def __init__(self, scene_object, name, data, color=(0, 0, 1)):
LegacySkeletonAnimationController.__init__(self, scene_object)
self.motion_primitive = MotionStateGraphNode(None)
self.skeleton = SkeletonBuilder().load_from_json_data(data["skeleton"])
self.frameTime = self.skeleton.frame_time
self._visualizations = []
self.samples = []
self.algorithm_config = DEFAULT_ALGORITHM_CONFIG
self.color = color
self.motion_primitive._initialize_from_json(convert_to_mgrd_skeleton(self.skeleton), data)
print("loaded motion primitive")
print("spatial", self.motion_primitive.get_n_spatial_components())
print("time", self.motion_primitive.get_n_time_components())
self.motion_primitive.cluster_tree = None
self.training_data = None
#print("n gmm", len(self.motion_primitive.get_gaussian_mixture_model().weights))
self.name = name
self._regenerate = True
self.type = CONTROLLER_TYPE_MP
set_log_mode(LOG_MODE_DEBUG)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
self.mock_graph = MockGraph(self.skeleton)
self.label_color_map = dict()
def load_motion(path, skeleton_type=None):
bvh = BVHReader(path)
mv = MotionVector()
mv.from_bvh_reader(bvh)
skeleton = SkeletonBuilder().load_from_bvh(bvh)
skeleton.skeleton_model = load_skeleton_model(skeleton_type)
return skeleton, mv
def load_skeleton_from_db(db_url, skeleton_name, session=None):
skeleton_data = get_skeleton_from_remote_db(db_url, skeleton_name, session)
if skeleton_data is not None:
skeleton = SkeletonBuilder().load_from_custom_unity_format(skeleton_data)
skeleton_model = get_skeleton_model_from_remote_db(db_url, skeleton_name, session)
skeleton.skeleton_model = skeleton_model
return skeleton
def load_asf_file(builder, filename):
scene_object = SceneObject()
scene_object.scene = builder._scene
asf_data = parse_asf_file(filename)
skeleton = SkeletonBuilder().load_from_asf_data(asf_data)
color = get_random_color()
builder.create_component("skeleton_vis", scene_object, skeleton, color)
motion_vector = MotionVector()
motion_vector.frames = [skeleton.get_reduced_reference_frame()]
motion_vector.n_frames = 1
scene_object = SceneObject()
vis = builder.create_component("skeleton_vis",
scene_object,
skeleton,
color=get_random_color())
animation_controller = SkeletonAnimationController(scene_object)
animation_controller.name = filename.split("/")[-1]
animation_controller.set_motion(motion_vector)
animation_controller.frameTime = 1
animation_controller.set_visualization(vis)
scene_object.name = animation_controller.name
scene_object.add_component("animation_controller", animation_controller)
builder._scene.addAnimationController(scene_object, "animation_controller")
return scene_object
def load_skeleton_from_json(builder, file_path, scale=1.0):
data = load_json_file(file_path)
if "skeleton" in data:
data = data["skeleton"]
#skeleton = SkeletonBuilder().load_from_custom_unity_format(data)
skeleton = SkeletonBuilder().load_from_json_data(data)
skeleton.scale(scale)
motion_vector = MotionVector()
motion_vector.frames = [skeleton.get_reduced_reference_frame()]
motion_vector.n_frames = 1
scene_object = SceneObject()
vis = builder.create_component("skeleton_vis",
scene_object,
skeleton,
color=get_random_color())
animation_controller = SkeletonAnimationController(scene_object)
animation_controller.name = file_path.split("/")[-1]
animation_controller.set_motion(motion_vector)
animation_controller.frameTime = 1
animation_controller.set_visualization(vis)
scene_object.name = animation_controller.name
scene_object.add_component("animation_controller", animation_controller)
print("load mg json from", file_path)
if scene_object is not None:
builder._scene.addAnimationController(scene_object,
"animation_controller")
return scene_object
def load_motion_from_json(builder,
skeleton_data,
motion_data,
name,
collection_id,
motion_id,
meta_data_str="",
skeleton_model=None,
is_processed=False,
draw_mode=2,
visualize=True,
color=None,
visible=True):
if color is None:
color = get_random_color()
skeleton = SkeletonBuilder().load_from_custom_unity_format(skeleton_data)
skeleton.skeleton_model = skeleton_model
motion_vector = MotionVector()
motion_vector.from_custom_db_format(motion_data)
motion_vector.skeleton = skeleton
skeleton.frame_time = motion_vector.frame_time
