def main(args):
for filename in args.input:
try:
if filename == '-':
print('*** (stdin) ***')
print_metadata(c3d.Reader(sys.stdin))
else:
print('*** {} ***'.format(filename))
with open(filename, 'rb') as handle:
print_metadata(c3d.Reader(handle))
except Exception as err:
print(err)
def test_c_sgi(self):
''' Compare identical SGI/MIPS files encoded using both floating-point and integer representations.
'''
FMT_SGI_INT = c3d.Reader(Zipload._get(self.ZIP, self.MIPS_INT))
FMT_SGI_REAL = c3d.Reader(Zipload._get(self.ZIP, self.MIPS_REAL))
proc_type = 'SGI'
test_id = '{} format test'.format(proc_type)
verify.equal_headers(test_id, FMT_SGI_INT, FMT_SGI_REAL, 'INT', 'REAL',
False, True)
verify.data_is_equal(FMT_SGI_INT, FMT_SGI_REAL, 'INT', 'REAL')
print('SGI FORMAT: OK')
def test_set_params(self):
r = c3d.Reader(Zipload._get('sample08.zip', 'TESTDPI.c3d'))
w = c3d.Writer(
point_rate=r.point_rate,
analog_rate=r.analog_rate,
point_scale=r.point_scale,
)
w.add_frames([(p, a) for _, p, a in r.read_frames()])
h = io.BytesIO()
w.set_start_frame(255)
w.set_point_labels(r.point_labels)
w.set_analog_labels(r.analog_labels)
w.set_analog_general_scale(r.get('ANALOG:GEN_SCALE').float_value)
# Screen axis
X, Y = '-Y', '+Z'
w.set_screen_axis()
w.set_screen_axis(X, Y)
X_v, Y_v = w.get_screen_xy_strings()
assert X_v == X and Y == Y_v, 'Mismatch between set & get screen axis.'
assert np.all(np.equal(r.point_labels,
w.point_labels)), 'Expected labels to be equal.'
test_name = 'TEST_PARAM'
test_string = 'lorem ipsum'
w.point_group.add_str(test_name, 'void descriptor', test_string)
assert w.point_group.get(test_name).total_bytes == len(test_string), \
"Mismatch in number of bytes encoded by 'Group.add_str'"
w.write(h)
def loadC3D(filename):
if useEZC3D == True:
print("Using EZC3D")
return loadEZC3D(filename)
reader = c3d.Reader(open(filename, 'rb'))
labels = reader.get('POINT:LABELS').string_array
mydict = {}
mydictunlabeled = {}
data = []
dataunlabeled = []
prog_val = 1
counter = 0
data_length = reader.last_frame() - reader.first_frame()
markers = [str(label.rstrip()) for label in labels]
for frame_no, points, analog in reader.read_frames(True, True):
for label, point in zip(markers, points):
#Create a dictionary with format LFHDX: 123
if label[0] == '*':
if point[0] != np.nan:
mydictunlabeled[label] = point
else:
mydict[label] = point
data.append(mydict)
dataunlabeled.append(mydictunlabeled)
mydict = {}
return [data, dataunlabeled, markers]
def parse_motion(c3d_data, mmm_data, downsample_factor, marker_set):
# Open files.
c3d_reader = c3d.Reader(StringIO.StringIO(c3d_data))
xml_root = et.fromstring(mmm_data)
# Extract root position at first frame from MMM file.
xml_pos = xml_root.find('./Motion/MotionFrames/MotionFrame/RootPosition')
xml_rot = xml_root.find('./Motion/MotionFrames/MotionFrame/RootRotation')
assert xml_pos is not None
assert xml_rot is not None
pose_pos = [float(x) for x in xml_pos.text.split(' ')]
pose_rot = [float(x) for x in xml_rot.text.split(' ')]
xml_timesteps = xml_root.findall(
'./Motion/MotionFrames/MotionFrame/Timestep')
if len(xml_timesteps) < 2:
return None, None, None
step0 = float(xml_timesteps[0].text)
step1 = float(xml_timesteps[1].text)
fps = np.round(1. / (step1 - step0))
if fps / downsample_factor <= 40.:
# Do not downsample motions that would then be less than 40 FPS
downsample_factor = 1.
