def __init__(self, args):
rospy.init_node('roadmap_server')
self.optimization_distance = rospy.get_param('~optimization_distance', 10);
self.tf = TransformListener()
stereo_cam = camera.Camera((389.0, 389.0, 89.23 * 1e-3, 323.42, 323.42, 274.95))
self.skel = Skeleton(stereo_cam)
# self.skel.node_vdist = 1
if False:
self.skel.load(args[1])
self.skel.optimize()
self.startframe = 100000
else:
self.startframe = 0
self.frame_timestamps = {}
self.vo = None
self.pub = rospy.Publisher("roadmap", vslam.msg.Roadmap)
time.sleep(1)
#self.send_map(rospy.time(0))
self.wheel_odom_edges = set()
rospy.Subscriber('/wide_stereo/raw_stereo', stereo_msgs.msg.RawStereo, self.handle_raw_stereo, queue_size=2, buff_size=7000000)
def init(self):
pygame.init()
self.skeleton = Skeleton(self)
self._init_surface()
self.screen_lock = thread.allocate()
self._init_screen()
self._init_kinect()
def main():
points = list(pcd.read('david2/pcd/david2_1317518872.840330800.pcd'))
sk = Skeleton(boneData())
skBones = sk.Bones()
segments = dict((key,[]) for key in skBones.keys()) # setup
for p in points:
minDist = 1e20 # big
bestBone = 'T' # torso by default
for bName,bone in skBones.iteritems(): # for all bones
src,dst = bone
boneDir = subtract(dst, src)
offset = subtract(p, src)
dist = crossNormSqr(boneDir,offset)/dot(offset,offset)
if dist < minDist:
minDist = dist
bestBone = bName
if sqrt(minDist) < 10:
segments[bestBone].append(p)
f = open('segmented.obj', 'w')
for segName,points in segments.iteritems():
print segName, len(points)
if segName in ('LE2H', 'RE2H', 'LK2F', 'RK2F'):
color = (1,0,0)
elif segName in ('LS2E', 'RS2E', 'LH2K', 'RH2K'):
color = (0,1,0)
elif segName == 'T':
color = (0,0,1)
elif segName == 'N2H':
color = (0,1,1)
for p in points:
col = blend(p[3:], color, 0.25) # tint
f.write('v %f %f %f %f %f %f\n'%(p[0],p[1],p[2],col[0],col[1],col[2]))
def CreateScene(pSdkManager, pScene, files):
lSceneInfo = KFbxDocumentInfo.Create(pSdkManager, "SceneInfo")
lSceneInfo.mTitle = "Body scan"
lSceneInfo.mSubject = "A body scan"
lSceneInfo.mAuthor = "Team KinectOpenNiRosBoostGraphLibDaiPclEigen"
lSceneInfo.mRevision = "rev. 0.1"
lSceneInfo.mKeywords = "body mesh rigged"
lSceneInfo.mComment = "no comments"
pScene.SetSceneInfo(lSceneInfo)
import os,glob
skelFiles = glob.glob(os.path.dirname(files['skeleton'])+'/*.yaml')
skelFiles.sort()
print 'starting export'
baseSkeletonData = Skeleton.fromFunnyYaml(skelFiles[0])
print 'imported skeleton'
lMeshNode,T,V = CreateMesh(pSdkManager, files['obj'])
pScene.GetRootNode().AddChild(lMeshNode)
print 'converted mesh'
CreateSkeletonNodes(pSdkManager, "Skeleton", baseSkeletonData)
pScene.GetRootNode().AddChild(baseSkeletonData.torsoNode)
return
print 'created skeleton'
LinkMeshToSkeleton(lSdkManager, lMeshNode, baseSkeletonData, files['weights'])
print 'added skin'
print 'now adding animation (slow)'
skels = [(int(fname[-10:-5])/15.,Skeleton.fromFunnyYaml(fname)) for fname in skelFiles[1:]]
print 'imported all skeletons'
AnimateSkeleton(pSdkManager, pScene, baseSkeletonData, skels)
print 'animated skeleton'
return True
def produceFile(skeletonFile, i):
from skeleton import Skeleton
skId, scId, scFile = matches[i]
skel = Skeleton(skeletonFile[skId])
outputName = 'david2/viz/' + str(skId) + '.obj'
print outputName
f = open(outputName, 'w')
# skeleton geom
for part in jointNames:
pos = skel.GetPos(part)
if pos:
f.write('v %f %f %f 1 0 0\n' % (pos[0], pos[1], pos[2]))
else:
f.write('v nan nan nan 1 0 0\n')
for row in readPcd('david2/pcd/' + scFile, Skeleton.scale):
f.write('v %f %f %f %f %f %f\n' % row)
# skeleton connectivity
f.write("""f 1 2 3
f 1 3 4
f 1 3 5
f 3 4 6
f 4 6 8
f 3 5 7
f 5 7 9
f 3 1 10
f 3 1 11
f 10 12 14
f 11 13 15
""")
f.close()
def __init__(self,
data_root,
max_seq_len,
delta_len,
n_breakpoints=0,
speed_range=[1, 1],
acc_range=[-1, 1],
train=True,
remove_static_joints=True,
mode='train'):
# Set arguments
self.data_root = osp.abspath(osp.expanduser(data_root))
self.max_seq_len = max_seq_len
self.delta_len = delta_len
self.speed_range = speed_range
self.n_breakpoints = n_breakpoints
self.acc_range = acc_range
self.remove_static_joints = remove_static_joints
self.train = train
self.subseq_len = self.delta_len * 2
self.skeleton = Skeleton(
parents=[
-1, 0, 1, 2, 3, 4, 0, 6, 7, 8, 9, 0, 11, 12, 13, 14, 12, 16,
17, 18, 19, 20, 19, 22, 12, 24, 25, 26, 27, 28, 27, 30
],
joints_left=[6, 7, 8, 9, 10, 16, 17, 18, 19, 20, 21, 22, 23],
joints_right=[1, 2, 3, 4, 5, 24, 25, 26, 27, 28, 29, 30, 31])
assert mode in [
'train', 'test'
], 'Invalid mode for Human36mDataset. Must be \'train\' or \'test\'.'
self.mode = mode
# Read dataset
self.raw_data = read_human36m(self.data_root, self.mode)
# Reformat data
self.data = reformat_data(self.raw_data)
# Filter out sequence that is shorter than `max_seq_len`
self.data['pose']['3d'] = list(
filter(lambda x: x.shape[0] >= self.max_seq_len,
self.data['pose']['3d']))
self.data['pose']['2d'] = list(
filter(lambda x: x.shape[0] >= self.max_seq_len,
self.data['pose']['2d']))
# Remove static joints
if self.remove_static_joints:
# Bring the skeleton to 17 joints instead of the original 32
self.remove_joints(
[4, 5, 9, 10, 11, 16, 20, 21, 22, 23, 24, 28, 29, 30, 31])
# Rewire shoulders to the correct parents
self.skeleton._parents[11] = 8
self.skeleton._parents[14] = 8
# Preprocess data; NOTE: make sure index of pivot joint is correct, if used.
align_and_normalize_dataset_v2(self.data)
def __init__(self, id, skel_cap, depth_generator):
self.id = id
self.skeleton = Skeleton(self, skel_cap, depth_generator)
self.depth = 0
self.face = None
self.image_path = ''
self.choose_image()
def exportSkel(obj, filename):
skeleton = Skeleton()
skeleton.update(obj)
f = open(filename, 'w')
writeJoint(f, skeleton.root)
f.close()
def exportSkel(obj, filename):
skeleton = Skeleton()
skeleton.update(obj)
f = open(filename, 'w')
writeJoint(f, skeleton.root)
f.close()
def __init__(self, size=(800,800), types={'blue':BLUE},num_cells=10,fps=0):
Skeleton.__init__(self, size=size, fill= WHITE,fps=fps)
self.tipos= types
wrldsize=(size[0]-100-CELL_W/2,size[1]) #-right_GUI-sprite_width/2
self.world = Objects.World(wrldsize,tipos=list(self.tipos.keys()))
self.world.gamengine=self
self.world.collisions=True
self.world.populate(num_cells)
self.preload_types()
self.add_functions()
# asistant various data for user use
self.values={}
class User:
def __init__(self, id, skel_cap, depth_generator):
self.id = id
self.skeleton = Skeleton(self, skel_cap, depth_generator)
self.depth = 0
self.face = None
self.image_path = ''
self.choose_image()
# __init__
def update(self):
self.skeleton.update()
# update
def draw(self, surface):
if self.skeleton.status:
rate = 900/(self.depth-500)
if rate < 0: rate = 0
try:
transformed_image = pygame.transform.scale(self.face, (int(self.face.get_width()*rate), int(self.face.get_height()*rate)))
surface.blit(transformed_image, (self.skeleton.head[0]-0.5*transformed_image.get_width(), self.skeleton.head[1]-0.3*transformed_image.get_height()))
except:
pass
# try
# if
# draw
def draw_skeleton(self, surface):
if self.skeleton.status:
self.skeleton.draw(surface)
# draw_skeleton
def choose_image(self, banned_image='none'):
images = ['forever.png', 'lol.png', 'poker.png', 'spider.png', 'troll.png', 'fuckyeah.png']
try:
images.remove(banned_image)
except:
pass
random.shuffle(images)
self.image_path = images[0]
self.face = pygame.image.load('images/%s' % self.image_path)
# choose_image
def refresh(self):
self.choose_image(self.image_path)
def exportMd5(obj, filename):
"""
This function exports MakeHuman mesh and skeleton data to id Software's MD5 format.