#motion_vector.scale_root(scale)
o = builder.create_object("animation_controller", name, skeleton,
motion_vector, motion_vector.frame_time,
draw_mode, visualize, color)
o.visible = visible
if "data_base_ids" not in builder._scene.internal_vars:
builder._scene.internal_vars["data_base_ids"] = dict()
builder._scene.internal_vars["data_base_ids"][o.node_id] = (collection_id,
motion_id,
is_processed)
if meta_data_str != "":
c = o._components["animation_controller"]
meta_data = json.loads(meta_data_str)
if "sections" in meta_data:
sections = meta_data["sections"]
print("sections", sections)
sections = meta_data["sections"]
if type(sections) == list:
semantic_annotation = create_annotation_from_sections_list(
sections, motion_vector.n_frames)
else:
semantic_annotation = create_annotation_from_sections_dict(
sections, motion_vector.n_frames)
color_map = dict()
for key in semantic_annotation.keys():
color_map[key] = get_random_color()
c.set_color_annotation(semantic_annotation, color_map)
if "time_function" in meta_data:
print("set time_function")
time_function = meta_data["time_function"]
print(meta_data["time_function"])
c.set_time_function(time_function)
else:
print("meta_data", meta_data)
return o
def load_skeleton(file_path, joint_filter=None, scale=1.0):
target_bvh = BVHReader(file_path)
bvh_joints = list(target_bvh.get_animated_joints())
if joint_filter is not None:
animated_joints = [j for j in bvh_joints if j in joint_filter]
else:
print("set default joints")
animated_joints = bvh_joints
skeleton = SkeletonBuilder().load_from_bvh(target_bvh, animated_joints)
skeleton.scale(scale)
return skeleton
def slot_load_asf_str(self):
filename = QFileDialog.getOpenFileName(self, 'Open File', '.')[0]
filename = str(filename)
if os.path.isfile(filename):
try:
asf_data = parse_asf_file(filename)
skeleton = SkeletonBuilder().load_from_asf_data(asf_data)
self.data = skeleton.to_unity_format()
print("loaded asf string from", filename)
except Exception as e:
self.data = None
print("Could not read file", e.args, filename)
def main():
global context, pool
port = 8888
target_skeleton_file = MODEL_DATA_DIR + os.sep + "iclone_female4.bvh"
skeleton_model = "iclone"
target_skeleton_file = None
parser = argparse.ArgumentParser(
description="Start the MorphableGraphs REST-interface")
parser.add_argument(
"-set",
nargs='+',
default=[],
help="JSONPath expression, e.g. -set $.model_data=path/to/data")
parser.add_argument("-config_file",
nargs='?',
default=SERVICE_CONFIG_FILE,
help="Path to default config file")
parser.add_argument("-target_skeleton",
nargs='?',
default=target_skeleton_file,
help="Path to target skeleton file")
parser.add_argument("-skeleton_scale",
nargs='?',
default=1.0,
help="Scale applied to the target skeleton offsets")
args = parser.parse_args()
if os.path.isfile(args.config_file):
service_config = load_json_file(args.config_file)
algorithm_config_file = "config" + os.sep + service_config[
"algorithm_settings"] + "_algorithm.config"
algorithm_config = load_json_file(algorithm_config_file)
port = service_config["port"]
if args.target_skeleton is not None:
# TODO use custom json file instead
bvh_reader = BVHReader(args.target_skeleton)
animated_joints = list(bvh_reader.get_animated_joints())
target_skeleton = SkeletonBuilder().load_from_bvh(
bvh_reader, animated_joints=animated_joints)
target_skeleton.skeleton_model = SKELETON_MODELS[skeleton_model]
else:
target_skeleton = None
context = Context(service_config, algorithm_config, target_skeleton)
count = cpu_count()
print("run {} processes on port {}".format(count, port))
pool = ProcessPoolExecutor(max_workers=count)
# configure tornado to work with the asynchio loop
tornado.platform.asyncio.AsyncIOMainLoop().install()
app.listen(port)
asyncio.get_event_loop().run_forever()
pool.shutdown()
def slot_load_bvh_str(self):
filename = QFileDialog.getOpenFileName(self, 'Open File', '.')[0]
filename = str(filename)
if os.path.isfile(filename):
try:
bvh = BVHReader(filename)
skeleton = SkeletonBuilder().load_from_bvh(
bvh, list(bvh.get_animated_joints()))
self.data = skeleton.to_unity_format()
print("loaded bvh string from", filename)
except Exception as e:
self.data = None
print("Could not read file", e.args, filename)
