def load_skeleton_and_animations_from_fbx(file_path):
mesh_list, skeleton_def, animations = load_fbx_file(file_path)
skeleton = SkeletonBuilder().load_from_fbx_data(skeleton_def)
anim_names = list(animations.keys())
motion_vectors = []
if len(anim_names) > 0:
anim_name = anim_names[0]
mv = MotionVector()
mv.from_fbx(animations[anim_name], skeleton.animated_joints)
motion_vectors.append(mv)
return skeleton, motion_vectors
def load_clips(data_path):
print("load clips", data_path)
loaded_clips = dict()
for filepath in glob.glob(data_path+os.sep+"*.bvh"):
print("load", filepath)
name = filepath.split(os.sep)[-1][:-4]
bvh = BVHReader(filepath)
mv = MotionVector()
mv.from_bvh_reader(bvh, True)
state = MotionState(mv)
state.play = True
print("load", name, mv.n_frames)
loaded_clips[name] = state
return loaded_clips
def export_motion_clip(self, skeleton, motion_id, name, directory):
print("export clip")
data, skeleton, meta_data = self.get_motion_by_id(motion_id)
if data is None:
return
data = bz2.decompress(data)
motion_dict = bson.loads(data)
print("write to file")
motion_vector = MotionVector()
motion_vector.from_custom_unity_format(motion_dict)
bvh_str = get_bvh_string(skeleton, motion_vector.frames)
filename = directory + os.sep + name
if not name.endswith(".bvh"):
filename += ".bvh"
with open(filename, "wt") as out_file:
out_file.write(bvh_str)
def build_state_old(self, frames, pose_buffer, ignore_rotation=False):
if ignore_rotation:
pose_buffer[-1][3:7] = [1, 0, 0, 0]
m = get_node_aligning_2d_transform(self.skeleton, self.skeleton.aligning_root_node, pose_buffer, frames)
frames = transform_quaternion_frames(frames, m)
len_pose_buffer = len(pose_buffer)
new_frames = smooth_quaternion_frames(np.array(pose_buffer + frames.tolist()), len_pose_buffer, 20, True)
new_frames = new_frames[len_pose_buffer:]
new_frames = self.apply_smoothing(new_frames, pose_buffer[-1], 0, self.settings.blend_window)
mv = MotionVector(self.skeleton)
mv.frames = new_frames[2:]
mv.frame_time = self.frame_time
mv.n_frames = len(mv.frames)
state = MotionState(mv)
return state
def generate_motion_old(self, trajectory):
"""generate motion vector by pre-defined trajectory"""
node_id = min(self.strong_components) #start from the minimum frame id
pose = None
last_pose = None
trj_type = trajectory.getType()
trj_value = trajectory.getValue()
trj_frame = 0
direction = []
orientation = 0
if trj_type == "euler":
trj_frame = trajectory.getFrame()
#compute the translation along the walking direction
radian = np.deg2rad(trj_value[0])
direction = np.array([np.sin(radian), 0, -1 * np.cos(radian)
]) #walk toward to [0 0 -1]
orientation = -radian
out_mv = MotionVector()
out_mv.frames = []
for frame_idx in range(trj_frame):
node = self.nodes[node_id]
if pose is None:
pose = np.copy(node.pose)
pose[3:7] = quaternion_multiply(pose[3:7], node.velocity[3:7])
pose[3:7] = quaternion_multiply(
pose[3:7], quaternion_from_euler(orientation, 0, 0))
last_pose = np.copy(pose)
else:
pose = self.get_pose_by_trajectory(node, last_pose, trj_type,
trj_value, direction,
orientation)
last_pose = np.copy(pose)
out_mv.frames.append(
last_pose) #TODO: why mess when using "pose" here?
node_id = self.sample_next_node_id(node_id)
if DEBUG:
if node_id < 0:
print('frame ', frame_idx, 'not find any edge, dead end')
else:
print('frame ', frame_idx, 'current node', node_id)
return out_mv
def set_initial_idle_state(self, use_all_joints=False):
mv = MotionVector(self.skeleton)
mv.frames = self._graph.nodes[
self.current_node].sample().get_motion_vector()
mv.frame_time = self.frame_time
mv.n_frames = len(mv.frames)
print("before", mv.frames.shape, self.skeleton.reference_frame_length)
other_animated_joints = self._graph.nodes[
self.current_node].get_animated_joints()
if len(other_animated_joints) == 0:
other_animated_joints = ANIMATED_JOINTS_CUSTOM
if use_all_joints:
other_animated_joints = self._graph.nodes[
self.current_node].get_animated_joints()
if len(other_animated_joints) == 0:
other_animated_joints = ANIMATED_JOINTS_CUSTOM
full_frames = np.zeros(
(len(mv.frames), self.skeleton.reference_frame_length))
for idx, reduced_frame in enumerate(mv.frames):
full_frames[
idx] = self.skeleton.add_fixed_joint_parameters_to_other_frame(
reduced_frame, other_animated_joints)
mv.frames = full_frames
self.state = MotionState(mv)
self.state.play = self.play
def save_recording_to_file(self):
time_str = datetime.now().strftime("%d%m%y_%H%M%S")
filename = "recording_"+time_str+".bvh"
n_frames = len(self.recorded_poses)
if n_frames > 0:
other_animated_joints = self._graph.nodes[self.current_node].get_animated_joints()
full_frames = np.zeros((n_frames, self.skeleton.reference_frame_length))
for idx, reduced_frame in enumerate(self.recorded_poses):
full_frames[idx] = self.skeleton.add_fixed_joint_parameters_to_other_frame(reduced_frame,
other_animated_joints)
mv = MotionVector()
mv.frames = full_frames
mv.n_frames = n_frames
mv.frame_time = self.frame_time
mv.export(self.skeleton, filename)
print("saved recording with", n_frames, "to file", filename)
self.is_recording = False
def get_initial_idle_state(self, start_node, use_all_joints=False):
mv = MotionVector(self.skeleton)
print("node", start_node)
mv.frames = self._graph.nodes[start_node].sample().get_motion_vector()
mv.frame_time = self.frame_time
mv.n_frames = len(mv.frames)
if use_all_joints:
animated_joints = self._graph.nodes[
start_node].get_animated_joints()
assert len(animated_joints) == 0, "Number of joints are zero"
full_frames = np.zeros(
(len(mv.frames), self.skeleton.reference_frame_length))
for idx, reduced_frame in enumerate(mv.frames):
full_frames[
idx] = self.skeleton.add_fixed_joint_parameters_to_other_frame(
reduced_frame, animated_joints)
mv.frames = full_frames
state = MotionState(mv)
return state
def build_state(self, frames, pose_buffer, ignore_rotation=False, export=False):
if ignore_rotation:
pose_buffer[-1][3:7] = [1, 0, 0, 0]
if pose_buffer is not None:
m = get_node_aligning_2d_transform(self.skeleton, self.skeleton.aligning_root_node, pose_buffer, frames)
#if export:
# print("aligning state transform",m)
frames = transform_quaternion_frames(frames, m)
new_frames = smooth_quaternion_frames2(pose_buffer[-1], frames, self.settings.blend_window, True)
else:
new_frames = frames
if export:
time_stamp = str(datetime.now().strftime("%d%m%y_%H%M%S"))
mv = MotionVector()
mv.frames = frames
mv.n_frames = len(frames)
mv.export(self.skeleton, "data" + os.sep + "global"+time_stamp+"global.bvh")
mv = MotionVector(self.skeleton)
mv.frames = new_frames#[1:]
mv.frame_time = self.frame_time
mv.n_frames = len(mv.frames)
state = MotionState(mv)
return state