def basicCGM1_manualTibialTorsion(cls):
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\KAD-basic\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
optional_mp={
'InterAsisDistance' : 0,
'LeftAsisTrocanterDistance' : 0,
'LeftThighRotation' : 0,
'LeftShankRotation' : 0 ,
'LeftTibialTorsion' : -10,
'RightAsisTrocanterDistance' : 0,
'RightThighRotation' : 0,
'RightShankRotation' : 0,
'RightTibialTorsion' : 15
}
model.addAnthropoInputParameters(mp,optional=optional_mp)
# -----------CGM STATIC CALIBRATION--------------------
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
#TESTS
np.testing.assert_equal(model.m_useRightTibialTorsion,True )
np.testing.assert_equal(model.m_useLeftTibialTorsion,True )
# np.testing.assert_almost_equal(model.mp["InterAsisDistance"],model.mp_computed["InterAsisDistance"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["LeftAsisTrocanterDistance"],model.mp_computed["LeftAsisTrocanterDistance"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["LeftThighRotation"],-1.0*model.mp_computed["LeftThighRotationOffset"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["LeftShankRotation"],-1.0*model.mp_computed["LeftShankRotationOffset"] , decimal = 3)
np.testing.assert_almost_equal(model.mp["LeftTibialTorsion"],-1.0*model.mp_computed["LeftTibialTorsionOffset"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["RightAsisTrocanterDistance"],model.mp_computed["RightAsisTrocanterDistance"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["RightThighRotation"],model.mp_computed["RightThighRotationOffset"] , decimal = 3)
# np.testing.assert_almost_equal(model.mp["RightShankRotation"],model.mp_computed["RightShankRotationOffset"] , decimal = 3)
np.testing.assert_almost_equal(model.mp["RightTibialTorsion"],model.mp_computed["RightTibialTorsionOffset"] , decimal = 3)
def basicCGM1_bodyBuilderFoot(cls):
"""
goal : know effet on Foot kinematics of a foot referential built according ta sequence metionned in some bodybuilder code:
LFoot = [LTOE,LAJC-LTOE,LAJC-LKJC,zyx]
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\basic\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
model.addAnthropoInputParameters(mp)
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model,
useBodyBuilderFoot=True).compute()
# ------ Test 1 Motion Axe X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 14.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# relative angles
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# absolute angles
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "TOR"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
btkTools.smartWriter(acqGait, "testuseBodyBuilderFoot.c3d")
def advancedCGM11_KneeMedKad_TrueEquinus(cls):
"""
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\kad-med-TrueEquinus\\"
staticFilename = "static.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 36.9,
'LeftLegLength' : 665.0,
'RightLegLength' : 655.0 ,
'LeftKneeWidth' : 102.7,
'RightKneeWidth' : 100.2,
'LeftAnkleWidth' : 64.5,
'RightAnkleWidth' : 63.0,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
optional_mp={
'InterAsisDistance' : 0,
'LeftAsisTrocanterDistance' : 0,
'LeftThighRotation' : 0,
'LeftShankRotation' : 0 ,
'LeftTibialTorsion' : 0,
'RightAsisTrocanterDistance' : 0,
'RightThighRotation' : 0,
'RightShankRotation' : 0,
'RightTibialTorsion' : 0
}
model.addAnthropoInputParameters(mp,optional=optional_mp)
# -----------CGM STATIC CALIBRATION--------------------
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# cgm decorator
modelDecorator.Kad(model,acqStatic).compute()
modelDecorator.AnkleCalibrationDecorator(model).midMaleolus(acqStatic, side="both")
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
btkTools.smartWriter(acqStatic,"Kad-med-TrueEquinus.c3d")
def cgm1(cls):
"""
GOAL : compare Joint centres and foot Offset
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "operations\\markerDecomposition\\CGM1decomposeTracking\\"
#
staticFilename = "static.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model = cgm.CGM1LowerLimbs()