interval = int((step1 - step0) * 1000. * float(downsample_factor)) # in ms
# Extract marker names (some markers are named <Prefix>:<MarkerName>) and filter those to only include
# the ones that we support across all motions.
marker_names = [
marker.rstrip().split(':')[-1] for marker in c3d_reader.point_labels
]
supported_indexes = [
idx for idx, name in enumerate(marker_names)
if name in SUPPORTED_MARKER_NAMES[marker_set]
]
markers = [marker_names[idx] for idx in supported_indexes]
# Extract Cartesian coordinates from C3D file and downsample.
frames = []
for idx, points, _ in c3d_reader.read_frames():
xyz_coordinates = points[supported_indexes, 0:3]
frame = xyz_coordinates.flatten()
frames.append(frame)
frames = np.array(frames)[::downsample_factor, :]
# Normalize all frames, that is rotate and translate as well as scale.
n_markers = len(markers)
n_frames = len(frames)
pose_inv = np.linalg.inv(
pose_matrix(
[pose_pos[0], pose_pos[1], 0.], # keep z components as-is
[0., 0., pose_rot[2]])) # only rotate around z-axis
for i in xrange(n_markers):
start_idx = i * 3
pos = np.hstack(
[frames[:, start_idx:start_idx + 3],
np.ones((n_frames, 1))])
frames[:, start_idx:start_idx + 3] = np.dot(pose_inv, pos.T).T[:, 0:3]
frames /= 100. # convert from cm to m
return markers, frames, interval
def getEMGFeature(File):
r = c3d.Reader(open(File, 'rb'))
EMGFeatures = list()
EMGData = dict()
frame_no = 1
for _, _, analog in r.read_frames():
for i in range(13, 29):
if frame_no == 1:
EMGData[i - 12] = list()
EMGData[i - 12] += list(analog[i])
frame_no += 1
N = len(EMGData[1])
for i in range(1, len(EMGData) + 1):
EMGData[i] = np.array(EMGData[i])
# 1. MAV, Mean Absolute Value of EMG Signal for 16 channels (Time based on the frame 0.008 sec)
for i in range(len(EMGData)):
EMGFeatures += [ np.sum(np.absolute(EMGData[1 + i])) / N ]
# 2. Mean Absolute Value Slope (MAVS)
# Same idea with the velocity, 10 bins, and each bin have 16 channels
EMGDataBins = np.zeros(10 * len(EMGData))
for i in range(len(EMGData)):
bins = [x for x in np.array_split(EMGData[i+1], 10) if len(x) > 0]
EMGDataBins[i * len(bins)] = np.absolute(np.sum(bins[0])) / len(bins[0])
for j in range(1, len(bins)):
EMGDataBins[i * len(bins) + j] = np.absolute(np.sum(bins[j])) / len(bins[j])
EMGDataBins[i * len(bins) + j] -= EMGDataBins[i * len(bins) + j - 1]
EMGFeatures += list(EMGDataBins)
# 3. Variance of EMG (VAR)
for i in range(len(EMGData)):
EMGFeatures += [ np.var(EMGData[i+1]) ]
return EMGFeatures
def test_Manager_renumber_group(self):
'''Test if renaming (renumbering) groups acts as intended.'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
writer = reader.to_writer()
ref = GroupSample(writer)
grp_ids = [k for (k, g) in ref.group_listed]
max_key = ref.max_key
for i, key in enumerate(grp_ids):
test_num = max_key + i + 1
grp = writer.get(key)
writer.rename_group(key, test_num)
grp2 = writer.get(test_num)
assert grp2 is not None, "Rename failed, group with name '%s' does not exist."
assert grp == grp2, 'Rename failed, group acquired from new name is not identical.'
ref.assert_entry_count()
ref.assert_group_items()
try:
writer.rename_group(max_key + 1, max_key + 2)
raise RuntimeError(
'Overwriting existing numerical ID should raise a KeyError.')
