_knob.edit_mode = True
apply = self.collectConstraintsCheckBox.checkState() == Qt.Unchecked
use_ccd = self.ccdCheckBox.checkState() == Qt.Checked
blend_window_size = int(self.blendRangeLineEdit.text())
self._animation_editor.translate_joint(joint_name, offset,
ik_frame_idx, frame_range,
blend_window_size, use_ccd,
plot, apply)
joint_knob.edit_mode = False
self.show_change()
def slot_clear_constraints(self):
self._animation_editor.clear_constraints()
def slot_rotate_joint(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
x = float(self.rotateXLineEdit.text())
y = float(self.rotateYLineEdit.text())
z = float(self.rotateZLineEdit.text())
edit_start = self.leftStartFrameSlider.value()
edit_end = self.leftEndFrameSlider.value() + 1
if edit_start > edit_end:
print("frame range is wrong", edit_start, edit_end)
return
frame_range = edit_start, edit_end
offset = [x, y, z]
window_size = int(self.blendRangeLineEdit.text())
self._animation_editor.rotate_joint(joint_name, offset, frame_range,
window_size)
self.show_change()
def show_change(self):
frames = np.array(self.controller.get_frames())
self.original_controller.replace_frames(frames)
self.original_controller.updateTransformation()
self.controller.updateTransformation()
def slot_smooth_frames(self):
window_size = int(self.smoothWindowSizeLineEdit.text())
if window_size >= 5:
print("smooth frames using a window size of", window_size)
self._animation_editor.smooth_using_moving_average(window_size)
else:
print("Error: window size must be >= 5")
def slot_concatenate(self):
options = dict()
options["activate_smoothing"] = True
options["window"] = 20
select_animation_dialog = SelectSceneObjectsDialog(
self.scene,
get_animation_controllers,
self,
name="Concatenate",
properties=options)
select_animation_dialog.exec_()
if select_animation_dialog.success:
o = self.scene.getObject(select_animation_dialog.selected_node_id)
options = select_animation_dialog.properties
animation_controller = o._components["animation_controller"]
self.controller._motion.mv.skeleton = self.controller.get_skeleton(
)
self._animation_editor.concatenate(animation_controller,
options["activate_smoothing"],
options["window"])
self.n_frames = self.controller.getNumberOfFrames()
self.set_frame_range()
self.show_change()
def slot_mirror_animation(self):
self._animation_editor.mirror_animation()
self.show_change()
def slot_delete_frames_before(self):
frame_idx = self._animation_editor.get_current_frame_number()
self._animation_editor.delete_frames_before(frame_idx)
def slot_delete_frames_after(self):
frame_idx = self._animation_editor.get_current_frame_number()
self._animation_editor.delete_frames_after(frame_idx)
def slot_fix_joint(self):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_name = joint_knob.joint_name
apply = self.collectConstraintsCheckBox.checkState() == Qt.Unchecked
edit_start = self.leftStartFrameSlider.value()
edit_end = self.leftEndFrameSlider.value() + 1
joint_knob.edit_mode = True
frame = self.controller.get_current_frame()
p = self.controller.get_joint_position(joint_name, frame)
p = p.tolist()
if edit_start < edit_end:
frame_range = edit_start, edit_end
self._animation_editor.fix_joint(joint_name, p, frame_range, apply)
else:
print("frame range is wrong", edit_start, edit_end)
joint_knob.edit_mode = False
self.show_change()
def slot_export_command_history(self):
filename = QFileDialog.getSaveFileName(self, 'Save To File', '.')[0]
save_json_file(self._animation_editor.command_history, filename)
def slot_apply_constraints(self, plot=False):
use_ccd = self.ccdCheckBox.checkState() == Qt.Checked
if use_ccd:
self._animation_editor.apply_constraints_using_ccd(plot)
else:
self._animation_editor.apply_constraints(plot)
def slot_resample_motion(self):
resample_factor = float(self.resampleFactorLineEdit.text())
if resample_factor >= 0:
print("resample frames using a factor of", resample_factor)
self._animation_editor.resample_motion(resample_factor)
self.n_frames = self.controller.getNumberOfFrames()
self.set_frame_range()
self.show_change()
else:
print("Error: resample factor must be > 0", resample_factor)
def slot_set_fps(self):
fps = float(self.fpsLineEdit.text())
if fps >= 0:
print("set fps to", fps)