model.configure()
markerDiameter = 14
mp = {
'Bodymass': 36.9,
'LeftLegLength': 665,
'RightLegLength': 655.0,
'LeftKneeWidth': 102.7,
'RightKneeWidth': 100.2,
'LeftAnkleWidth': 64.5,
'RightAnkleWidth': 63.4,
'LeftSoleDelta': 0,
'RightSoleDelta': 0,
}
model.addAnthropoInputParameters(mp)
# CALIBRATION
scp = modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp, acqStatic, model).compute()
print model.m_useRightTibialTorsion
# --- Test 1 Motion Axe X -------
gaitFilename = "gait trial 01.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
modMotion = modelFilters.ModelMotionFilter(
scp,
acqGait,
model,
pyCGM2Enums.motionMethod.Determinist,
useForMotionTest=True)
modMotion.compute()
mtf = modelFilters.TrackingMarkerDecompositionFilter(model, acqGait)
mtf.decompose()
btkTools.smartWriter(acqGait, "cgm1-decompose.c3d")
def advancedCGM11_KneeMedOnly(cls):
"""
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\CGM1.1\medial\\"
staticFilename = "static-all.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
optional_mp={
'InterAsisDistance' : 0,
'LeftAsisTrocanterDistance' : 0,
'LeftThighRotation' : 0,
'LeftShankRotation' : 0 ,
'LeftTibialTorsion' : -10,
'RightAsisTrocanterDistance' : 0,
'RightThighRotation' : 0,
'RightShankRotation' : 0,
'RightTibialTorsion' : 15
}
model.addAnthropoInputParameters(mp,optional=optional_mp)
# -----------CGM STATIC CALIBRATION--------------------
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# cgm decorator
modelDecorator.KneeCalibrationDecorator(model).midCondyles(acqStatic)
#modelDecorator.AnkleCalibrationDecorator(model).midMaleolus(acqStatic, side="both")
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
btkTools.smartWriter(acqStatic,"advancedCGM11_KneeMedOnly.c3d")
def GeneralScoreTest(cls):
"""
GOAL : compare Joint centres and foot Offset
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\basic\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model = cgm.CGM1LowerLimbs()
model.configure()
markerDiameter = 14
mp = {
'Bodymass': 71.0,
'LeftLegLength': 860.0,
'RightLegLength': 865.0,
'LeftKneeWidth': 102.0,
'RightKneeWidth': 103.4,
'LeftAnkleWidth': 75.3,
'RightAnkleWidth': 72.9,
'LeftSoleDelta': 0,
'RightSoleDelta': 0,
}
model.addAnthropoInputParameters(mp)
scp = modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp, acqStatic, model).compute()
# ------ Test 1 Motion Axe X -------
gaitFilename = "MRI-US-01, 2008-08-08, 3DGA 14.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion = modelFilters.ModelMotionFilter(
scp, acqGait, model, enums.motionMethod.Determinist)
modMotion.compute()
# score
msrp = modelQualityFilter.GeneralScoreResidualProcedure(model)
msrp.setDefinition("LHJC", "Pelvis", "Left Thigh")
srf = modelQualityFilter.ScoreResidualFilter(acqGait, msrp)
srf.compute()
def advancedCGM1_kadMed_manualTibialTorsion(cls):
"""
- constraints on both tibial Torsion But application of a KAD-med calibration
=> tibial Torsion has to be udpated
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\KAD-Med\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
optional_mp={
'InterAsisDistance' : 0,
'LeftAsisTrocanterDistance' : 0,
'LeftThighRotation' : 0,
'LeftShankRotation' : 0 ,
'LeftTibialTorsion' : -10,
'RightAsisTrocanterDistance' : 0,
'RightThighRotation' : 0,
'RightShankRotation' : 0,
'RightTibialTorsion' : 15
}
model.addAnthropoInputParameters(mp,optional=optional_mp)
# -----------CGM STATIC CALIBRATION--------------------
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# cgm decorator
modelDecorator.Kad(model,acqStatic).compute()
modelDecorator.AnkleCalibrationDecorator(model).midMaleolus(acqStatic, side="both")
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
np.testing.assert_equal(model.m_useRightTibialTorsion,True )
np.testing.assert_equal(model.m_useLeftTibialTorsion,True )
np.testing.assert_equal(model.mp["LeftTibialTorsion"],0 ) # cancel by the decorator
np.testing.assert_equal(model.mp["RightTibialTorsion"],0)
ltt_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LTibialTorsion").value().GetInfo().ToDouble()[0])