Parameters
----------
obj:
*Object3D*. The object whose information is to be used for the export.
filename:
*string*. The filename of the file to export the object to.
"""
skeleton = Skeleton()
skeleton.update(obj)
f = open(filename, 'w')
f.write('MD5Version 10\n')
f.write('commandline ""\n\n')
f.write('numJoints %d\n' % (skeleton.joints+1)) # Amount of joints + the hardcoded origin below
f.write('numMeshes %d\n\n' % (1)) # TODO: 2 in case of hair
f.write('joints {\n')
f.write('\t"%s" %d ( %f %f %f ) ( %f %f %f )\n' % ('origin', -1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0))
writeJoint(f, skeleton.root)
f.write('}\n\n')
f.write('mesh {\n')
f.write('\tshader "%s"\n' % (basename(obj.texture))) # TODO: create the shader file
f.write('\n\tnumverts %d\n' % (len(obj.verts)))
for vert in obj.verts:
if obj.uvValues:
face = vert.sharedFaces[0]
u, v = obj.uvValues[face.uv[face.verts.index(vert)]]
else:
u, v = 0, 0
# vert [vertIndex] ( [texU] [texV] ) [weightIndex] [weightElem]
f.write('\tvert %d ( %f %f ) %d %d\n' % (vert.idx, u, 1.0-v, vert.idx, 1))
f.write('\n\tnumtris %d\n' % (len(obj.faces) * 2))
for face in obj.faces:
# tri [triIndex] [vertIndex1] [vertIndex2] [vertIndex3]
f.write('\ttri %d %d %d %d\n' % (face.idx*2, face.verts[2].idx, face.verts[1].idx, face.verts[0].idx))
f.write('\ttri %d %d %d %d\n' % (face.idx*2+1, face.verts[0].idx, face.verts[3].idx, face.verts[2].idx))
f.write('\n\tnumweights %d\n' % (len(obj.verts)))
for vert in obj.verts:
# TODO: We attach all vertices to the root with weight 1.0, this should become
# real weights to the correct bones
# weight [weightIndex] [jointIndex] [weightValue] ( [xPos] [yPos] [zPos] )
f.write('\tweight %d %d %f ( %f %f %f )\n' % (vert.idx, 0, 1.0, vert.co[0], -vert.co[2], vert.co[1]))
f.write('}\n\n')
f.close()
def create():
if request.post_vars.site:
post = request.post_vars.site
from skeleton import Skeleton
s = Skeleton(post)
return dict()
def git(force=False):
"""Creates a new git repo for this project"""
m = 'This will remove the current .git directory, do you want to continue?'
if force or confirm(m, default=False):
# remove wordpress-skeleton.git metadata
local('rm -rf .git')
# setup a new repository
local('git init')
local('cp -f %s .gitignore' % Skeleton.asset('gitignore.sample'))
local('git add .')
local('git commit -m "Initial commit."')
# TODO: create origin? this is probably not needed
# if os.path.exists('/files/Git/projects/'):
# repo = '/files/Git/projects/%s.git' % options['name']
# if not os.path.exists(repo):
# local('git clone --bare . %s' % repo)
# local('git remote add origin %s' % repo)
# local('git config branch.master.remote origin')
# local('git config branch.master.merge refs/heads/master')
# else:
# print("\nCan't create origin. Skipping")
else:
puts('Ok. Nothing was touched!')
def main():
assert len(sys.argv) >= 4
pcdFile = sys.argv[1]
yamlFile = sys.argv[2]
outputFile = sys.argv[3]
if len(sys.argv) == 5:
offset = float(sys.argv[4])/2 # for displaying several together, non overlapping
else:
offset = 0
assert pcdFile.endswith('pcd')
assert yamlFile.endswith('yaml')
assert outputFile.endswith('obj')
weightFile = 'temp-weights'
cmd = '../segmentation/build/sharpSegmentation %s %s %s'%(pcdFile,yamlFile,weightFile)
assert os.system(cmd) == 0
skel = Skeleton.fromFunnyYaml(yamlFile, relative=False)
# save it so that they all use the same skel
canonFile = 'canon.pickle'
if os.path.exists(canonFile):
canon = pickle.load(open(canonFile,'r'))
else:
canon = skel.Duplicate()
canon.Canonicalize()
#canon.sk = None #safe?
pickle.dump(canon, open(canonFile,'w'))
points = list(pcd.read(pcdFile))
weights = ReadWeights(weightFile)
I = ((1,0,0),(0,1,0),(0,0,1))
newPoints = [[offset,0,0,r,g,b] for (_,_,_,r,g,b) in points]
if True: # the right code
for jointName,skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName,src.o,dst.o
for index,weight in skin:
plusEq(newPoints[index], mult(absolute(dst, relative(src, points[index])), weight))
else: # tesing code
j = 0
for jointName,skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName,src.o,dst.o
for index,weight in skin:
plusEq(newPoints[index], relative(src, points[index]))
plusEq(newPoints[index], (j,0,0))
j += 0.5
f = open(outputFile, 'w')
for row in newPoints:
if row[0] == row[0]:
f.write('v %f %f %f %f %f %f\n'%tuple(row))
f.close()
print 'output to',outputFile
def __init__(self, video_name):
self.title_window = "Demonstrateur reconnaissance de personne"
self.skeletonService = Skeleton()
self.cap = cv2.VideoCapture(video_name)
self.opWrapper = op.WrapperPython()
self.opWrapper.configure(params)
self.opWrapper.start()
self.gaitClassifier = GaitClassifier()
self.last_frame = None
self.kp_frames = []
self.stop = False
w, h = (int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)),
int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)))
self.out = cv2.VideoWriter(
"Recording_" + datetime.datetime.now().strftime("%Y%m%d_%H%M%S") +
".mp4", cv2.VideoWriter_fourcc(*'MP4V'), 25, (w, h))
def display_skeleton(kinect_node, idx, loader):
bodies, univ_time = loader.load_body_file(idx)
skeleton_list = [Skeleton(x) for x in bodies]
kinect_idx = loader.nearest_depth_idx(univ_time, kinect_node)
img = loader.load_depth_frame(kinect_node, kinect_idx)
cmap = plt.get_cmap('jet')
rgba = cmap(img)
rgba[:, :, 0] *= 0
for skeleton in skeleton_list:
joints = skeleton_2d_points(skeleton, loader, kinect_node)
edges = []
for limb in SkeletonLimbs:
point_a = joints[limb.value[0].value]
point_b = joints[limb.value[1].value]
edges.append(((point_a[0], point_a[1]), (point_b[0], point_b[1])))
mag_map = magnitude_map(img, edges)
rgba[:, :, 0] += mag_map
# img = np.multiply(img, mag_map)
plt.imshow(img, interpolation='nearest', cmap='jet')
plt.imshow(rgba)
plt.show()
def skeletonize(self, thres, binSize=10.0, sigma=5.0):
"""
Initialise the backbone finding routine. The "backbone" is approximated
by using a skeletonization algorithm. It will thus find a backbone with
with branches.
To find the skeleton, the localisations are binned in a 2D histogram,
blurred by a gaussian and the resulting image is binarized using the
threshold value. From the binary images pixel at the edges are taken
away until only the skeleton remains.
"""
if not self.runCluster:
print('You need to run the clustering first!')
return
self.backbone = Skeleton()
self.backbone.setData(self.cluster.getResult())
self.backbone.threshold(thres, binSize=binSize, sigma=sigma)
def __init__(self, id, skel_cap, depth_generator): self.id = id self.skeleton = Skeleton(self, skel_cap, depth_generator) self.depth = 0 self.face = None self.image_path = '' self.choose_image()
def test_remote_proxy(self):
machine = GumballMachine(3, 'HZ')
skeleton = Skeleton(machine)
monitor = GumballMonitor()
stub = Stub()
monitor.set_stub(stub)
stub.set_skeleton(skeleton)
monitor.report()
def __param_init__(self, clean=False):
try:
self.dataset.close()
print('Save h5py ....')
if clean:
os.remove(self.kp.dstr + '.h5')
print('Remove h5py ....')
except:
pass
self.fig = None
self.kp = Kparam(self.exeno, username)
# self.movie = movie.Movie(self.exeno)
self.dtw = Dtw()
self.denoise = Denoise()
self.rel = Rel()
self.io = Dataoutput()
self.h_mod = Human_model()
self.skel = Skeleton()
self.fextr = Finger_extract()
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'Skeleton')
self.status = self.addView(gui3d.TextView(style=gui3d.TextViewStyle._replace(left=10, top=585, zIndex=9.1)))
self.__skeleton = Skeleton()
self.__skeletonMesh = None
self.__skeletonObject = None
self.bone = None
def exportSkeleton(obj, filename):
"""
This function exports joint information describing the structure of the
MakeHuman humanoid mesh object in Biovision BVH format.
Parameters
----------
obj:
*Object3D*. The object whose information is to be used for the export.
filename:
*string*. The filename of the file to export the object to.