def __init__(self, bvhreader):
self.skeleton = SkeletonBuilder().load_from_bvh(bvhreader)
self.bvhreader = bvhreader
self.quat_frames = []
self.euler_frames = bvhreader.frames
self.n_frames = len(self.euler_frames)
self.body_plane = None
def __init__(self,
elementary_action,
motion_primitive,
data_repo,
functional_motion_data,
npc,
skeleton_json,
knots,
n_joints):
"""
:param functional_motion_data (numpy.array<3d> n_samples * n_coeffs * n_dims): each dimension of motion data is
represented as a function, the dimension of motion data is: first three channels are Hips' translation, four
channels for the orientation of each joint
:return:
"""
self.functional_motion_data = functional_motion_data
self.motion_primitive = motion_primitive
self.elementary_action = elementary_action
self.cartesian_motion_data = convert_quat_functional_data_to_cartesian_functional_data(elementary_action,
motion_primitive,
data_repo,
skeleton_json,
functional_motion_data,
knots)
self.npc = npc
self.knots = knots
skeleton_bvh = os.path.join(os.path.dirname(__file__), r'../../../skeleton.bvh')
bvhreader = BVHReader(skeleton_bvh)
self.skeleton = SkeletonBuilder().load_from_bvh(bvhreader)
self.skeleton_json = skeleton_json
self.data_repo = data_repo
self.n_joints = n_joints
self.len_weights = self.n_joints + LEN_CARTESIAN
self.pca = PCA(n_components=self.npc)
def get_distgrid(self, ref_motion, test_motion):
skeleton = SkeletonBuilder().load_from_bvh(self.ref_bvhreader)
n_ref_frames = len(ref_motion['frames'])
n_test_frames = len(test_motion['frames'])
distgrid = np.zeros([n_test_frames, n_ref_frames])
for i in range(n_test_frames):
for j in range(n_ref_frames):
distgrid[i, j] = calculate_frame_distance(
skeleton, ref_motion['frames'][j],
test_motion['frames'][i])
if self.verbose:
res = MotionDynamicTimeWarping.calculate_path(distgrid)
ref_indices = res[0]
test_indices = res[1]
shape = (n_test_frames, n_ref_frames)
path = self.get_warping_index(test_indices, ref_indices, shape)
distgrid = distgrid.T
plt.figure()
plt.imshow(distgrid)
plt.plot(list(range(len(path))), path, color='red')
plt.ylabel(ref_motion['filename'])
plt.ylim(0, n_ref_frames)
plt.xlim(0, n_test_frames)
plt.xlabel(test_motion['filename'])
plt.title('similarity grid with path')
plt.show()
return distgrid
def load_bvh_file(builder,
path,
scale=1.0,
draw_mode=2,
offset=None,
reference_frame=None,
skeleton_model=None,
use_clip=False,
color=None,
visualize=True):
bvh_reader = BVHReader(path)
bvh_reader.scale(scale)
animated_joints = [
key for key in list(bvh_reader.node_names.keys())
if not key.endswith("EndSite")
]
o = None
if bvh_reader.frames is not None:
skeleton = SkeletonBuilder().load_from_bvh(
bvh_reader,
animated_joints,
reference_frame=reference_frame,
skeleton_model=skeleton_model)
motion_vector = MotionVector()
motion_vector.from_bvh_reader(bvh_reader, False)
motion_vector.skeleton = skeleton
if offset is not None:
motion_vector.translate_root(offset)
name = path.split("/")[-1]
o = builder.create_object("animation_controller", name, skeleton,
motion_vector, bvh_reader.frame_time,
draw_mode, visualize, color)
return o
def load_motion_from_bvh(filename):
bvh_reader = BVHReader(filename)
motion_vector = MotionVector()
motion_vector.from_bvh_reader(bvh_reader, False)
animated_joints = list(bvh_reader.get_animated_joints())
motion_vector.skeleton = SkeletonBuilder().load_from_bvh(
bvh_reader, animated_joints=animated_joints)
return motion_vector
def load_file(self, filename):
bvh_reader = BVHReader(str(self.folder_path) + os.sep + filename)
mv = MotionVector()
mv.from_bvh_reader(bvh_reader, False)
animated_joints = list(bvh_reader.get_animated_joints())
mv.skeleton = SkeletonBuilder().load_from_bvh(
bvh_reader, animated_joints=animated_joints)
self.motion_cache[filename] = mv
def create_animated_mesh(builder, name, model_data, scale=1, visualize=True):
scene_object = SceneObject()
scene_object.name = name
skeleton_data = model_data["skeleton"]
skeleton = SkeletonBuilder().load_from_fbx_data(skeleton_data)
skeleton.skeleton_model = dict()
skeleton.scale(scale)
vis = None
if visualize:
vis = builder.create_component("skeleton_vis",
scene_object,
skeleton,
color=(0, 1, 0),
width_scale=0.1)
#vis.box_scale = 0.1