rtt_vicon =np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RTibialTorsion").value().GetInfo().ToDouble()[0])
np.testing.assert_almost_equal(-1.0*model.mp_computed["LeftTibialTorsionOffset"],ltt_vicon, decimal = 3)
np.testing.assert_almost_equal(model.mp_computed["RightTibialTorsionOffset"],rtt_vicon, decimal = 3)
def basicCGM1_distal(cls,plotFlag=False):
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\basic-filtered\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
model.addAnthropoInputParameters(mp)
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# ------ Test 1 Motion Axe X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 13.distal.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# Joint kinematics
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# BSP model
bspModel = bodySegmentParameters.Bsp(model)
bspModel.compute()
# force plate -- construction du wrench attribue au pied
forceplates.appendForcePlateCornerAsMarker(acqGait)
mappedForcePlate = forceplates.matchingFootSideOnForceplate(acqGait)
modelFilters.ForcePlateAssemblyFilter(model,acqGait,"LR",
leftSegmentLabel="Left Foot",
rightSegmentLabel="Right Foot").compute()
idp = modelFilters.CGMLowerlimbInverseDynamicProcedure()
modelFilters.InverseDynamicFilter(model,
acqGait,
procedure = idp,
projection = pyCGM2Enums.MomentProjection.Distal,
viconCGM1compatible=True
).compute(pointLabelSuffix="cgm1_6dof")
modelFilters.JointPowerFilter(model,acqGait).compute(pointLabelSuffix="cgm1_6dof")
# writer
#btkTools.smartWriter(acqGait,"testInvDyn.c3d")
if plotFlag:
plotMoment(acqGait,"LHipMoment","LHipMoment_cgm1_6dof")
plotMoment(acqGait,"LKneeMoment","LKneeMoment_cgm1_6dof")
plotMoment(acqGait,"LAnkleMoment","LAnkleMoment_cgm1_6dof")
plotMoment(acqGait,"RHipMoment","RHipMoment_cgm1_6dof")
plotMoment(acqGait,"RKneeMoment","RKneeMoment_cgm1_6dof")
plotMoment(acqGait,"RAnkleMoment","RAnkleMoment_cgm1_6dof")
plt.show()
def basicCGM1_global(cls):
MAIN_PATH = pyCGM2.TEST_DATA_PATH+"CGM1\\CGM1-TESTS\\basic_pathologicalSubject\\"
staticFilename = "BOVE Vincent Cal 01.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 72.0,
'LeftLegLength' : 840.0,
'RightLegLength' : 850.0 ,
'LeftKneeWidth' : 105.0,
'RightKneeWidth' : 110.4,
'LeftAnkleWidth' : 74.0,
'RightAnkleWidth' : 74.0,
}
model.addAnthropoInputParameters(mp)
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# ------ Travelling Axis Y -------
gaitFilename="20120213_BV-PRE-S-NNNN-I-dyn 04.global2.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# Joint kinematics
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# BSP model
bspModel = bodySegmentParameters.Bsp(model)
bspModel.compute()
# force plate -- construction du wrench attribue au pied
forceplates.appendForcePlateCornerAsMarker(acqGait)
mappedForcePlate = forceplates.matchingFootSideOnForceplate(acqGait)
modelFilters.ForcePlateAssemblyFilter(model,acqGait,mappedForcePlate,
leftSegmentLabel="Left Foot",
rightSegmentLabel="Right Foot").compute()
idp = modelFilters.CGMLowerlimbInverseDynamicProcedure()
modelFilters.InverseDynamicFilter(model,
acqGait,
procedure = idp,
projection = pyCGM2Enums.MomentProjection.Global
).compute(pointLabelSuffix="cgm1_6dof")
modelFilters.JointPowerFilter(model,acqGait).compute(pointLabelSuffix="cgm1_6dof")
btkTools.smartWriter(acqGait,"testInvDynPatho.c3d")
# TEST ------
compareKinetics(acqGait, 5, -5, 0.2, 40.0, 0.1 )
# pyCGM2
from pyCGM2.Tools import btkTools
from pyCGM2.Model import modelFilters, modelDecorator, frame
from pyCGM2.Model.CGM2 import cgm
from pyCGM2 import enums
if __name__ == "__main__":
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\PIG advanced\\dynaKAD\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model = cgm.CGM1LowerLimbs()
model.configure()
markerDiameter = 14
mp = {
'Bodymass': 71.0,
'LeftLegLength': 860.0,
'RightLegLength': 865.0,
'LeftKneeWidth': 102.0,
'RightKneeWidth': 103.4,
'LeftAnkleWidth': 75.3,
'RightAnkleWidth': 72.9,
'LeftSoleDelta': 0,
'RightSoleDelta': 0,
}
model.addAnthropoInputParameters(mp)