"""
skeleton = Skeleton()
skeleton.update(obj)
# Write bvh file
f = open(filename, 'w')
f.write('HIERARCHY\n')
f.write('ROOT ' + skeleton.root.name + '\n')
f.write('{\n')
f.write("\tOFFSET %f %f %f\n" %
(skeleton.root.position[0], skeleton.root.position[1],
skeleton.root.position[2]))
f.write(
'\tCHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation\n'
)
for joint in skeleton.root.children:
writeJoint(f, joint, 1)
f.write('}\n')
f.write('MOTION\n')
f.write('Frames: 1\n')
f.write('Frame Time: 0.0\n')
f.write(" %f %f %f" %
(skeleton.root.position[0], skeleton.root.position[1],
skeleton.root.position[2]))
for i in xrange(skeleton.endEffectors):
f.write(" 0.0000 0.0000 0.0000")
f.write("\n")
f.close()
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'BVH Player')
self.status = self.addView(gui3d.TextView(style=gui3d.TextViewStyle._replace(left=10, top=585, zIndex=9.1)))
self.__skeleton = bvhSkeleton('data/bvhs/03_03.bvh')
self.__skeleton.updateFrame(-1)
self.__skeletonMesh = None
self.__skeletonObject = None
self.bone = None
self.__humanSkeleton = Skeleton()
self.optionsBox = self.addView(gui3d.GroupBox([10, 80, 9.0], 'Options', gui3d.GroupBoxStyle._replace(height=24+25+36*1+24*2+6)))
self.frameSlider = self.optionsBox.addView(gui3d.Slider(value = 0, min = 0, max = self.__skeleton.frames, label = 'Frame: %d'))
self.playPause = self.optionsBox.addView(gui3d.Button("Play"))
self.showHuman = self.optionsBox.addView(gui3d.ToggleButton("Show human"))
self.exportFrame = self.optionsBox.addView(gui3d.Button("Export frame"))
@self.frameSlider.event
def onChanging(value):
self.__updateSkeletonMesh(value-1)
self.__updateHumanMesh(self.__humanSkeleton.root)
gui3d.app.selectedHuman.meshData.update()
@self.frameSlider.event
def onChange(value):
self.__updateSkeletonMesh(value-1)
self.__updateHumanMesh(self.__humanSkeleton.root)
gui3d.app.selectedHuman.meshData.update()
@self.playPause.event
def onClicked(value):
if self.playPause.label.getText() == 'Play':
self.playPause.label.setText('Pause')
self.timer = mh.addTimer(max(30, int(self.__skeleton.frameTime * 1000)), self.onFrameChanged)
else:
self.playPause.label.setText('Play')
mh.removeTimer(self.timer)
@self.showHuman.event
def onClicked(event):
self.showHuman.setSelected(not self.showHuman.selected)
if self.showHuman.selected:
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
else:
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
@self.exportFrame.event
def onClicked(event):
self.exportCurrentFrame()
def replace(pattern, replacement):
"""Replace strings in database records"""
prepare()
host = options['project.mysql.host']
db = options['project.mysql.db']
username = options['project.mysql.user']
password = options['project.mysql.password']
path = Skeleton.asset('searchandreplace.php')
args = (path, pattern, replacement, host, username, password, db)
local('php %s %s %s %s %s %s %s true' % args)
def __init__(self, source):
self.cvim = None
# These variables are internal:
self.stereo_cam = source.cam()
print "Camera is", self.stereo_cam
self.connected = False
self.snail_trail = []
self.source = source
self.inlier_history = []
self.label = 0
self.skel_dist_thresh = 0.5; # in meters
# These variables can be tweaked:
self.fd = FeatureDetectorFast(300)
# self.fd = FeatureDetectorStar(300)
self.ds = DescriptorSchemeCalonder(32,16) # set up lower sequential search window
self.camera_preview = False
self.vo = VisualOdometer(self.stereo_cam,
scavenge = False,
position_keypoint_thresh = 0.3,
angle_keypoint_thresh = 10*pi/180,
inlier_thresh = 100,
sba=None,
num_ransac_iters=500,
inlier_error_threshold = 3.0)
self.skel = Skeleton(self.stereo_cam,
link_thresh = 100,
descriptor_scheme = self.ds,
optimize_after_addition = False)
self.skel.node_vdist = 0
self.running = -1 # run forever
if self.camera_preview:
cv.NamedWindow("Camera")
cv.MoveWindow("Camera", 0, 700)
def read_csv(filename):
data = []
with open(filename, 'r') as reader:
for line in reader:
fields = line.split(',')
fields[len(fields) - 1] = fields[len(fields) - 1].replace('\n', '')
for i in range(len(fields)):
data.append(float(fields[i]))
data = np.array(data).reshape((int)(len(data) / 32 / 3), 32, 3)
skeletons = []
for d in data:
skeletons.append(Skeleton(d))
return skeletons
def create_monsters(self):
monsters = []
boss = Boss()
boss.level = self.area_number
monsters.append(boss)
skeletons = []
number_of_skeletons = randrange(2, 5)
for i in range(number_of_skeletons):
skeletons.append(Skeleton('Skeleton_' + str(i + 1)))
skeletons[0].has_key = True
for skeleton in skeletons:
skeleton.level = self.area_number
monsters.append(skeleton)
return monsters
def __on_skeleton_changed(self, skeleton_message):
""" reacts to publishers message by updating the skeletons and
notifies listeners to create and remove objects accordingly.
Args:
skeleton_message (list): [0] skeleton_id (int) and [1] skeleton (Skeleton)
"""
if len(skeleton_message) < 2:
return
skeleton_id = skeleton_message[0]
if skeleton_message[1] is 'kill':
# remove
self.__notify_remove_skeleton(skeleton_id)
return
skeleton_joint = skeleton_message[1]
# print 'joint type: ', skeleton_joint.joint_type
# check if skeleton id is known
# if yes - update can be done, just count another change
if skeleton_id in self.__skeletons and skeleton_id in self.__skeleton_changes:
self.__skeleton_changes[skeleton_id] += 1
# if no - create skeleton so that update can be done
else:
self.__skeletons[skeleton_id] = Skeleton(skeleton_id)
self.__skeleton_changes[skeleton_id] = 1
# add or update joint
# self.__skeletons[skeleton_id].update_joint(skeleton_joint.joint_type, skeleton_joint)
self.__skeletons[skeleton_id].update_joint_smooth(
skeleton_joint.joint_type, skeleton_joint)
# if number of changes (joints) enough propagate to listeners: (create and) update objects
# if skeleton_id in self.__skeleton_changes and self.__skeleton_changes[skeleton_id] > 24:
# use update interval to react only to every Xth change of the skeleton, x = self.update_interval
if skeleton_id in self.__skeleton_changes \
and self.__skeleton_changes[skeleton_id] / 25.0 >= self.__update_interval:
self.__skeleton_changes[skeleton_id] = 0
# check if skeleton already complete and active before
if skeleton_id not in self.__active_skeletons:
self.__notify_create_skeleton(skeleton_id)
# update listeners on skeleton change
self.__notify_update_skeleton(skeleton_id)
self.__reset_lifetime(skeleton_id)
def exportSkeleton(obj, filename):
"""
This function exports joint information describing the structure of the
MakeHuman humanoid mesh object in Biovision BVH format.
Parameters
----------
obj:
*Object3D*. The object whose information is to be used for the export.
filename:
*string*. The filename of the file to export the object to.