animation_controller = SkeletonAnimationController(scene_object)
anim_key = None
if "animations" in model_data and len(model_data["animations"]) > 0:
for k in model_data["animations"]:
if len(model_data["animations"][k]["curves"].keys()) > 0:
anim_key = k
break
anim = model_data["animations"][anim_key]["curves"]
clip = create_clip_from_animation(skeleton, anim)
clip.scale_root(scale)
if anim_key is None:
clip = create_clip_from_reference_frame(skeleton)
clip.scale_root(scale)
animation_controller.name = scene_object.name
animation_controller.set_motion(clip)
animation_controller.set_visualization(vis, 1)
animation_controller.frameTime = skeleton.frame_time
scene_object.name = animation_controller.name
scene_object.add_component("animation_controller", animation_controller)
if visualize:
if len(model_data["mesh_list"]) > 0 and len(
model_data["mesh_list"][0]["vertices"]) > 0:
builder.create_component("animated_mesh", scene_object, model_data,
"animation_controller", scale)
return scene_object
def create_motion_vector_from_bvh(bvh_str, animated_joints=None):
bvh_reader = get_bvh_from_str(bvh_str)
print("loaded motion", bvh_reader.frames.shape)
if animated_joints is None:
animated_joints = [key for key in list(bvh_reader.node_names.keys()) if not key.endswith("EndSite")]
skeleton = SkeletonBuilder().load_from_bvh(bvh_reader, animated_joints)
motion_vector = MotionVector()
motion_vector.from_bvh_reader(bvh_reader, False, animated_joints)
motion_vector.skeleton = skeleton
return motion_vector
def load_data_for_normalization(self, data_folder):
if not data_folder.endswith(os.sep):
data_folder += os.sep
bvh_files = glob.glob(data_folder + '*.bvh')
self.ref_bvh = bvh_files[0]
self.ref_bvhreader = BVHReader(self.ref_bvh)
self.skeleton = SkeletonBuilder().load_from_bvh(self.ref_bvhreader)
for bvh_file_path in bvh_files:
bvhreader = BVHReader(bvh_file_path)
filename = os.path.split(bvh_file_path)[-1]
self.aligned_motions[filename] = bvhreader.frames
def create_animation_controller_from_fbx(builder, name, skeleton_data):
skeleton = SkeletonBuilder().load_from_fbx_data(skeleton_data)
scene_object = SceneObject()
vis = builder.create_component("skeleton_vis",
scene_object,
skeleton,
color=(0, 1, 0))
animation_controller = SkeletonAnimationController(scene_object)
animation_controller.name = name
animation_controller.currentFrameNumber = 0
animation_controller.frameTime = 0.011333
clip = create_clip_from_reference_frame(skeleton)
animation_controller.set_motion(clip)
skeleton.reference_frame = clip.frames[0]
animation_controller.set_visualization(vis, 2)
scene_object.name = animation_controller.name
scene_object.add_component("animation_controller", animation_controller)
return scene_object
def load_target_skeleton(file_path, scale_factor=1.0):
skeleton = None
target_bvh = BVHReader(file_path)
animated_joints = list(target_bvh.get_animated_joints())
skeleton = SkeletonBuilder().load_from_bvh(target_bvh,
animated_joints,
add_tool_joints=False)
for node in list(skeleton.nodes.values()):
node.offset[0] *= scale_factor
node.offset[1] *= scale_factor
node.offset[2] *= scale_factor
return skeleton
def load_custom_unity_format_file(builder, filename, draw_mode=2):
data = load_json_file(filename)
if data is not None:
frame_time = data["frameTime"]
motion_vector = MotionVector()
motion_vector.from_custom_unity_format(data)
skeleton = SkeletonBuilder().load_from_json_data(data)
o = builder.create_object("animation_controller",
filename.split("/")[-1], skeleton,
motion_vector, motion_vector.frame_time,
draw_mode, visualize, color)
return o
def create_cluster_tree_from_model(model_data, n_samples, n_subdivisions_per_level = 4, session=None):
skeleton = SkeletonBuilder().load_from_json_data(model_data["skeleton"])
CLUSTERING_METHOD_KMEANS = 0
mp = MotionPrimitiveModelWrapper()
mp.cluster_tree = None
mp._initialize_from_json(convert_to_mgrd_skeleton(skeleton), model_data)
data = mp.sample_low_dimensional_vectors(n_samples)
n_spatial = mp.get_n_spatial_components()
features = data[:, :n_spatial]
options = {"n_subdivisions": n_subdivisions_per_level,
"clustering_method": CLUSTERING_METHOD_KMEANS,
"use_feature_mean": False}
return FeatureClusterTree(features, data, None, options, [])
def load_motion_from_str(builder,
bvh_str,