def basicCGM1_absoluteAngles_pelikin(cls):
"""
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\Pelikin\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
model.addAnthropoInputParameters(mp)
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# ------ Test 1 Motion Axe X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 14.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "ROT"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
#btkTools.smartWriter(acqGait, "verifX.c3d")
# --- tests on angles
np.testing.assert_almost_equal( acqGait.GetPoint("RNewPelAngles").GetValues(),
acqGait.GetPoint("RPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LNewPelAngles").GetValues(),
acqGait.GetPoint("LPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
# ------ Test 2 Motion Axe -X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 12.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "ROT"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
# --- tests on angles
np.testing.assert_almost_equal( acqGait.GetPoint("RNewPelAngles").GetValues(),
acqGait.GetPoint("RPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LNewPelAngles").GetValues(),
acqGait.GetPoint("LPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
def advancedCGM11_KadMed_TrueEquinus(cls):
"""
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\kad-med-TrueEquinus\\"
staticFilename = "static.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
markerDiameter=14
mp={
'Bodymass' : 36.9,
'LeftLegLength' : 665.0,
'RightLegLength' : 655.0 ,
'LeftKneeWidth' : 102.7,
'RightKneeWidth' : 100.2,
'LeftAnkleWidth' : 64.5,
'RightAnkleWidth' : 63.0,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
optional_mp={
'InterAsisDistance' : 0,
'LeftAsisTrocanterDistance' : 0,
'LeftThighRotation' : 0,
'LeftShankRotation' : 0 ,
'LeftTibialTorsion' : 0,
'RightAsisTrocanterDistance' : 0,
'RightThighRotation' : 0,
'RightShankRotation' : 0,
'RightTibialTorsion' : 0
}
model.addAnthropoInputParameters(mp,optional=optional_mp)
# -----------CGM STATIC CALIBRATION--------------------
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# cgm decorator
modelDecorator.Kad(model,acqStatic).compute()
modelDecorator.AnkleCalibrationDecorator(model).midMaleolus(acqStatic, side="both")
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# tibial torsion
ltt_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LTibialTorsion").value().GetInfo().ToDouble()[0])
rtt_vicon =np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RTibialTorsion").value().GetInfo().ToDouble()[0])
logging.info(" LTibialTorsion : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(ltt_vicon,model.mp_computed["LeftTibialTorsionOffset"]))
logging.info(" RTibialTorsion : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rtt_vicon,model.mp_computed["RightTibialTorsionOffset"]))
# thigh and shank Offsets
lto = model.getViconThighOffset("Left")
lso = model.getViconShankOffset("Left")
rto = model.getViconThighOffset("Right")
rso = model.getViconShankOffset("Right")
lto_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LThighRotation").value().GetInfo().ToDouble()[0])
lso_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LShankRotation").value().GetInfo().ToDouble()[0])
rto_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RThighRotation").value().GetInfo().ToDouble()[0])
rso_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RShankRotation").value().GetInfo().ToDouble()[0])
logging.info(" LThighRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(lto_vicon,lto))
logging.info(" LShankRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(lso_vicon,lso))
logging.info(" RThighRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rto_vicon,rto))
logging.info(" RShankRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rso_vicon,rso))
btkTools.smartWriter(acqStatic,"Kad-med-TrueEquinus.c3d")
gaitFilename="gait trial 01.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# relative angles
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# absolute angles