except ValueError as e:
pass # Correct
def convert(filename, args, sep, end):
input = sys.stdin
output = sys.stdout
open_file_streams = filename != '-'
if open_file_streams:
input = open(filename, 'rb')
output = open(filename.replace('.c3d', '.csv'), 'w')
try:
for frame_no, points, analog in c3d.Reader(input).read_frames(
copy=False):
fields = [frame_no]
for x, y, z, err, cam in points:
fields.append(str(x))
fields.append(str(y))
fields.append(str(z))
if args.include_error:
fields.append(str(err))
if args.include_camera:
fields.append(str(cam))
if args.include_analog:
fields.extend(str(x) for x in analog.flatten())
print(*fields, sep=sep, end=end, file=output)
finally:
if open_file_streams:
input.close()
output.close()
def test_Manager_group_listed(self):
'''Test Manager.group_listed'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
grp_list = [k for (k, g) in reader.listed()]
assert len(
grp_list
) > 0, 'No group items in file or Manager.group_listed failed'
def test_Manager_rename_group(self):
'''Test if renaming groups acts as intended.'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
writer = reader.to_writer()
ref = GroupSample(writer)
grp_keys = [k for (k, g) in ref.group_items]
new_names = ['TEST_NAME' + str(i) for i in range(len(grp_keys))]
for key, test_name in zip(grp_keys, new_names):
grp = writer.get(key)
writer.rename_group(key, test_name)
grp2 = writer.get(test_name)
assert grp2 is not None, "Rename failed, group with name '%s' does not exist."
assert grp == grp2, 'Rename failed, group acquired from new name is not identical.'
ref.assert_entry_count()
ref.assert_group_list()
try:
writer.rename_group(new_names[0], new_names[1])
raise RuntimeError(
'Overwriting existing numerical ID should raise a KeyError.')
except ValueError as e:
pass # Correct
def read_frames(filename):
with open(filename, 'rb') as _handle:
reader = c3d.Reader(_handle)
tot_frames = reader.last_frame() - reader.first_frame() + 1
tot_markers = reader.point_used
fps = int(reader.header.frame_rate)
# units = reader.get_string('POINT.UNITS')
# print(units)
# origin = reader.get('FORCE_PLATFORM.ORIGIN')
data = np.zeros((tot_frames, tot_markers + 1, 5))
for frame, (point) in enumerate(reader.read_frames()):
for marker in range(tot_markers):
# frame_index, marker_index, x,y,z,_,_
data[frame, marker, :] = point[1][
marker] / 10 # point[0] is frame number
data[frame, tot_markers, :] = np.zeros(5)
makrer_list = []
for marker in enumerate(reader.point_labels):
makrer_list.append(marker[1].strip())
makrer_list.append("ORIGIN")
tot_markers = tot_markers + 1
return data[:, :, 0:3], makrer_list, fps, tot_frames
def test_Manager_group_items(self):
'''Test Manager.group_items'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
grp_keys = [k for (k, g) in reader.items()]
assert len(
grp_keys
) > 0, 'No group items in file or Manager.group_items failed'
def extract_frames(filename):
total_points = list()
total_analog = list()
len_points = None
rows_analog = None
cols_analog = None
with open(filename, 'rb') as handle:
reader = c3d.Reader(handle)
for frame_num, points, analog in reader.read_frames(copy=True):
total_points.append(points)
[total_analog.append(i) for i in analog.transpose()]
# if len_points:
# assert(len_points == len(points),
# 'number of points (markers) in a frame changed')
# else:
# len_points = len(points)
#
# if rows_analog:
# assert(rows_analog == len(analog),
# 'number of analog (forceplates) in a frame changed')
# else:
# rows_analog = len(analog)
#
# if cols_analog:
# assert(cols_analog == len(analog[0]),
# 'number of analog samples (forceplate measurements) in a frame changed')
# else:
# cols_analog = len(analog[0])
# assert(reader.analog_rate/reader.point_rate == cols_analog,
# 'relative points vs. analog sample rate does not match data')
return np.asarray(total_points), np.asarray(total_analog)
def print_frames(filename, n=np.inf):
with open(filename, 'rb') as handle:
reader = c3d.Reader(handle)
for frame_num, points, analog in reader.read_frames(copy=False):