name,
node_key,
motion_id,
meta_info_str="",
draw_mode=2,
visualize=True,
color=None):
if color is None:
color = get_random_color()
bvh_reader = get_bvh_from_str(bvh_str)
print("loaded motion", bvh_reader.frames.shape)
animated_joints = [
key for key in list(bvh_reader.node_names.keys())
if not key.endswith("EndSite")
]
skeleton = SkeletonBuilder().load_from_bvh(bvh_reader, animated_joints)
motion_vector = MotionVector()
motion_vector.from_bvh_reader(bvh_reader, False)
motion_vector.skeleton = skeleton
motion_vector.scale_root(0.01)
o = builder.create_object("animation_controller", name, skeleton,
motion_vector, bvh_reader.frame_time, draw_mode,
visualize, color)
if "data_base_ids" not in builder._scene.internal_vars:
builder._scene.internal_vars["data_base_ids"] = dict()
builder._scene.internal_vars["data_base_ids"][o.node_id] = (node_key,
motion_id)
if meta_info_str != "":
c = o._components["animation_controller"]
meta_info = json.loads(meta_info_str)
if "sections" in meta_info:
sections = meta_info["sections"]
if type(sections) == list:
semantic_annotation = create_annotation_from_sections_list(
sections, motion_vector.n_frames)
else:
semantic_annotation = create_annotation_from_sections_dict(
sections, motion_vector.n_frames)
color_map = dict()
for key in semantic_annotation.keys():
color_map[key] = get_random_color()
c.set_color_annotation(semantic_annotation, color_map)
return o
def get_joint_speed(bvhreader, feature_joints):
skeleton = SkeletonBuilder().load_from_bvh(bvhreader)
left_toe_pos = []
right_toe_pos = []
left_toe_speed = [0]
right_toe_speed = [0]
for i in range(len(bvhreader.frames)):
left_toe_pos.append(
get_cartesian_coords(bvhreader, skeleton, feature_joints[0],
bvhreader.frames[i]))
right_toe_pos.append(
get_cartesian_coords(bvhreader, skeleton, feature_joints[1],
bvhreader.frames[i]))
for i in range(len(bvhreader.frames) - 1):
left_toe_speed.append((left_toe_pos[i + 1][0] -
left_toe_pos[i][0])**2 +
(left_toe_pos[i + 1][2] - left_toe_pos[i][2])**2)
right_toe_speed.append(
(right_toe_pos[i + 1][0] - right_toe_pos[i][0])**2 +
(right_toe_pos[i + 1][2] - right_toe_pos[i][2])**2)
return left_toe_speed, right_toe_speed
def normalize_root(self, origin_point):
"""set the offset of root joint to (0, 0, 0), and shift the motions to
original_point, if original_point is None, the set it as (0, 0, 0)
"""
origin_point = [origin_point['x'],
origin_point['y'],
origin_point['z']]
if self.ref_bvh is not None:
self.ref_bvhreader = BVHReader(self.ref_bvh)
elif self.bvhreader is not None:
self.ref_bvhreader = self.bvhreader
else:
raise ValueError('No reference BVH file for skeleton information')
self.ref_bvhreader.node_names['Hips']['offset'] = [0, 0, 0]
skeleton = SkeletonBuilder().load_from_bvh(self.ref_bvhreader)
for filename, frames in self.aligned_motions.items():
height_1 = get_cartesian_coordinates_from_euler_full_skeleton(self.ref_bvhreader,
skeleton,
'Bip01_R_Toe0',
frames[0])[1]
height_2 = get_cartesian_coordinates_from_euler_full_skeleton(self.ref_bvhreader,
skeleton,
'Bip01_L_Toe0',
frames[0])[1]
height_3 = get_cartesian_coordinates_from_euler_full_skeleton(self.ref_bvhreader,
skeleton,
'Bip01_R_Toe0',
frames[-1])[1]
height_4 = get_cartesian_coordinates_from_euler_full_skeleton(self.ref_bvhreader,
skeleton,
'Bip01_L_Toe0',
frames[-1])[1]
height_offset = (height_1 + height_2 + height_3 + height_4)/4.0
self.aligned_motions[filename] = self.translate_to_original_point(
frames,
origin_point,
height_offset)
def load_skeleton(path, skeleton_type=None):
bvh = BVHReader(path)
skeleton = SkeletonBuilder().load_from_bvh(bvh)
skeleton.skeleton_model = load_skeleton_model(skeleton_type)
return skeleton
class AnnotatedMotionVector(MotionVector):
def __init__(self,
skeleton=None,
algorithm_config=None,
rotation_type=ROTATION_TYPE_QUATERNION):
super(AnnotatedMotionVector, self).__init__(skeleton, algorithm_config,
rotation_type)
self.keyframe_event_list = None
self.mg_input = None
self.graph_walk = None
self.grounding_constraints = None
self.ground_contacts = None
self.ik_constraints = collections.OrderedDict()
def export(self,
output_filename,
add_time_stamp=False,
export_details=False):
""" Saves the resulting animation frames, the annotation and actions to files.