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "TOR"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
btkTools.smartWriter(acqGait, "Kad-med-TrueEquinus-angles.c3d")
def kad_midMaleolus(cls):
"""
"""
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\KAD-Med\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model=cgm.CGM1LowerLimbs()
model.configure()
mp={
'Bodymass' : 71.0,
'LeftLegLength' : 860.0,
'RightLegLength' : 865.0 ,
'LeftKneeWidth' : 102.0,
'RightKneeWidth' : 103.4,
'LeftAnkleWidth' : 75.3,
'RightAnkleWidth' : 72.9,
'LeftSoleDelta' : 0,
'RightSoleDelta' : 0,
}
model.addAnthropoInputParameters(mp)
scp=modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# cgm decorator
modelDecorator.Kad(model,acqStatic).compute()
modelDecorator.AnkleCalibrationDecorator(model).midMaleolus(acqStatic, side="both")
modelFilters.ModelCalibrationFilter(scp,acqStatic,model).compute()
# tibial torsion
ltt_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LTibialTorsion").value().GetInfo().ToDouble()[0])
rtt_vicon =np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RTibialTorsion").value().GetInfo().ToDouble()[0])
logging.info(" LTibialTorsion : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(ltt_vicon,model.mp_computed["LeftTibialTorsionOffset"]))
logging.info(" RTibialTorsion : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rtt_vicon,model.mp_computed["RightTibialTorsionOffset"]))
# foot offsets
spf_l,sro_l = model.getViconFootOffset("Left")
spf_r,sro_r = model.getViconFootOffset("Right")
vicon_spf_l = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LStaticPlantFlex").value().GetInfo().ToDouble()[0])
vicon_spf_r = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RStaticPlantFlex").value().GetInfo().ToDouble()[0])
vicon_sro_l = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LStaticRotOff").value().GetInfo().ToDouble()[0])
vicon_sro_r = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RStaticRotOff").value().GetInfo().ToDouble()[0])
logging.info(" LStaticPlantFlex : Vicon (%.6f) Vs bodyBuilderFoot (%.6f)" %(spf_l,vicon_spf_l))
logging.info(" RStaticPlantFlex : Vicon (%.6f) Vs bodyBuilderFoot (%.6f)" %(spf_r,vicon_spf_r))
logging.info(" LStaticRotOff : Vicon (%.6f) Vs bodyBuilderFoot (%.6f)" %(sro_l,vicon_sro_l))
logging.info(" RStaticRotOff : Vicon (%.6f) Vs bodyBuilderFoot (%.6f)" %(sro_r,vicon_sro_r))
# thigh and shank Offsets
lto = model.getViconThighOffset("Left")
lso = model.getViconShankOffset("Left")
rto = model.getViconThighOffset("Right")
rso = model.getViconShankOffset("Right")
lto_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LThighRotation").value().GetInfo().ToDouble()[0])
lso_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("LShankRotation").value().GetInfo().ToDouble()[0])
rto_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RThighRotation").value().GetInfo().ToDouble()[0])
rso_vicon = np.rad2deg(acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild("RShankRotation").value().GetInfo().ToDouble()[0])
logging.info(" LThighRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(lto_vicon,lto))
logging.info(" LShankRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(lso_vicon,lso))
logging.info(" RThighRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rto_vicon,rto))
logging.info(" RShankRotation : Vicon (%.6f) Vs pyCGM2 (%.6f)" %(rso_vicon,rso))
# ------ Test 1 Motion Axe X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 14.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# relative angles
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# absolute angles
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "TOR"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
btkTools.smartWriter(acqGait, "advancedCGM1_kad_midMaleolus-14.c3d")
# tests on joint angles
np.testing.assert_almost_equal( acqGait.GetPoint("RHipAngles").GetValues(),
acqGait.GetPoint("RHipAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LHipAngles").GetValues(),
acqGait.GetPoint("LHipAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("RKneeAngles").GetValues(),