"""
skeleton = Skeleton()
skeleton.update(obj)
# Write bvh file
f = open(filename, 'w')
f.write('HIERARCHY\n')
f.write('ROOT ' + skeleton.root.name + '\n')
f.write('{\n')
f.write("\tOFFSET %f %f %f\n" %(skeleton.root.position[0],skeleton.root.position[1],skeleton.root.position[2]))
f.write('\tCHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation\n')
for joint in skeleton.root.children:
writeJoint(f, joint, 1)
f.write('}\n')
f.write('MOTION\n')
f.write('Frames: 1\n')
f.write('Frame Time: 0.0\n')
f.write(" %f %f %f" %(skeleton.root.position[0],skeleton.root.position[1],skeleton.root.position[2]) )
for i in xrange(skeleton.endEffectors):
f.write(" 0.0000 0.0000 0.0000")
f.write("\n")
f.close()
def CreateScene(pSdkManager, pScene, files):
lSceneInfo = KFbxDocumentInfo.Create(pSdkManager, "SceneInfo")
lSceneInfo.mTitle = "Body scan"
lSceneInfo.mSubject = "A body scan"
lSceneInfo.mAuthor = "Team KinectOpenNiRosBoostGraphLibDaiPclEigen"
lSceneInfo.mRevision = "rev. 0.1"
lSceneInfo.mKeywords = "body mesh rigged"
lSceneInfo.mComment = "no comments"
pScene.SetSceneInfo(lSceneInfo)
import os, glob
skelFiles = glob.glob(os.path.dirname(files['skeleton']) + '/*.yaml')
skelFiles.sort()
print 'starting export'
baseSkeletonData = Skeleton.fromFunnyYaml(skelFiles[0])
print 'imported skeleton'
lMeshNode, T, V = CreateMesh(pSdkManager, files['obj'])
pScene.GetRootNode().AddChild(lMeshNode)
print 'converted mesh'
CreateSkeletonNodes(pSdkManager, "Skeleton", baseSkeletonData)
pScene.GetRootNode().AddChild(baseSkeletonData.torsoNode)
return
print 'created skeleton'
LinkMeshToSkeleton(lSdkManager, lMeshNode, baseSkeletonData,
files['weights'])
print 'added skin'
print 'now adding animation (slow)'
skels = [(int(fname[-10:-5]) / 15., Skeleton.fromFunnyYaml(fname))
for fname in skelFiles[1:]]
print 'imported all skeletons'
AnimateSkeleton(pSdkManager, pScene, baseSkeletonData, skels)
print 'animated skeleton'
return True
def render(filename, color, theta, dest): skel = Skeleton(stereo_cam) skel.load(filename, load_PR = False) skel.optimize() skel.optimize() skel.plot(color, False, theta) xlim = pylab.xlim() ylim = pylab.ylim() xrange = xlim[1] - xlim[0] yrange = ylim[1] - ylim[0] r = max(xrange, yrange) * 0.5 # 0.32 mid = sum(xlim) / 2 pylab.xlim(mid - r, mid + r) mid = sum(ylim) / 2 pylab.ylim(mid - r, mid + r)
def run_game():
# initialize the game and create a screen object using the pygame class. we create an instance screen
pygame.init()
screen = pygame.display.set_mode((1000, 600))
caption = pygame.display.set_caption("skeleton on wood race")
# set the background colour
bg_color = (255, 255, 0)
# create an instance of skeleton
skeleton = Skeleton(screen)
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
sys.exit()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
sys.exit()
if event.key == pygame.K_RIGHT:
# move the skeleton to the right
skeleton.moving_right = True
if event.key == pygame.K_LEFT:
skeleton.moving_left = True
elif event.type == pygame.KEYUP:
if event.key == pygame.K_RIGHT:
skeleton.moving_right = False
if event.key == pygame.K_LEFT:
skeleton.moving_left = False
skeleton.update()
# redraw the screen during each pass through the loop
screen.fill(bg_color)
skeleton.blitme()
# make the most recently drawn screen visible
pygame.display.flip()
def train_test_split_observations(ratio, classifier):
data_dir = Path('..') / 'z'
clips = []
# Store Path objects pointing to clipped skeletons
for root, dirs, files in os.walk(str(data_dir)):
clips += [ Path(root) / f for f in fnmatch.filter(files, '*clipped*tsv') ]
# Random split into training and test data
np.random.shuffle(clips)
split_pt = int(ratio * len(clips))
clips_train = clips[:split_pt]
clips_test = clips[split_pt:]
O = []
X = []
y = []
for c in clips_train:
s = Skeleton(str(c))
s.load(skipheader=False, delimiter='\t', extracols=(232,))
#s.normalize('spine-base')
X += [ s.data[:,:-1].tolist() ]
y += [ s.data[:,-1].tolist() ]
classifier.fit([frame for clip in X for frame in clip ], [ label for clip in y for label in clip ])
for clip in X:
O += [ classifier.predict(clip).tolist() ]
O_test = []
X_test = []
y_test = []
for c in clips_test:
s = Skeleton(str(c))
s.load(skipheader=False, delimiter='\t', extracols=(232,))
X_test += [ s.data[:, :-1].tolist() ]
y_test += [ s.data[:, -1].tolist() ]
for clip in X_test:
O_test += [ classifier.predict(clip).tolist() ]
return (X, y, O, X_test, y_test, O_test)
def init_simul(filename, test_num, cbr_num=50, div_step=1):
data = read_data_skeleton(filename)
# test_num, data = interval_compasation(data, test_num, div_step)
test_num = min(test_num, len(data))
skeletons = []
for i in range(test_num):
skeletons.append(Skeleton(data[i]))
cbr_num = min(test_num, cbr_num)
cal_skeletons = []
for i in range(cbr_num):
cal_skeletons.append(skeletons[i * div_step])
calibration = Calibration(cal_skeletons)
lower_init_mean, upper_init_mean = calibration.get_init_mean(0, filename)
return skeletons, lower_init_mean, upper_init_mean, test_num
def wordpress(version=None):
"""Download latest stable version of WordPress"""
if version is None:
basename = 'latest.tar.gz'
else:
basename = 'wordpress-%s.tar.gz' % version
if os.path.exists(os.path.join(os.getcwd(), basename)):
os.unlink(os.path.join(os.getcwd(), basename))
local('wget http://wordpress.org/%s' % basename)
local('tar -xf %s' % basename)
local('cp -fR wordpress/* .')
local('rm -rf wordpress')
local('mkdir -pm 0777 wp-content/uploads')
local('cp -f %s .htaccess' % Skeleton.asset('htaccess.sample'))
local('rm %s' % basename)
def __proceedHuman(self, human, newSkeletons):
sameSkeletonProb = [] # probability, that human is 'i' skeleton
bb = getBoundingBox(human)
minDelta = getMinDelta(bb)
for skeleton in self.skeletons:
sameSkeletonProb.append(skeleton.compareSkeleton(human, minDelta))
if len(sameSkeletonProb) != 0:
maxProb = max(sameSkeletonProb)
else:
maxProb = 0
if maxProb >= c.probThreshold: # skeletons are the same human
i = sameSkeletonProb.index(maxProb)
self.skeletons[i].updateSkeleton(human, bb) # update skeleton
newSkeletons.append(
self.skeletons[i]) # add skeleton to new skeletons
self.skeletons.pop(i) # skeleton cannot be compared again
else:
newSkeletons.append(Skeleton(
human, self.lastSkeletonId,
bb)) # make new skeleton if there is no similar skeleton
self.lastSkeletonId = self.lastSkeletonId + 1
def _initialize_sprites(self, level_room):
for y in range(15):
for x in range(20):
cell = level_room[y][x]
normalized_x = x * self.cell_size
normalized_y = y * self.cell_size
if cell == 0:
self.floors.add(Cobble(normalized_x, normalized_y))
elif cell == 1:
self.walls.add(Brick(normalized_x, normalized_y))
elif cell == 2:
self.wizard = Wizard(normalized_x, normalized_y)
self.floors.add(Cobble(normalized_x, normalized_y))
elif cell == 3:
self.door.add(Door(normalized_x, normalized_y))
elif cell == 4:
self.floors.add(Cobble(normalized_x, normalized_y))
self.skeletons.add(Skeleton(normalized_x, normalized_y))
self.all_sprites.add(self.floors, self.walls, self.wizard, self.door, self.skeletons)
def train_test_split_clips(ratio):
data_dir = Path('..') / 'z'
clips = []
# Store Path objects pointing to clipped skeletons
for root, dirs, files in os.walk(str(data_dir)):
clips += [
Path(root) / f for f in fnmatch.filter(files, '*clipped*tsv')
]
# Random split into training and test data
np.random.shuffle(clips)
split_pt = int(ratio * len(clips))
clips_train = clips[:split_pt]
clips_test = clips[split_pt:]
X = []
y = []
for c in clips_train:
s = Skeleton(str(c))
s.load(skipheader=False, delimiter='\t', extracols=(232, ))
#s.normalize('spine-base')
X += s.data[:, :-1].tolist()
y += s.data[:, -1].tolist()
X_test = []
y_test = []
for c in clips_test:
s = Skeleton(str(c))
s.load(skipheader=False, delimiter='\t', extracols=(232, ))
X_test += s.data[:, :-1].tolist()
y_test += s.data[:, -1].tolist()
return (X, y, X_test, y_test)
def CreateScene(pSdkManager, pScene, pSampleFileName):
lSceneInfo = KFbxDocumentInfo.Create(pSdkManager, "SceneInfo")
lSceneInfo.mTitle = "David skeleton"
lSceneInfo.mSubject = "Can we import skeleton data?"
lSceneInfo.mAuthor = "Team KinectOpenNiRosBoostGraphLibDaiPclEigen"
lSceneInfo.mRevision = "rev. 0.1"
lSceneInfo.mKeywords = "skeleton openni range scan nite"
lSceneInfo.mComment = "no particular comments required."