Also exports the input file again to the output directory, where it is
used as input for the constraints visualization by the animation server.
"""
MotionVector.export(self, self.skeleton, output_filename,
add_time_stamp)
self.export_annotation(output_filename)
def export_annotation(self, output_filename):
if self.mg_input is not None:
write_to_json_file(output_filename + ".json",
self.mg_input.mg_input_file)
if self.keyframe_event_list is not None:
self.keyframe_event_list.export_to_file(output_filename)
def load_from_file(self, file_name):
bvh = BVHReader(file_name)
self.skeleton = SkeletonBuilder().load_from_bvh(bvh)
def generate_bvh_string(self):
quat_frames = np.array(self.frames)
if len(quat_frames) > 0 and len(
quat_frames[0]) < self.skeleton.reference_frame_length:
quat_frames = self.skeleton.add_fixed_joint_parameters_to_motion(
quat_frames)
bvh_writer = BVHWriter(None, self.skeleton, quat_frames,
self.skeleton.frame_time, True)
return bvh_writer.generate_bvh_string()
def to_unity_format(self, scale=1.0):
""" Converts the frames into a custom json format for use in a Unity client"""
animated_joints = [
j for j, n in list(self.skeleton.nodes.items())
if "EndSite" not in j and len(n.children) > 0
] # self.animated_joints
unity_frames = []
for node in list(self.skeleton.nodes.values()):
node.quaternion_index = node.index
for frame in self.frames:
unity_frame = self._convert_frame_to_unity_format(
frame, animated_joints, scale)
unity_frames.append(unity_frame)
result_object = dict()
result_object["frames"] = unity_frames
result_object["frameTime"] = self.frame_time
result_object["jointSequence"] = animated_joints
if self.graph_walk is not None:
result_object["events"] = self._extract_event_list_from_keyframes()
return result_object
def _convert_frame_to_unity_format(self,
frame,
animated_joints,
scale=1.0):
""" Converts the frame into a custom json format and converts the transformations
to the left-handed coordinate system of Unity.
src: http://answers.unity3d.com/questions/503407/need-to-convert-to-right-handed-coordinates.html
"""
unity_frame = {"rotations": [], "rootTranslation": None}
for node_name in self.skeleton.nodes.keys():
if node_name in animated_joints:
node = self.skeleton.nodes[node_name]
if node_name == self.skeleton.root:
t = frame[:3] * scale
unity_frame["rootTranslation"] = {
"x": -t[0],
"y": t[1],
"z": t[2]
}
if node_name in self.skeleton.animated_joints: # use rotation from frame
# TODO fix: the animated_joints is ordered differently than the nodes list for the latest model
index = self.skeleton.animated_joints.index(node_name)
offset = index * 4 + 3
r = frame[offset:offset + 4]
unity_frame["rotations"].append({
"x": -r[1],
"y": r[2],
"z": r[3],
"w": -r[0]
})
else: # use fixed joint rotation
r = node.rotation
unity_frame["rotations"].append({
"x": -float(r[1]),
"y": float(r[2]),
"z": float(r[3]),
"w": -float(r[0])
})
return unity_frame
def _extract_event_list_from_keyframes(self):
frame_offset = 0
event_list = list()
for step in self.graph_walk.steps:
time_function = None
if self.graph_walk.use_time_parameters:
time_function = self.graph_walk.motion_state_graph.nodes[
step.node_key].back_project_time_function(step.parameters)
for c in step.motion_primitive_constraints.constraints:
if c.constraint_type == SPATIAL_CONSTRAINT_TYPE_KEYFRAME_POSITION and c.event_name is not None:
event_keyframe_index = c.extract_keyframe_index(
time_function, frame_offset)
event_list.append({
"eventName": c.event_name,
"eventTarget": c.event_target,
"keyframe": event_keyframe_index
})
frame_offset += step.end_frame - step.start_frame + 1
print("extracted", event_list)
return event_list
class MotionPrimitiveController(LegacySkeletonAnimationController):
def __init__(self, scene_object, name, data, color=(0, 0, 1)):
LegacySkeletonAnimationController.__init__(self, scene_object)
self.motion_primitive = MotionStateGraphNode(None)
self.skeleton = SkeletonBuilder().load_from_json_data(data["skeleton"])
self.frameTime = self.skeleton.frame_time
self._visualizations = []
self.samples = []
self.algorithm_config = DEFAULT_ALGORITHM_CONFIG
self.color = color