print(' [n] %s x %s y %s z %s err cam'%(' '*(6), ' '*8, ' '*8, ' '*3))
for i, (x, y, z, err, cam) in enumerate(points):
if err > 0:
print('[%d.%02dP] %10.4f %10.4f %10.4f %0.1f %3s' % (frame_num, i, x, y, z, err, hex(int(cam))))
elif err == 0:
print('[%d.%02dP] %10.4f %10.4f %10.4f %3s' % (frame_num, i, x, y, z, hex(int(cam))))
else:
print('[%d.%02dP] <invalid>' % (frame_num, i))
print((' [n]' + '%10s'*12) % ('x1', 'y1', 'z1', 'X1', 'Y1', 'Z1',
'x2', 'y2', 'z2', 'X2', 'Y2', 'Z2'))
for i, data in enumerate(analog.transpose()):
print('[%d.%02dA]'%(frame_num, i) + ''.join(' %9.2e'%(k) for k in data))
avg = np.mean(analog,axis=1)
print('[%d.%2sA]'%(frame_num, '~~') + ''.join(' %9.2e'%(k) for k in avg))
x1, y1 = calc_cop(avg[0:3], avg[3:6])
fm1, xd1, yd1 = calc_vec(avg[0:3])
print('COP1 (%+0.2f, %+0.2f) mm, %0.2f N (%+5.1f°, %+5.1f°) = %0.1f kg (%0.1f lbs)' %
(x1, y1, fm1, xd1, yd1, f_kg(fm1), f_lbs(fm1)))
x2, y2 = calc_cop(avg[6:9], avg[9:12])
fm2, xd2, yd2 = calc_vec(avg[6:9])
print('COP2 (%+0.2f, %+0.2f) mm, %0.2f N (%+5.1f°, %+5.1f°) = %0.1f kg (%0.1f lbs)' %
(x2, y2, fm2, xd2, yd2, f_kg(fm2), f_lbs(fm2)))
# combined both force plates to get an overall COP
x, y = calc_cop(avg[0:3]+avg[6:9], avg[3:6]+avg[9:12])
fm, xd, yd = calc_vec(avg[0:3]+avg[6:9])
print('COP (%+0.2f, %+0.2f) mm, %0.2f N (%+5.1f°, %+5.1f°) = %0.1f kg (%0.1f lbs)' %
(x, y, fm, xd, yd, f_kg(fm), f_lbs(fm)))
if frame_num >= n:
break # show first frame only
def test_Group_remove_param(self):
'''Test if removing groups acts as intended.'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
writer = reader.to_writer()
for g in writer.values():
ref = ParamSample(g)
ref.verify_remove_all()
ref.verify_add_parameter(100)
def read_c3d_file(file_path):
"""Read INTEL format C3D file and return a subsample of marker positions and conditionals.
Also prints information about the file content.
:param file_path: Path to C3D file.
:type file_path: str
:return: marker data: {'marker_labels': list, 'trajectories': shape(frames, markers, coordinates),
'conditionals': shape(frames, conditionals), 'frame_rate': int}
:rtype: dict
"""
try:
with open(file_path, 'rb') as file_handle:
with warnings.catch_warnings():
warnings.simplefilter(
"ignore"
) # ignore UserWarning: missing parameter ANALOG:DESCRIPTIONS/LABELS
reader = c3d.Reader(file_handle)
marker_labels = reader.point_labels
print("Marker Labels:", ",".join(marker_labels))
first_frame = reader.first_frame()
last_frame = reader.last_frame()
print("First Frame:", first_frame, "Last Frame:", last_frame)
fps = reader.header.frame_rate
print("FPS:", fps)
n_frames = last_frame - first_frame + 1
total_length = n_frames / fps
print("Clip length in total:", humanize_time(total_length))
# Extract positions for each frame.
pos_array = np.empty([n_frames, len(marker_labels), 3])
pos_array.fill(np.NAN)
cond_array = np.empty([n_frames, len(marker_labels)])
cond_array.fill(np.NAN)
print("Reading frames... ", end="", flush=True)
for i, points, _ in reader.read_frames():
# pos_array[frame, marker], e.g. pos_array[:,11] all frames for 12th marker
# Convert to a mirrored coordinate system.
pos_array[i - first_frame, :, :] = np.vstack([
-1.0 * points[:, 0], -1.0 * points[:, 2],
-1.0 * points[:, 1]
]).T
cond_array[i - first_frame, :] = points[:, 3]
if n_frames is not None and i - first_frame >= n_frames:
break
except OSError:
print("ERROR: Could not read file.")
raise
print("Done.")
data = {
'marker_labels': marker_labels,
'trajectories': pos_array,
'conditionals': cond_array,
'frame_rate': fps,
}
return data
def test_edit(self):
import edit
path = 'my-looped-motion.c3d'
with open(path, 'rb') as f:
reader = c3d.Reader(f)
assert reader.frame_count == 900, \
'Expected 900 point frames in edit.py test, was {}'.format(reader.frame_count)
# Raises 'FileNotFound' if the file was not generated
os.remove(path)
def test_a_intel(self):
''' Compare identical INTEL files encoded using both floating-point and integer representations.