pScene.SetSceneInfo(lSceneInfo)
# make all skeletons
skelFile = yaml.load(open('../recordings/david2/david2_skeleton.yaml','r'))
skels = [(float(ts),Skeleton(skData)) for ts,skData in sorted(skelFile.iteritems())]
baseSkeleton = skels[0][1]
CreateSkeletonNodes(pSdkManager, "Skeleton", baseSkeleton)
AnimateSkeleton(pSdkManager, pScene, baseSkeleton, skels[1:])
pScene.GetRootNode().AddChild(baseSkeleton.torsoNode)
return True
def dataset_summary():
dataset_folder = io_utils.get_dataset_folder()
skinning_path = os.path.join(dataset_folder, 'skinning.npy')
skeleton_path = os.path.join(dataset_folder, 'skeleton.txt')
print('-- ANIMATION CLIPS --')
clips = fnmatch.filter(os.listdir(dataset_folder), '*.npz')
print(clips)
print('num clips : ' + str(len(clips)))
print('-- SKINNING --')
print('skinning file : ' + str(os.path.exists(skinning_path)))
print('-- SKELETON --')
print('skeleton file : ' + str(os.path.exists(skeleton_path)))
skeleton = Skeleton()
skeleton.load(skeleton_path)
skeleton.print_root()
def __getitem__(self, idx):
begin, end = self.videos[idx]
files = self.hand[begin:end]
skls = self.skl[begin:end]
max_seq = self.max_seq if self.max_seq is not None else len(files)
images = np.zeros((max_seq, 100, 200, 3)) - 1
skeletons = []
if self.spotting:
labels = np.array(self.labels[begin:end])
# labels = torch.from_numpy(np.where(labels > 0,1 , 0)).long()
else:
labels = torch.tensor([self.labels[begin]] * max_seq).long() - 1
for i, img_name, skl in zip(range(max_seq), files, skls):
images[i] = transform.resize(io.imread(img_name), (100, 200),
preserve_range=True).astype(np.uint8)
skeletons.append(skl)
while len(skeletons) < max_seq:
skeletons.append(Skeleton())
images = self._split_image(images)
sample = {'images': images, 'skeletons': skeletons, 'labels': labels}
if self.transform:
sample = self.transform(sample)
else:
sample['skeletons'] = torch.tensor([
skl.centralize().normalize().get_normalized_representation()
for skl in sample['skeletons']
]).float()
image = sample['images']
image = image.reshape(-1, 4, 2, self.output_size[0],
self.output_size[1], 3)
image = np.transpose(image, (0, 2, 5, 1, 3, 4)).astype(np.float32)
sample['images'] = torch.from_numpy(image)
# sample['skeletons'] = torch.tensor([skl.centralize().normalize().vectorize_reduced() for skl in sample['skeletons']]).float()
# sample['images'] = torch.from_numpy(sample['images']).float()/255.0,
return sample
class PoseTaskView(gui3d.TaskView):
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'Pose')
self.zone = ""
self.skeleton = Skeleton()
self.selectedGroups = []
self.joint = None
self.box = self.addView(gui3d.GroupBox([10, 80, 9.0], 'Rotation', gui3d.GroupBoxStyle._replace(height=25+36*3+4+24*3+6)))
self.Xslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotX: %d"))
self.Yslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotY: %d"))
self.Zslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotZ: %d"))
self.skin = self.box.addView(gui3d.CheckBox("Skin", False))
self.resetPoseButton = self.box.addView(gui3d.Button("Reset"))
self.savePoseButton = self.box.addView(gui3d.Button("Save"))
self.testButton = self.box.addView(gui3d.Button("Test"))
#get bindings for r-shoulder-joint
f = open("utils/makepose/r-shoulder-joint.txt")
#f = open("utils/makepose/test.txt")
self.jointVerts = []
self.bindedFaces = None
while (1):
line = f.readline()
if not line: break
self.jointVerts.append(int(line));
f.close()
self.tets = None
#get prejoint points to create cage from
f = open("utils/makepose/r-clavicle.txt")
self.preJointVerts = []
while (1):
line = f.readline()
if not line: break
self.preJointVerts.append(int(line));
f.close()
f = open("utils/makepose/r-scapula.txt")
while (1):
line = f.readline()
if not line: break
self.preJointVerts.append(int(line));
f.close()
#get faces of the verts... (for volume preservation)
self.preTets = None
self.tets1 = None
self.tets2 = None
@self.testButton.event
def onClicked(event):
self.test()
@self.savePoseButton.event
def onClicked(event):
exportObj(gui3d.app.selectedHuman.meshData, os.path.join(mh.getPath('exports'), "posed.obj"))
@self.resetPoseButton.event
def onClicked(event):
self.reset()
@self.Xslider.event
def onChange(value):
if self.joint:
rotation = [value - self.joint.rotation[0], 0.0, 0.0]
self.joint.rotation[0] = value
self.rotateJoint(self.joint, self.joint.position, rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
@self.Yslider.event
def onChange(value):
if self.joint:
rotation = [0.0, value - self.joint.rotation[1], 0.0]
self.joint.rotation[1] = value
self.rotateJoint(self.joint, self.joint.position, rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
@self.Zslider.event
def onChange(value):
if self.joint:
rotation = [0.0, 0.0, value - self.joint.rotation[2]]
self.joint.rotation[2] = value
self.rotateJoint(self.joint, self.joint.position,rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
def onMouseMoved(self, event):
if not self.joint:
human = gui3d.app.selectedHuman
groups = []
self.zone = self.getJointZones(event.group.name)
if self.zone:
for g in human.mesh.faceGroups:
if self.zone != "torso":
if self.zone in g.name:
groups.append(g)
elif (self.zone in g.name) and not g.name.endswith("clavicle"):
groups.append(g)
for g in self.selectedGroups:
if g not in groups:
g.setColor([255, 255, 255, 255])
for g in groups:
if g not in self.selectedGroups:
g.setColor([0, 169, 184, 255])
self.selectedGroups = groups
gui3d.app.redraw()
def onMouseUp(self, event):
if self.joint:
self.joint = None
else:
self.joint = self.skeleton.getJoint(zonesToJointsMapping.get(self.zone))
if self.joint:
self.Xslider.setValue(self.joint.rotation[0])
self.Yslider.setValue(self.joint.rotation[1])
self.Zslider.setValue(self.joint.rotation[2])
#todo: use a reference on human so we know if we need to compute this on every onShow
def onShow(self, event):
gui3d.app.selectedHuman.storeMesh()
self.skeleton.update(gui3d.app.selectedHuman.meshData)
#compute bounding box
#must do this! because mh human changes after the init -_-
bboxj = calcBBox(gui3d.app.selectedHuman.meshData.verts, self.jointVerts)
#compute right shoulder joint position because we cannot rely on the diamond
pos = vmul(vadd(bboxj[0],bboxj[1]),0.5)
self.skeleton.getJoint('joint-r-shoulder').position = pos
#new technique!
#two cages between the joint instead of the joint in the middle of a single cage
#get bindings for r-shoulder-joint
f = open("utils/makepose/2cage-test.txt")
self.jointVerts = []
while (1):
line = f.readline()
if not line: break
self.jointVerts.append(int(line));
f.close()
self.bindedFaces = module3d.getFacesFromVerts(self.jointVerts,gui3d.app.selectedHuman.meshData.verts)
bboxj = calcBBox(gui3d.app.selectedHuman.meshData.verts, self.jointVerts)
"""
#for the new test we dont add any offset yet
#adding offset
bboxj[0][0]= bboxj[0][0] - 0.01
bboxj[1][0]= bboxj[1][0] + 0.01
bboxj[0][1]= bboxj[0][1] - 0.01
bboxj[1][1]= bboxj[1][1] + 0.01
bboxj[0][2]= bboxj[0][2] - 0.01
bboxj[1][2]= bboxj[1][2] + 0.01
"""
bboxj1 = [bboxj[0][:], bboxj[1][:]]
bboxj1[1][0] = pos[0]
#print "bboxj1", bboxj1
self.tets1 = box2Tetrahedrons(bboxj1)
bboxj2 = [bboxj[0][:], bboxj[1][:]]
bboxj2[0][0] = pos[0]
#print "bboxj2", bboxj2
self.tets2 = box2Tetrahedrons(bboxj2)
#print "bboxj: ", bboxj
#computing prejoint bounding box
#bboxpre = calcBBox(gui3d.app.selectedHuman.meshData.verts, self.preJointVerts)
#bboxpre[1][0] = min(bboxpre[1][0], bboxj[0][0])
#print "bboxpre: ", bboxpre
#self.preTets = box2Tetrahedrons(bboxpre)
gui3d.TaskView.onShow(self, event)
def onHide(self, event):
gui3d.app.selectedHuman.restoreMesh()
gui3d.app.selectedHuman.meshData.update()
gui3d.TaskView.onHide(self, event)
def getJointZones(self, groupName):
for k in jointZones:
if k in groupName:
return k
return None
def rotateJoint(self, joint, center, rotation, transform=None):
src = gui3d.app.selectedHuman.meshStored
dst = gui3d.app.selectedHuman.meshData.verts
cage = None
if not transform:
transform = euler2matrix(vmul(rotation,degree2rad), "sxyz")
#transform2 = euler2matrix(vmul(self.joint.rotation,degree2rad), "sxyz")
elif rotation:
joint.position = vadd(mtransform(transform, vsub(joint.position, center)),center)
if (joint == self.joint) and self.skin.selected and (joint.name == 'joint-r-shoulder'):
#transform2 = euler2matrix(vmul(self.joint.rotation,degree2rad), "sxyz")
#tets2 = deformTets(self.tets, center, transform2)
cages = deform2Cages([self.tets1,self.tets2], center, self.joint.rotation, 0.5)
#preJointRot = [0.0,0.0,0.0]
#tets = self.tets + self.preTets
tets = self.tets1 + self.tets2
tets2 = cages[0] + cages[1]
#jointVerts = self.jointVerts + self.preJointVerts
#for i in jointVerts:
for i in self.jointVerts:
#using all 10 tetrahedrons as controls
weights = computeAllWeights(src[i],tets)
v = [0.0,0.0,0.0]
"""
for tet_i in xrange(0,5):
for j in xrange(0,4):