self.motion_primitive._initialize_from_json(convert_to_mgrd_skeleton(self.skeleton), data)
print("loaded motion primitive")
print("spatial", self.motion_primitive.get_n_spatial_components())
print("time", self.motion_primitive.get_n_time_components())
self.motion_primitive.cluster_tree = None
self.training_data = None
#print("n gmm", len(self.motion_primitive.get_gaussian_mixture_model().weights))
self.name = name
self._regenerate = True
self.type = CONTROLLER_TYPE_MP
set_log_mode(LOG_MODE_DEBUG)
self.start_pose = {"position": [0, 0, 0], "orientation": [0, 0, 0]}
self.mock_graph = MockGraph(self.skeleton)
self.label_color_map = dict()
def init_visualization(self):
self.generate_random_samples(1)
def load_cluster_tree_from_json_file(self, filepath):
tree_data = load_json_file(filepath)
self.load_cluster_tree_from_json(tree_data)
def load_cluster_tree_from_json(self, tree_data):
print("load cluster tree")
self.motion_primitive.cluster_tree = FeatureClusterTree.load_from_json(tree_data)
print("finished loading cluster tree")
def clear(self):
self.samples = []
self._visualizations = []
def generate_random_samples(self, n_samples, sample_offset=0):
self.clear()
if n_samples > 1:
x_offset = -n_samples / 2 * sample_offset
else:
x_offset = 0
for idx in range(n_samples):
self.generate_random_sample(x_offset)
x_offset += sample_offset
self.updated_frame()
def generate_random_samples_from_tree(self, n_samples, sample_offset=0):
if self.motion_primitive.cluster_tree is None:
return
self.clear()
if n_samples > 1:
x_offset = -n_samples / 2 * sample_offset
else:
x_offset = 0
for idx in range(n_samples):
self.generate_random_sample_from_tree(x_offset)
x_offset += sample_offset
self.updated_frame()
def generate_random_constraints(self, joint_name, frame_idx, n_samples):
positions = []
for idx in range(n_samples):
positions.append(self.generate_random_constraint(joint_name, frame_idx))
return positions
def generate_random_sample(self, x_offset=0):
spline = self.motion_primitive.sample(use_time=False)
frames = spline.get_motion_vector()
self.create_sample_visualization(frames, x_offset)
def generate_random_sample_from_tree(self, x_offset=0):
if self.motion_primitive.cluster_tree is not None:
n_points = len(self.motion_primitive.cluster_tree.data)
sample_idx = np.random.randint(0, n_points)
print("visualize", sample_idx, "/", n_points)
sample = self.motion_primitive.cluster_tree.data[sample_idx]
frames = self.motion_primitive.back_project(sample, False).get_motion_vector()
self.create_sample_visualization(frames, x_offset)
def generate_random_sample_from_data(self, x_offset=0):
self.clear()
if self.training_data is not None:
n_samples = len(self.training_data)
sample_idx = np.random.randint(0, n_samples)
print("visualize", sample_idx, "/", n_samples)
sample = self.training_data[sample_idx]
frames = self.motion_primitive.back_project(sample, False).get_motion_vector()
self.create_sample_visualization(frames, x_offset)
def create_sample_visualization(self, frames, x_offset=0):
motion = AnnotatedMotionVector(skeleton=self.skeleton)
frames[:, 0] += x_offset
print(frames.shape)
motion.append_frames(frames)
v = SkeletonVisualization(self.scene_object, self.color)
v.set_skeleton(self.skeleton)
v.draw_mode = SKELETON_DRAW_MODE_LINES
self._visualizations.append(v)
self.samples.append(motion)
def generate_constrained_sample(self, joint_name, frame_idx, position):
action_constraints = ElementaryActionConstraints()
action_constraints.motion_state_graph = self.mock_graph
self.algorithm_config["local_optimization_settings"]["max_iterations"] = 50000
self.algorithm_config["local_optimization_settings"]["method"] = "L-BFGS-B"
mp_generator = MotionPrimitiveGenerator(action_constraints, self.algorithm_config)
#mp_generator.numerical_minimizer = OptimizerBuilder(self.algorithm_config).build_path_following_minimizer()
mp_generator.numerical_minimizer = OptimizerBuilder(self.algorithm_config).build_path_following_with_likelihood_minimizer()
mp_constraints = MotionPrimitiveConstraints()
n_frames = self.getNumberOfFrames()
if frame_idx == -1:
frame_idx = n_frames-1
mp_constraints.skeleton = self.skeleton