'''
print('----------------------------')
print(type(self))
print('----------------------------')
FMT_INTEL_INT = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_INT))
FMT_INTEL_REAL = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
proc_type = 'INTEL'
test_id = '{} format test'.format(proc_type)
verify.equal_headers(test_id, FMT_INTEL_INT, FMT_INTEL_REAL, 'INT',
'REAL', False, True)
verify.data_is_equal(FMT_INTEL_INT, FMT_INTEL_REAL, 'INT', 'REAL')
print('INTEL FORMAT: OK')
def load_c3d_file(filepath):
data = dict()
with open(filepath, "rb") as in_file:
reader = c3d.Reader(in_file)
data["labels"] = reader.point_labels
data["motion_data"] = []
for frame in reader.read_frames():
idx, points = frame[0], frame[1]
data["motion_data"].append(points)
return data
def test_Group_readonly_add_param(self):
'''Test if adding parameter to a readonly group fails.'''
reader = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
for g in reader.values():
try:
add_dummy_param(g)
raise RuntimeError(
'Adding to readonly should not be possible.')
except AttributeError:
pass
def test_b_encoded_sample_count(self):
for file, sample_count in zip(self.zip_files, self.sample_count):
reader = c3d.Reader(Zipload._get(self.ZIP, file))
self._log(reader)
# Verify file count
assert reader.analog_sample_count == sample_count,\
'Wrong analog sample count read from file {}/{}. Expected {} was {}'.format(
self.ZIP, file, sample_count, reader.analog_sample_count)
print('{} | SAMPLE_COUNT: OK'.format(file))
def test_paramsd(self):
r = c3d.Reader(self._get('params.zip', 'TESTDPI.c3d'))
w = c3d.Writer(
point_rate=r.point_rate,
analog_rate=r.analog_rate,
point_scale=r.point_scale,
gen_scale=r.get_float('ANALOG:GEN_SCALE'),
)
w.add_frames((p, a) for _, p, a in r.read_frames())
h = io.BytesIO()
w.write(h)
def test_write(self):
import write
path = 'random-points.c3d'
with open(path, 'rb') as f:
reader = c3d.Reader(f)
assert reader.frame_count == 100, \
'Expected 30 point frames in write.py test, was {}'.format(reader.frame_count)
assert reader.point_used == 24, \
'Expected 5 point samples in write.py test, was {}'.format(reader.point_used)
# Raises 'FileNotFound' if the file was not generated
os.remove(path)
def extract(_file):
header = c3d.Header(_file)
frame_rate = header.frame_rate
reader = c3d.Reader(_file)
frames = []
for i, points, analog in reader.read_frames():
tmp = points[points[:, 4] > -1] # 쓰레기값(포인트) 제거
result = tmp[:, :3] # x, y, z 좌표만 담는다.
frames.append(result.tolist())
return frame_rate, frames
def test_e_real_formats(self):
''' Compare identical files for different processor formats.
All files are encoded using the floating-point representations.
'''
FMT_INTEL_REAL = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_REAL))
FMT_DEC_REAL = c3d.Reader(Zipload._get(self.ZIP, self.DEC_REAL))
FMT_SGI_REAL = c3d.Reader(Zipload._get(self.ZIP, self.MIPS_REAL))
verify.equal_headers('INTEL-DEC INT format test', FMT_INTEL_REAL,
FMT_DEC_REAL, 'INTEL', 'DEC', True, True)
verify.equal_headers('INTEL-SGI INT format test', FMT_INTEL_REAL,
FMT_SGI_REAL, 'INTEL', 'SGI', True, True)
verify.equal_headers('DEC-SGI INT format test', FMT_DEC_REAL,
FMT_SGI_REAL, 'DEC', 'SGI', True, True)
verify.data_is_equal(FMT_INTEL_REAL, FMT_DEC_REAL, 'INTEL', 'DEC')
verify.data_is_equal(FMT_INTEL_REAL, FMT_SGI_REAL, 'INTEL', 'SGI')
verify.data_is_equal(FMT_DEC_REAL, FMT_SGI_REAL, 'DEC', 'SGI')
print('INTEL-DEC-SGI REAL FORMAT COMPARISON: OK')
def test_d_int_formats(self):
''' Compare identical files for different processor formats.
All files are encoded using the integer representations.