v= vadd(vmul(tets2[tet_i][j],weights[tet_i][j]),v)
for tet_i in xrange(0,5):
for j in xrange(0,4):
v= vadd(vmul(self.preTets[tet_i][j],weights[tet_i+5][j]),v)
#average of 10 tetrahedrons
dst[i].co = vmul(v, 0.1)
"""
for tet_i in xrange(0,10):
for j in xrange(0,4):
v= vadd(vmul(tets2[tet_i][j],weights[tet_i][j]),v)
dst[i].co = vmul(v, 0.1)
"""
#using all 5 tetrahedrons as controls
weights = computeAllWeights(src[i],self.tets)
v = [0.0,0.0,0.0]
for tet_i in xrange(0,5):
for j in xrange(0,4):
v= vadd(vmul(tets2[tet_i][j],weights[tet_i][j]),v)
#average of 5 tetrahedrons
dst[i].co = vmul(v, 0.2)
#end of using 5
"""
"""
#using only one tetrahedron as control
j,w = computeWeights(src[i], self.tets)
if not j: print src[i]
v = [0.0,0.0,0.0]
for k in xrange(0,4):
v= vadd(vmul(tets2[j][k],w[k]),v)
dst[i].co = v[:]
#end of using 1
"""
for i in joint.bindedVects:
if (i not in self.jointVerts):
dst[i].co = vadd(mtransform(transform, vsub(dst[i].co, center)),center)
for child in joint.children:
self.rotateJoint(child, center, rotation, transform)
def reset(self):
self.Xslider.setValue(0.0)
self.Yslider.setValue(0.0)
self.Zslider.setValue(0.0)
if self.joint:
rotation = [-self.joint.rotation[2],-self.joint.rotation[1],-self.joint.rotation[0]]
self.joint.rotation = [0.0,0.0,0.0]
transform = euler2matrix(vmul(rotation,degree2rad), "szyx")
#self.joint.rotation = [0.0,0.0,0.0]
self.rotateJoint(self.joint, self.joint.position,None, transform)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
gui3d.app.redraw()
def test(self):
pass
class SkeletonView(gui3d.TaskView):
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'Skeleton')
self.status = self.addView(gui3d.TextView(style=gui3d.TextViewStyle._replace(left=10, top=585, zIndex=9.1)))
self.__skeleton = Skeleton()
self.__skeletonMesh = None
self.__skeletonObject = None
self.bone = None
def onShow(self, event):
gui3d.TaskView.onShow(self, event)
human = gui3d.app.selectedHuman
human.hide()
self.getSkeleton().show()
self.__updateSkeletonMesh(human)
def onHide(self, event):
gui3d.TaskView.onHide(self, event)
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
def getSkeleton(self):
human = gui3d.app.selectedHuman
if not self.__skeletonObject:
self.__buildSkeletonMesh(human)
self.__skeletonObject = self.addObject(gui3d.Object(human.getPosition(), self.__skeletonMesh))
else:
self.__skeletonObject.setPosition(human.getPosition())
self.__skeletonObject.setRotation(human.getRotation())
return self.__skeletonObject
def __buildSkeletonMesh(self, human):
self.__skeleton.update(human.meshData)
self.__skeletonMesh = module3d.Object3D('skeleton')
self.__skeletonMesh.uvValues = []
self.__skeletonMesh.indexBuffer = []
self.__buildBoneMesh(self.__skeleton.root)
self.__skeletonMesh.setCameraProjection(0)
self.__skeletonMesh.setShadeless(0)
self.__skeletonMesh.setSolid(0)
self.__skeletonMesh.calcNormals()
self.__skeletonMesh.updateIndexBuffer()
def __buildBoneMesh(self, joint):
#self.__addCube(self.__skeletonMesh, joint.position, aljabr.vlen(joint.offset) / 10.0, joint.name.replace('joint', 'bone'))
if joint.parent:
position = [joint.transform[3],joint.transform[7],joint.transform[11]]
parentPosition = [joint.parent.transform[3],
joint.parent.transform[7],
joint.parent.transform[11]]
self.__addPrism(self.__skeletonMesh, position, parentPosition, joint.name.replace('joint', 'bone'))
for child in joint.children:
self.__buildBoneMesh(child)
def __updateSkeletonMesh(self, human):
self.__skeleton.update(human.meshData)
index = 0
self.__updateBoneMesh(self.__skeleton.root, index)
self.__skeletonMesh.calcNormals()
self.__skeletonMesh.update()
def __updateBoneMesh(self, joint, index):
if joint.parent:
self.__updatePrism(self.__skeletonMesh, joint.parent.position, joint.position, index)
index += 6
for child in joint.children:
index = self.__updateBoneMesh(child, index)
return index
def __addPrism(self, mesh, o=[0.0, 0.0, 0.0], e=[0.0, 1.0, 0.0], name='prism'):
fg = mesh.createFaceGroup(name)
dir = aljabr.vsub(e, o) # direction vector from o to e
len = aljabr.vlen(dir) # distance from o to e
scale = len * 0.1 # the thickness is 10% of the length
i = aljabr.vadd(o, aljabr.vmul(dir, 0.25)) # the thickest part is 25% from o
n = aljabr.vmul(dir, 1.0 / len) # the normalized direction
q = aljabr.axisAngleToQuaternion(n, pi / 2.0) # a quaternion to rotate the point p1 to obtain the other points
p1 = aljabr.randomPointFromNormal(n) # a random point in the plane defined by 0,0,0 and n
p1 = aljabr.vmul(aljabr.vnorm(p1), scale) # the point scaled to the thickness
p2 = aljabr.quaternionVectorTransform(q, p1) # the other points
p3 = aljabr.quaternionVectorTransform(q, p2)
p4 = aljabr.quaternionVectorTransform(q, p3)
p1 = aljabr.vadd(i, p1) # translate by i since we were working in the origin
p2 = aljabr.vadd(i, p2)
p3 = aljabr.vadd(i, p3)
p4 = aljabr.vadd(i, p4)
# The 6 vertices
v = []
v.append(mesh.createVertex(o)) # 0 0
v.append(mesh.createVertex(p1)) # 1 /|\
v.append(mesh.createVertex(p2)) # 2 /.2.\
v.append(mesh.createVertex(p3)) # 3 1` | `3
v.append(mesh.createVertex(p4)) # 4 \`.4.`/
v.append(mesh.createVertex(e)) # 5 \ | /
# \|/
# 5
# The 8 faces
fg.createFace((v[0], v[1], v[4], v[0]))
fg.createFace((v[0], v[4], v[3], v[0]))
fg.createFace((v[0], v[3], v[2], v[0]))
fg.createFace((v[0], v[2], v[1], v[0]))
fg.createFace((v[5], v[4], v[1], v[5]))
fg.createFace((v[5], v[1], v[2], v[5]))
fg.createFace((v[5], v[2], v[3], v[5]))
fg.createFace((v[5], v[3], v[4], v[5]))
def __addCube(self, mesh, position=[0.0, 0.0, 0.0], scale=1.0, name='cube'):
fg = mesh.createFaceGroup(name)
# The 8 vertices
v = []
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, -scale, -scale]))) # 0 /0-----1\
v.append(mesh.createVertex(aljabr.vadd(position, [scale, -scale, -scale]))) # 1 / | | \
v.append(mesh.createVertex(aljabr.vadd(position, [scale, scale, -scale]))) # 2 |4---------5|
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, scale, -scale]))) # 3 | | | |
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, -scale, scale]))) # 4 | 3-----2 |
v.append(mesh.createVertex(aljabr.vadd(position, [scale, -scale, scale]))) # 5 | / \ |
v.append(mesh.createVertex(aljabr.vadd(position, [scale, scale, scale]))) # 6 |/ \|
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, scale, scale]))) # 7 |7---------6|
# The 6 faces
fg.createFace((v[4], v[5], v[6], v[7])) # front
fg.createFace((v[1], v[0], v[3], v[2])) # back
fg.createFace((v[0], v[4], v[7], v[3])) # left
fg.createFace((v[5], v[1], v[2], v[6])) # right
fg.createFace((v[0], v[1], v[5], v[4])) # top
fg.createFace((v[7], v[6], v[2], v[3])) # bottom
def __updatePrism(self, mesh, o, e, index):
dir = aljabr.vsub(e, o) # direction vector from o to e
len = aljabr.vlen(dir) # distance from o to e
scale = len * 0.1 # the thickness is 10% of the length
i = aljabr.vadd(o, aljabr.vmul(dir, 0.25)) # the thickest part is 25% from o
n = aljabr.vmul(dir, 1.0 / len) # the normalized direction
q = aljabr.axisAngleToQuaternion(n, pi / 2.0) # a quaternion to rotate the point p1 to obtain the other points
p1 = aljabr.randomPointFromNormal(n) # a random point in the plane defined by 0,0,0 and n
p1 = aljabr.vmul(aljabr.vnorm(p1), scale) # the point scaled to the thickness
p2 = aljabr.quaternionVectorTransform(q, p1) # the other points
p3 = aljabr.quaternionVectorTransform(q, p2)
p4 = aljabr.quaternionVectorTransform(q, p3)
p1 = aljabr.vadd(i, p1) # translate by i since we were working in the origin
p2 = aljabr.vadd(i, p2)
p3 = aljabr.vadd(i, p3)
p4 = aljabr.vadd(i, p4)
# The 6 vertices
mesh.verts[index].co = o
mesh.verts[index+1].co = p1
mesh.verts[index+2].co = p2
mesh.verts[index+3].co = p3
mesh.verts[index+4].co = p4
mesh.verts[index+5].co = e
def onMouseDragged(self, event):
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
gui3d.TaskView.onMouseDragged(self, event)
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
def onMouseWheel(self, event):
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
gui3d.TaskView.onMouseWheel(self, event)
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
def onMouseEntered(self, event):
gui3d.TaskView.onMouseEntered(self, event)
self.bone = event.group
self.bone.setColor([0, 255, 0, 255])
self.status.setText(event.group.name)
gui3d.app.redraw()
def onMouseExited(self, event):
gui3d.TaskView.onMouseExited(self, event)
self.bone.setColor([255, 255, 255, 255])
self.status.setText('')
gui3d.app.redraw()
def onMouseMoved(self, event):
gui3d.TaskView.onMouseMoved(self, event)
if self.bone != event.group:
self.bone.setColor([255, 255, 255, 255])
self.bone = event.group
self.bone.setColor([0, 255, 0, 255])
self.status.setText(event.group.name)
gui3d.app.redraw()
def onResized(self, event):
self.status.setPosition([10, event.height-15, 9.1])
pygame.init()
FRAME_TIME = 50 #50ms is 20 frames per second
if __name__ == '__main__':
print("Starting Pumpkin Hero...")