c_desc = {"joint": joint_name, "canonical_keyframe": frame_idx, "position": position, "n_canonical_frames": n_frames, "semanticAnnotation": {"keyframeLabel":"none"}}
print("set constraint", c_desc)
c = GlobalTransformConstraint(self.skeleton, c_desc, 1.0, 1.0)
mp_constraints.constraints.append(c)
mp_constraints.use_local_optimization = self.algorithm_config["local_optimization_mode"] in ["all", "keyframes"]
vector = mp_generator.generate_constrained_sample(self.motion_primitive, mp_constraints)
spline = self.motion_primitive.back_project(vector, use_time_parameters=False)
frames = spline.get_motion_vector()
self.create_sample_visualization(frames)
def generate_random_constraint(self, joint_name, frame_idx):
spline = self.motion_primitive.sample(use_time=False)
frames = spline.get_motion_vector()
position = self.skeleton.nodes[joint_name].get_global_position(frames[frame_idx])
return position
def updated_frame(self):
prevPlayAnimation = self.playAnimation
self.playAnimation = True
self.update(0)
self.playAnimation = prevPlayAnimation
def getNumberOfFrames(self):
if self.isLoadedCorrectly():
return len(self.samples[0].frames)
else:
return 0
def isLoadedCorrectly(self):
return len(self.samples) > 0
def export_to_file(self, filename, sample_idx=0):
if sample_idx < len(self.samples):
frame_time = self.frameTime
frames = self.skeleton.add_fixed_joint_parameters_to_motion(self.samples[0].frames)
bvh_writer = BVHWriter(None, self.skeleton, frames, frame_time, True)
bvh_writer.write(filename)
def get_skeleton_copy(self):
skeleton = deepcopy(self.skeleton)
count = 0
for node_key in skeleton.get_joint_names():
if node_key != skeleton.root:
skeleton.nodes[node_key].quaternion_frame_index = count
count += 1
return skeleton
def get_motion_vector_copy(self, start_frame, end_frame, sample_idx=0):
if sample_idx < len(self.samples):
mv_copy = MotionVector()
mv_copy.frames = deepcopy(self.samples[0].frames[start_frame:end_frame])
mv_copy.frames = self.skeleton.add_fixed_joint_parameters_to_motion(mv_copy.frames)
mv_copy.n_frames = len(mv_copy.frames)
mv_copy.frame_time = self.frameTime
return mv_copy
def draw(self, modelMatrix, viewMatrix, projectionMatrix, lightSources):
if self.isLoadedCorrectly() and 0 <= self.currentFrameNumber < self.getNumberOfFrames():
for v in self._visualizations:
v.draw(modelMatrix, viewMatrix, projectionMatrix, lightSources)
def updateTransformation(self):
if self.isLoadedCorrectly() and 0 <= self.currentFrameNumber < self.getNumberOfFrames():
# update global transformation matrices of joints
for idx, motion in enumerate(self.samples):
current_frame = motion.frames[self.currentFrameNumber]
self._visualizations[idx].updateTransformation(current_frame, self.scene_object.scale_matrix)
def setColor(self, color):
print("set color", color)
self.color = color
for v in self._visualizations:
v.set_color(color)
def create_blend_controller(self):
skeleton = self.skeleton
motions = self.samples
name = "Blend Controller" + self.name
self.scene_object.scene.object_builder.create_blend_controller(name, skeleton, motions)
def update_markers(self):
return
def set_config(self, algorithm_config):
self.algorithm_config = algorithm_config
def getFrameTime(self):
return self.frameTime
def get_semantic_annotation(self):
n_keys = len(self.motion_primitive.keyframes)
if n_keys <= 0:
return None
else:
sorted_keyframes = collections.OrderedDict(sorted(self.motion_primitive.keyframes.items(), key=lambda t: t[1]))
start = 0
end = int(self.motion_primitive.get_n_canonical_frames())
semantic_annotation = collections.OrderedDict()
for k, v in sorted_keyframes.items():
semantic_annotation[k] = list(range(start, v))
self.label_color_map[k] = get_random_color()
start = v
k = "contact"+str(n_keys)
semantic_annotation[k] = list(range(start, end))
self.label_color_map[k] = get_random_color()
return list(semantic_annotation.items())
def get_label_color_map(self):
return self.label_color_map
def set_frame_time(self, frame_time):
self.frameTime = frame_time
def get_frame_time(self):
return self.frameTime
def load_from_file(self, file_name):
bvh = BVHReader(file_name)
self.skeleton = SkeletonBuilder().load_from_bvh(bvh)