'''
FMT_INTEL_INT = c3d.Reader(Zipload._get(self.ZIP, self.INTEL_INT))
FMT_DEC_INT = c3d.Reader(Zipload._get(self.ZIP, self.DEC_INT))
FMT_SGI_INT = c3d.Reader(Zipload._get(self.ZIP, self.MIPS_INT))
verify.equal_headers('INTEL-DEC INT format test', FMT_INTEL_INT,
FMT_DEC_INT, 'INTEL', 'DEC', False, False)
verify.equal_headers('INTEL-SGI INT format test', FMT_INTEL_INT,
FMT_SGI_INT, 'INTEL', 'SGI', False, False)
verify.equal_headers('DEC-SGI INT format test', FMT_DEC_INT,
FMT_SGI_INT, 'DEC', 'SGI', False, False)
verify.data_is_equal(FMT_INTEL_INT, FMT_DEC_INT, 'INTEL', 'DEC')
verify.data_is_equal(FMT_INTEL_INT, FMT_SGI_INT, 'INTEL', 'SGI')
verify.data_is_equal(FMT_DEC_INT, FMT_SGI_INT, 'DEC', 'SGI')
print('INTEL-DEC-SGI INT FORMAT COMPARISON: OK')
def verify_read_write(zip, file_path, proc_type='INTEL', real=True):
''' Compare read write ouput to original read file.
'''
A = c3d.Reader(Zipload._get(zip, file_path))
cpy_mode = 'copy'
if proc_type != 'INTEL':
cpy_mode = 'shallow_copy'
writer = A.to_writer(cpy_mode)
tmp_path = os.path.join(TEMP, 'write_test.c3d')
with open(tmp_path, 'wb') as handle:
writer.write(handle)
aname = 'Original'
bname = 'WriteRead'
test_id = '{} write read test'.format(proc_type)
with open(tmp_path, 'rb') as handle:
B = c3d.Reader(handle)
verify.equal_headers(test_id, A, B, aname, bname, real, real)
verify.data_is_equal(A, B, aname, bname)
def test_frames(self):
r = c3d.Reader(Zipload._get('sample08.zip', 'TESTDPI.c3d'))
self._log(r)
frames = list(r.read_frames())
assert len(frames) == 450
frame_no, points, analog = frames[0]
assert frame_no == 1, frame_no
expected = (r.point_used, 5)
assert points.shape == expected, \
'point shape: got {}, expected {}'.format(points.shape, expected)
expected = (r.analog_used, r.header.analog_per_frame)
assert analog.shape == expected, \
'analog shape: got {}, expected {}'.format(analog.shape, expected)
def convert(file, output):
assert '.c3d' in file
assert '.npy' in output
points = []
analog = []
reader = c3d.Reader(open(file, 'rb'))
for i, p, a in reader.read_frames():
points.append(p)
analog.append(a)
out_path, ext = os.path.splitext(output)
np.save(out_path + '_' + 'points' + ext, np.array(points))
np.save(out_path + '_' + 'analog' + ext, np.array(analog))
def getVelocityNormFeature(File, pointLength = None):
length = 80
if pointLength is not None:
length = pointLength
r = c3d.Reader(open(File, 'rb'))
i = 1
data = dict()
for _, points, _ in r.read_frames():
data[i] = points
i += 1
velocity = dict()
for i in range(2, len(data)):
index = 0
velocity[i - 2] = np.zeros(len(data[i]) * 3)
for point, prevPoint in zip(data[i], data[i-1]):
if point[3] != -1 and prevPoint[3] != -1:
for j in range(3):
velocity[i - 2][index] = (point[j] - prevPoint[j]) / (2 * 0.008)
index += 1
else: index += 3
v_norm = dict()
for i in range(len(velocity)):
v_norm[i] = np.zeros(int(len(velocity[i]) / 3))
v_index = 0
for index in range(len(v_norm[i])):
for j in range(3):
v_norm[i][index] += velocity[i][v_index] * velocity[i][v_index]
v_index += 1
v_norm[i][index] = math.sqrt(v_norm[i][index])
# Only take 10 frames as our features
per_sample = len(v_norm) // 10
avg_v_norm = [0] * (10 * int(length))
for i in range(1, 11):
idx = (i - 1) * per_sample
for j in range(per_sample):
index = idx + j
for k in range(len(v_norm[i])):
avg_v_norm[(i - 1) * length + k] += v_norm[index][k]
for k in range(len(v_norm[i])):
avg_v_norm[(i - 1) * length + k] /= per_sample
return avg_v_norm