#Pred trajectory + inputBuyer, inputSeller
vis_posData = [vis_posData[0], vis_posData[2], vis_posData[3] ]
vis_faceNormalData = [vis_faceNormalData[0], vis_faceNormalData[2], vis_faceNormalData[3] ]
vis_bodyNormalData = [vis_bodyNormalData[0], vis_bodyNormalData[2], vis_bodyNormalData[3] ]
if bVisualize==False:
continue
""" Visualize Location + Orientation """
glViewer.setPosOnly(vis_posData)
glViewer.setFaceNormal(vis_faceNormalData)
glViewer.setBodyNormal(vis_bodyNormalData)
"""Visualize Trajectory"""
glViewer.set_Holden_Trajectory_3(traj_list_holdenForm, initTrans=pred_initTrans_list, initRot=pred_initRot_list) #pred
#glViewer.set_Holden_Trajectory_3(gt_traj_list_holdenForm, initTrans=gt_initTrans_list, initRot=gt_initRot_list) #GT
#glViewer.set_Holden_Trajectory_3([ bodyData[0][-7:-4,:], bodyData[1][-7:-4,:], bodyData[2][-7:-4,:] ], initRot=initRot, initTrans= initTrans)
"""Visualize Body"""
#glViewer.set_Holden_Data_73([output_body_np],initTrans=initTrans_list,initRot=initRot_list)
glViewer.set_Holden_Data_73(vis_bodyData, ignore_root=False, initRot=vis_bodyGT_initRot, initTrans= vis_bodyGT_initTrans, bIsGT=False)
#glViewer.set_Holden_Data_73(vis_bodyData, ignore_root=False, initRot=vis_bodyGT_initRot, initTrans= vis_bodyGT_initTrans, bIsGT=True)
"""Visualize Speech"""
glViewer.setSpeech_binary( vis_speech )
"""Render output to videos"""
if bRender:
glViewer.setSaveOnlyMode(True)
glViewer.setSave(True)
""" Get Root Rotation """
rvelocity = Pivots.from_quaternions(rotation[1:] * -rotation[:-1]).ps
""" Save output """
trajData = np.zeros((frameLeng, 3))
trajData[:, 0] = velocity_3d[:, 0,
0] * 0.2 #0.2 to make holden data scale
trajData[:, 1] = velocity_3d[:, 0,
2] * 0.2 #0.2 to make holden data scale
trajData[:, 2] = rvelocity[:, 0]
initTrans = np.zeros((1, 3))
initTrans[0, 0] = targetPos[0, 0]
initTrans[0, 2] = targetPos[0, 1]
initTrans = initTrans * 0.2
trajData = np.swapaxes(trajData, 0, 1)
traj_list.append(trajData)
initTrans_list.append(initTrans)
initRot = -rotation[0] #Inverse to move [0,0,1] -> original Forward
initRot_list.append(initRot)
break
glViewer.set_Holden_Trajectory_3(traj_list,
initTrans=initTrans_list,
initRot=initRot_list)
glViewer.init_gl()
# traj_list_seq.append(np.array(traj_list))