screen_vars = ScreenVars()
screen = pygame.display.set_mode((screen_vars.get_width(), screen_vars.get_height()))
black = (0,0,0)
witch = Witch(50,0,75,75)
zombie = Zombie(250,0,75,75)
monster = Monster(450,0,75,75)
skeleton = Skeleton(650,0,75,75)
done = False
last_time = time.time()*1000.0
SPEED = 5
game = Game()
key_monitor = KeyMonitor()
#Message pump
while not done:
for event in pygame.event.get():
if event.type == pygame.QUIT:
done = True
elif event.type == pygame.KEYDOWN and event.key == pygame.K_q:
done = True
elif event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE and game.started()==False:
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'Pose')
self.zone = ""
self.skeleton = Skeleton()
self.selectedGroups = []
self.joint = None
self.box = self.addView(gui3d.GroupBox([10, 80, 9.0], 'Rotation', gui3d.GroupBoxStyle._replace(height=25+36*3+4+24*3+6)))
self.Xslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotX: %d"))
self.Yslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotY: %d"))
self.Zslider = self.box.addView(gui3d.Slider(value = 0.0, min = -180.0, max = 180.0, label = "RotZ: %d"))
self.skin = self.box.addView(gui3d.CheckBox("Skin", False))
self.resetPoseButton = self.box.addView(gui3d.Button("Reset"))
self.savePoseButton = self.box.addView(gui3d.Button("Save"))
self.testButton = self.box.addView(gui3d.Button("Test"))
#get bindings for r-shoulder-joint
f = open("utils/makepose/r-shoulder-joint.txt")
#f = open("utils/makepose/test.txt")
self.jointVerts = []
self.bindedFaces = None
while (1):
line = f.readline()
if not line: break
self.jointVerts.append(int(line));
f.close()
self.tets = None
#get prejoint points to create cage from
f = open("utils/makepose/r-clavicle.txt")
self.preJointVerts = []
while (1):
line = f.readline()
if not line: break
self.preJointVerts.append(int(line));
f.close()
f = open("utils/makepose/r-scapula.txt")
while (1):
line = f.readline()
if not line: break
self.preJointVerts.append(int(line));
f.close()
#get faces of the verts... (for volume preservation)
self.preTets = None
self.tets1 = None
self.tets2 = None
@self.testButton.event
def onClicked(event):
self.test()
@self.savePoseButton.event
def onClicked(event):
exportObj(gui3d.app.selectedHuman.meshData, os.path.join(mh.getPath('exports'), "posed.obj"))
@self.resetPoseButton.event
def onClicked(event):
self.reset()
@self.Xslider.event
def onChange(value):
if self.joint:
rotation = [value - self.joint.rotation[0], 0.0, 0.0]
self.joint.rotation[0] = value
self.rotateJoint(self.joint, self.joint.position, rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
@self.Yslider.event
def onChange(value):
if self.joint:
rotation = [0.0, value - self.joint.rotation[1], 0.0]
self.joint.rotation[1] = value
self.rotateJoint(self.joint, self.joint.position, rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
@self.Zslider.event
def onChange(value):
if self.joint:
rotation = [0.0, 0.0, value - self.joint.rotation[2]]
self.joint.rotation[2] = value
self.rotateJoint(self.joint, self.joint.position,rotation)
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
class BvhView(gui3d.TaskView):
def __init__(self, category):
gui3d.TaskView.__init__(self, category, 'BVH Player')
self.status = self.addView(gui3d.TextView(style=gui3d.TextViewStyle._replace(left=10, top=585, zIndex=9.1)))
self.__skeleton = bvhSkeleton('data/bvhs/03_03.bvh')
self.__skeleton.updateFrame(-1)
self.__skeletonMesh = None
self.__skeletonObject = None
self.bone = None
self.__humanSkeleton = Skeleton()
self.optionsBox = self.addView(gui3d.GroupBox([10, 80, 9.0], 'Options', gui3d.GroupBoxStyle._replace(height=24+25+36*1+24*2+6)))
self.frameSlider = self.optionsBox.addView(gui3d.Slider(value = 0, min = 0, max = self.__skeleton.frames, label = 'Frame: %d'))
self.playPause = self.optionsBox.addView(gui3d.Button("Play"))
self.showHuman = self.optionsBox.addView(gui3d.ToggleButton("Show human"))
self.exportFrame = self.optionsBox.addView(gui3d.Button("Export frame"))
@self.frameSlider.event
def onChanging(value):
self.__updateSkeletonMesh(value-1)
self.__updateHumanMesh(self.__humanSkeleton.root)
gui3d.app.selectedHuman.meshData.update()
@self.frameSlider.event
def onChange(value):
self.__updateSkeletonMesh(value-1)
self.__updateHumanMesh(self.__humanSkeleton.root)
gui3d.app.selectedHuman.meshData.update()
@self.playPause.event
def onClicked(value):
if self.playPause.label.getText() == 'Play':
self.playPause.label.setText('Pause')
self.timer = mh.addTimer(max(30, int(self.__skeleton.frameTime * 1000)), self.onFrameChanged)
else:
self.playPause.label.setText('Play')
mh.removeTimer(self.timer)
@self.showHuman.event
def onClicked(event):
self.showHuman.setSelected(not self.showHuman.selected)
if self.showHuman.selected:
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
else:
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
@self.exportFrame.event
def onClicked(event):
self.exportCurrentFrame()
def onFrameChanged(self):
frame = self.frameSlider.getValue() + 1
if frame > self.frameSlider.max:
frame = 1
self.frameSlider.setValue(frame)
self.__updateSkeletonMesh(frame-1)
gui3d.app.redraw()
def exportCurrentFrame(self):
exportPath = mh.getPath('exports')
if not os.path.exists(exportPath):
os.makedirs(exportPath)
mh2obj.exportObj(gui3d.app.selectedHuman.meshData, os.path.join(exportPath, 'bvh_frame_%d.obj' % self.frameSlider.getValue()))
def onShow(self, event):
gui3d.TaskView.onShow(self, event)
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
gui3d.app.selectedHuman.storeMesh()
self.__humanSkeleton.update(gui3d.app.selectedHuman.meshData)
def onHide(self, event):
gui3d.TaskView.onHide(self, event)
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
gui3d.app.selectedHuman.restoreMesh()
gui3d.app.selectedHuman.meshData.calcNormals()
gui3d.app.selectedHuman.meshData.update()
def getSkeleton(self):
human = gui3d.app.selectedHuman
if not self.__skeletonObject:
self.__buildSkeletonMesh()
self.__skeletonObject = self.addObject(gui3d.Object(aljabr.vadd(human.getPosition(), [0.0, -20.0, 0.0]), self.__skeletonMesh))
else:
self.__skeletonObject.setPosition(aljabr.vadd(human.getPosition(), [0.0, -20.0, 0.0]))
self.__skeletonObject.setRotation(human.getRotation())
return self.__skeletonObject
def __buildSkeletonMesh(self):
self.__skeletonMesh = module3d.Object3D('skeleton')
self.__skeletonMesh.uvValues = []
self.__skeletonMesh.indexBuffer = []
self.__buildBoneMesh(self.__skeleton.root)
self.__skeletonMesh.setCameraProjection(0)
self.__skeletonMesh.setShadeless(0)
self.__skeletonMesh.setSolid(0)
self.__skeletonMesh.calcNormals()
self.__skeletonMesh.updateIndexBuffer()
def __buildBoneMesh(self, joint):
if joint.parent:
position = [joint.transform[3],joint.transform[7],joint.transform[11]]
parentPosition = [joint.parent.transform[3],
joint.parent.transform[7],
joint.parent.transform[11]]
joint.p = self.__addPrism(self.__skeletonMesh, parentPosition, position, 'bone-' + joint.name)
#joint.p = self.__addPrism(self.__skeletonMesh, joint.parent.position, joint.position, 'bone-' + joint.name)
for child in joint.children:
self.__buildBoneMesh(child)
def __updateSkeletonMesh(self, frame):
self.__skeleton.updateFrame(frame)
index = 0
self.__updateBoneMesh(self.__skeleton.root, index)
self.__skeletonMesh.calcNormals()
self.__skeletonMesh.update()
def __updateHumanMesh(self, joint, src=None, dst=None):
# copy angles
bvhName = mhToBvhMapping.get(joint.name, '')
if bvhName:
bvhJoint = self.__skeleton.getJoint(bvhName)
joint.rotation = bvhJoint.rotation[:]
else:
joint.rotation = [0.0, 0.0, 0.0]
joint.calcTransform(False)
if not src:
src = gui3d.app.selectedHuman.meshStored
if not dst:
dst = gui3d.app.selectedHuman.meshData.verts
nsrc = gui3d.app.selectedHuman.meshStoredNormals
for i in joint.bindedVects:
#dst[i].co = aljabr.mtransform(joint.transform, aljabr.mtransform(joint.inverseTransform, src[i]))
dst[i].co = aljabr.mtransform(joint.transform, aljabr.vsub(src[i], joint.position))
dst[i].no = aljabr.mtransform(joint.normalTransform, nsrc[i])
for child in joint.children:
self.__updateHumanMesh(child, src, dst)
#note: don't do skeleton update
def __updateBoneMesh(self, joint, index):
if joint.parent:
position = [joint.transform[3],joint.transform[7],joint.transform[11]]