self.controller._motion.mv.frame_time = 1.0 / fps
self.show_change()
else:
print("Error: window size must be > 0", fps)
def flip_blender_coordinate_systems(self):
self._animation_editor.flip_blender_coordinate_systems()
def guess_ground_height(self):
source_ground_height = self._animation_editor.guess_ground_height(
False)
self.sourceGroundHeightLineEdit.setText(str(source_ground_height))
def move_to_ground(self):
source_ground_height = float(self.sourceGroundHeightLineEdit.text())
target_ground_height = float(self.targetGroundHeightLineEdit.text())
self._animation_editor.move_to_ground(source_ground_height,
target_ground_height)
self.show_change()
def detect_foot_contacts(self):
source_ground_height = float(self.sourceGroundHeightLineEdit.text())
ground_contacts = self._animation_editor.detect_ground_contacts(
source_ground_height)
ground_annotation = collections.OrderedDict()
color_map = collections.OrderedDict()
n_frames = self.controller.getNumberOfFrames()
for idx in range(n_frames):
for label in ground_contacts[idx]:
if label not in ground_annotation:
color_map[label] = get_random_color()
ground_annotation[label] = [[]]
ground_annotation[label][0].append(idx)
self.annotation_editor.set_annotation(ground_annotation, color_map)
self.init_label_time_line()
def ground_feet(self):
target_ground_height = float(self.targetGroundHeightLineEdit.text())
n_frames = self.controller.getNumberOfFrames()
ground_contacts = [[] for f in range(n_frames)]
ground_annotation = self.annotation_editor._semantic_annotation
for label in ground_annotation:
if label not in self.skeleton.nodes:
print("ignore", label)
continue
for entry in ground_annotation[label]:
for idx in entry:
ground_contacts[idx].append(label)
self._animation_editor.apply_foot_constraints(ground_contacts,
target_ground_height)
self.show_change()
def init_label_time_line(self):
n_frames = self.controller.getNumberOfFrames()
self.contactLabelView.clearScene()
self.contactLabelView.create_frame_indicator()
self.contactLabelView.setTimeLineParameters(n_frames, 10)
self.contactLabelView.set_edit_start_frame(0)
ground_annotation = self.annotation_editor._semantic_annotation
color_map = self.annotation_editor._label_color_map
if len(ground_annotation) > 0:
for label, indices in ground_annotation.items():
color = [0, 0, 1]
if label in color_map:
color = color_map[label]
joint_indices = []
n_entries = len(indices)
if n_entries > 0 and type(indices[0]) == list:
for i in range(n_entries):
joint_indices += indices[i]
else:
joint_indices = indices
self.contactLabelView.addLabel(label, joint_indices, color)
else:
self.contactLabelView.addLabel("empty", [], [0, 0, 0])
def keyReleaseEvent(self, event):
if event.key() == Qt.Key_G:
self.create_annotation_section()
elif event.key() == Qt.Key_H:
self.remove_annotation_section()
elif event.key() == Qt.Key_K:
self.set_annotation_edit_start()
def create_annotation_section(self):
if self.labelComboBox.count() < 1:
return
frame_idx = self.controller._motion.frame_idx
start_idx = self.annotation_editor.prev_annotation_edit_frame_idx
label = str(self.labelComboBox.currentText())
self.annotation_editor.create_annotation_section(frame_idx, label)
self.annotation_editor.set_annotation_edit_start(start_idx)
self.init_label_time_line()
def remove_annotation_section(self):
if self.labelComboBox.count() < 1:
return
frame_idx = self.controller._motion.frame_idx
start_idx = self.annotation_editor.prev_annotation_edit_frame_idx
label = str(self.labelComboBox.currentText())
self.annotation_editor.remove_annotation_section(frame_idx, label)
self.annotation_editor.set_annotation_edit_start(start_idx)
self.init_label_time_line()
def set_annotation_edit_start(self):
frame_idx = self.controller._motion.frame_idx
self.annotation_editor.set_annotation_edit_start(frame_idx)
self.contactLabelView.set_edit_start_frame(frame_idx)
def on_move_widget(self, position):
joint_knob = self.get_selected_joint()
if joint_knob is None:
return
joint_knob.edit_mode = True
joint_knob.scene_object.setPosition(position)
self.edited_knob = joint_knob
def fill_label_combobox(self):
self.labelComboBox.clear()
for idx, label in enumerate(
self.annotation_editor._semantic_annotation):
self.labelComboBox.addItem(label, idx)