parentPosition = [joint.parent.transform[3],
joint.parent.transform[7],
joint.parent.transform[11]]
self.__updatePrism(self.__skeletonMesh, parentPosition, position, index, joint.p)
index += 6
for child in joint.children:
index = self.__updateBoneMesh(child, index)
return index
def __addPrism(self, mesh, o=[0.0, 0.0, 0.0], e=[0.0, 1.0, 0.0], name='prism'):
fg = mesh.createFaceGroup(name)
dir = aljabr.vsub(e, o) # direction vector from o to e
len = aljabr.vlen(dir) # distance from o to e
scale = 0.5 # the thickness is 10% of the length
i = aljabr.vadd(o, aljabr.vmul(dir, 0.25)) # the thickest part is 25% from o
n = aljabr.vmul(dir, 1.0 / len) # the normalized direction
q = aljabr.axisAngleToQuaternion(n, pi / 2.0) # a quaternion to rotate the point p1 to obtain the other points
p = p1 = aljabr.randomPointFromNormal(n) # a random point in the plane defined by 0,0,0 and n
p1 = aljabr.vmul(aljabr.vnorm(p1), scale) # the point scaled to the thickness
p2 = aljabr.quaternionVectorTransform(q, p1) # the other points
p3 = aljabr.quaternionVectorTransform(q, p2)
p4 = aljabr.quaternionVectorTransform(q, p3)
p1 = aljabr.vadd(i, p1) # translate by i since we were working in the origin
p2 = aljabr.vadd(i, p2)
p3 = aljabr.vadd(i, p3)
p4 = aljabr.vadd(i, p4)
# The 6 vertices
v = []
v.append(mesh.createVertex(o)) # 0 0
v.append(mesh.createVertex(p1)) # 1 /|\
v.append(mesh.createVertex(p2)) # 2 /.2.\
v.append(mesh.createVertex(p3)) # 3 1` | `3
v.append(mesh.createVertex(p4)) # 4 \`.4.`/
v.append(mesh.createVertex(e)) # 5 \ | /
# \|/
# 5
# The 8 faces
fg.createFace((v[0], v[1], v[4], v[0]))
fg.createFace((v[0], v[4], v[3], v[0]))
fg.createFace((v[0], v[3], v[2], v[0]))
fg.createFace((v[0], v[2], v[1], v[0]))
fg.createFace((v[5], v[4], v[1], v[5]))
fg.createFace((v[5], v[1], v[2], v[5]))
fg.createFace((v[5], v[2], v[3], v[5]))
fg.createFace((v[5], v[3], v[4], v[5]))
return p
def __addCube(self, mesh, position=[0.0, 0.0, 0.0], scale=1.0, name='cube'):
fg = mesh.createFaceGroup(name)
# The 8 vertices
v = []
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, -scale, -scale]))) # 0 /0-----1\
v.append(mesh.createVertex(aljabr.vadd(position, [scale, -scale, -scale]))) # 1 / | | \
v.append(mesh.createVertex(aljabr.vadd(position, [scale, scale, -scale]))) # 2 |4---------5|
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, scale, -scale]))) # 3 | | | |
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, -scale, scale]))) # 4 | 3-----2 |
v.append(mesh.createVertex(aljabr.vadd(position, [scale, -scale, scale]))) # 5 | / \ |
v.append(mesh.createVertex(aljabr.vadd(position, [scale, scale, scale]))) # 6 |/ \|
v.append(mesh.createVertex(aljabr.vadd(position, [-scale, scale, scale]))) # 7 |7---------6|
# The 6 faces
fg.createFace((v[4], v[5], v[6], v[7])) # front
fg.createFace((v[1], v[0], v[3], v[2])) # back
fg.createFace((v[0], v[4], v[7], v[3])) # left
fg.createFace((v[5], v[1], v[2], v[6])) # right
fg.createFace((v[0], v[1], v[5], v[4])) # top
fg.createFace((v[7], v[6], v[2], v[3])) # bottom
def __updatePrism(self, mesh, o, e, index, p):
dir = aljabr.vsub(e, o) # direction vector from o to e
len = aljabr.vlen(dir) # distance from o to e
scale = 0.5 # the thickness is 10% of the length
i = aljabr.vadd(o, aljabr.vmul(dir, 0.25)) # the thickest part is 25% from o
n = aljabr.vmul(dir, 1.0 / len) # the normalized direction
q = aljabr.axisAngleToQuaternion(n, pi / 2.0) # a quaternion to rotate the point p1 to obtain the other points
p1 = p # a random point in the plane defined by 0,0,0 and n
p1 = aljabr.vmul(aljabr.vnorm(p1), scale) # the point scaled to the thickness
p2 = aljabr.quaternionVectorTransform(q, p1) # the other points
p3 = aljabr.quaternionVectorTransform(q, p2)
p4 = aljabr.quaternionVectorTransform(q, p3)
p1 = aljabr.vadd(i, p1) # translate by i since we were working in the origin
p2 = aljabr.vadd(i, p2)
p3 = aljabr.vadd(i, p3)
p4 = aljabr.vadd(i, p4)
# The 6 vertices
mesh.verts[index].co = o
mesh.verts[index+1].co = p1
mesh.verts[index+2].co = p2
mesh.verts[index+3].co = p3
mesh.verts[index+4].co = p4
mesh.verts[index+5].co = e
def onMouseDragged(self, event):
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
gui3d.TaskView.onMouseDragged(self, event)
if self.showHuman.selected:
pass
else:
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
def onMouseWheel(self, event):
if self.showHuman.selected:
pass
else:
gui3d.app.selectedHuman.show()
self.getSkeleton().hide()
gui3d.TaskView.onMouseWheel(self, event)
if self.showHuman.selected:
pass
else:
gui3d.app.selectedHuman.hide()
self.getSkeleton().show()
def onMouseEntered(self, event):
gui3d.TaskView.onMouseEntered(self, event)
if 'bone' in event.group.name:
self.bone = event.group
self.bone.setColor([0, 255, 0, 255])
self.status.setText(event.group.name)
gui3d.app.redraw()
def onMouseExited(self, event):
gui3d.TaskView.onMouseExited(self, event)
if self.bone:
self.bone.setColor([255, 255, 255, 255])
self.status.setText('')
gui3d.app.redraw()
def onMouseMoved(self, event):
gui3d.TaskView.onMouseMoved(self, event)
if 'bone' in event.group.name and self.bone != event.group:
self.bone.setColor([255, 255, 255, 255])
self.bone = event.group
self.bone.setColor([0, 255, 0, 255])
self.status.setText(event.group.name)
gui3d.app.redraw()
def onResized(self, event):
self.status.setPosition([10, event.height-15, 9.1])
import numpy as np
import copy
from skeleton import Skeleton
from mocap_dataset import MocapDataset
from camera import normalize_screen_coordinates, image_coordinates
h36m_skeleton = Skeleton(
parents=[
-1, 0, 1, 2, 3, 4, 0, 6, 7, 8, 9, 0, 11, 12, 13, 14, 12, 16, 17, 18,
19, 20, 19, 22, 12, 24, 25, 26, 27, 28, 27, 30
],
joints_left=[6, 7, 8, 9, 10, 16, 17, 18, 19, 20, 21, 22, 23],
joints_right=[1, 2, 3, 4, 5, 24, 25, 26, 27, 28, 29, 30, 31])
h36m_cameras_intrinsic_params = [
{
'id':
'54138969',
'center': [512.54150390625, 515.4514770507812],
'focal_length': [1145.0494384765625, 1143.7811279296875],
'radial_distortion':
[-0.20709891617298126, 0.24777518212795258, -0.0030751503072679043],
'tangential_distortion':
[-0.0009756988729350269, -0.00142447161488235],
'res_w':
1000,
'res_h':
1002,
'azimuth':
70, # Only used for visualization
},
def init(argv):
opts, methods = getopt(argv, 'hl:r:vm:s:a:fi:NP:ducS', ['help', 'lang=', 'reference=', 'version' ,'main=', 'skeleton=', 'add=', 'cout', 'force', 'include=', 'prefix=', 'downcase', 'uppercase', 'camel', 'snake'])
xunit = load()
includes = []
prefix = 1
force = 0
cout = 0
add = None
skeleton = None
main = None
lang = None
downcase = None
snake = None
for opt, value in opts:
if '-h' == opt or '--help' == opt:
usage()
sys.exit(0)
elif '-v' == opt or '--version' == opt:
version()
for lang in xunit.lang.items():
print ' ' + lang[1].version + '(--lang ' + lang[0] + ')'
sys.exit(0)
elif '-r' == opt or '--reference' == opt:
try:
print xunit.lang[value].reference
except KeyError:
sys.stderr.write('Un Support Language:%s' % value)
sys.exit(1)
elif '-l' == opt or '--lang' == opt:
try:
lang = xunit.lang[value]
except KeyError:
sys.stderr.write('Un Support Language:%s' % value)
sys.exit(1)
elif '-m' == opt or '--main' == opt:
main = value
elif '-s' == opt or '--skeleton' == opt:
skeleton = value
elif '-a' == opt or '--add' == opt:
add = value
force = 1
elif '-P' == opt or '--prefix' == opt:
if value == '+':
prefix = 1
elif value == '-':
prefix = 0
else:
raise ValueError, "prefix option can accept only '+' or '-'"
elif '-f' == opt or '--force' == opt:
force = 1
elif '-d' == opt or '--downcase' == opt:
downcase = 1
elif '-u' == opt or '--uppercase' == opt:
downcase = 0
elif '-S' == opt or '--snake' == opt:
snake = 1
elif '-c' == opt or '--camel' == opt:
snake = 0
elif '--cout' == opt:
cout = 1
elif '-i' == opt or '--include' == opt:
includes.append(value)
if add is not None:
add = Add(add, language(xunit, lang, add), methods, includes)
add.create()
output(add.filename, add.result, force, cout)
else:
if skeleton is not None:
skeleton = Skeleton(skeleton, methods, includes, prefix,
language(xunit, lang, skeleton))
skeleton.create()
output(skeleton.filename, skeleton.result, force, cout)
if main is not None:
main = Main(main, language(xunit, lang, main))
main.create()
output(main.filename, main.result, force, cout)