acqGait.GetPoint("RKneeAngles_cgm1_6dof").GetValues(), decimal =2)
np.testing.assert_almost_equal( acqGait.GetPoint("LKneeAngles").GetValues(),
acqGait.GetPoint("LKneeAngles_cgm1_6dof").GetValues(), decimal =2)
np.testing.assert_almost_equal( acqGait.GetPoint("RPelvisAngles").GetValues(),
acqGait.GetPoint("RPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LPelvisAngles").GetValues(),
acqGait.GetPoint("LPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
# # tests on angles influence by Vicon error
# np.testing.assert_almost_equal( acqGait.GetPoint("RAnkleAngles").GetValues(),
# acqGait.GetPoint("RAnkleAngles_cgm1_6dof").GetValues(), decimal =3)
# np.testing.assert_almost_equal( acqGait.GetPoint("LAnkleAngles").GetValues(),
# acqGait.GetPoint("LAnkleAngles_cgm1_6dof").GetValues(), decimal =3)
#
# np.testing.assert_almost_equal( acqGait.GetPoint("LFootProgressAngles").GetValues(),
# acqGait.GetPoint("LFootProgressAngles_cgm1_6dof").GetValues(), decimal =3)
# np.testing.assert_almost_equal( acqGait.GetPoint("RFootProgressAngles").GetValues(),
# acqGait.GetPoint("RFootProgressAngles_cgm1_6dof").GetValues(), decimal =3)
# ------ Test 2 Motion Axe -X -------
gaitFilename="MRI-US-01, 2008-08-08, 3DGA 12.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion=modelFilters.ModelMotionFilter(scp,acqGait,model,pyCGM2Enums.motionMethod.Determinist)
modMotion.compute()
# relative angles
modelFilters.ModelJCSFilter(model,acqGait).compute(description="vectoriel", pointLabelSuffix="cgm1_6dof")
# absolute angles
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqGait,["LASI","LPSI","RASI","RPSI"])
modelFilters.ModelAbsoluteAnglesFilter(model,acqGait,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
globalFrameOrientation = globalFrame,
eulerSequences=["TOR","TOR", "TOR"],
forwardProgression = forwardProgression).compute(pointLabelSuffix="cgm1_6dof")
#btkTools.smartWriter(acqGait, "test.c3d")
# tests on joint angles
np.testing.assert_almost_equal( acqGait.GetPoint("RHipAngles").GetValues(),
acqGait.GetPoint("RHipAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LHipAngles").GetValues(),
acqGait.GetPoint("LHipAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("RKneeAngles").GetValues(),
acqGait.GetPoint("RKneeAngles_cgm1_6dof").GetValues(), decimal =2)
np.testing.assert_almost_equal( acqGait.GetPoint("LKneeAngles").GetValues(),
acqGait.GetPoint("LKneeAngles_cgm1_6dof").GetValues(), decimal =2)
np.testing.assert_almost_equal( acqGait.GetPoint("RPelvisAngles").GetValues(),
acqGait.GetPoint("RPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
np.testing.assert_almost_equal( acqGait.GetPoint("LPelvisAngles").GetValues(),
acqGait.GetPoint("LPelvisAngles_cgm1_6dof").GetValues(), decimal =3)
def basicCGM1(cls):
MAIN_PATH = pyCGM2.TEST_DATA_PATH + "CGM1\\CGM1-TESTS\\basic_static_StaticVsDynamicAngles\\"
staticFilename = "MRI-US-01, 2008-08-08, 3DGA 02.c3d"
acqStatic = btkTools.smartReader(str(MAIN_PATH + staticFilename))
model = cgm.CGM1LowerLimbs()
model.configure()
markerDiameter = 14
mp = {
'Bodymass': 71.0,
'LeftLegLength': 860.0,
'RightLegLength': 865.0,
'LeftKneeWidth': 102.0,
'RightKneeWidth': 103.4,
'LeftAnkleWidth': 75.3,
'RightAnkleWidth': 72.9,
'LeftSoleDelta': 0,
'RightSoleDelta': 0,
}
model.addAnthropoInputParameters(mp)
# -----------CGM STATIC CALIBRATION--------------------
scp = modelFilters.StaticCalibrationProcedure(model)
modelFilters.ModelCalibrationFilter(scp, acqStatic, model).compute()
spf_l, sro_l = model.getViconFootOffset("Left")
spf_r, sro_r = model.getViconFootOffset("Right")
# TESTS ------------------------------------------------
np.testing.assert_equal(model.m_useRightTibialTorsion, False)
np.testing.assert_equal(model.m_useLeftTibialTorsion, False)
# joint centres
np.testing.assert_almost_equal(
acqStatic.GetPoint("LFEP").GetValues().mean(axis=0),
acqStatic.GetPoint("LHJC").GetValues().mean(axis=0),
decimal=3)
np.testing.assert_almost_equal(
acqStatic.GetPoint("RFEP").GetValues().mean(axis=0),
acqStatic.GetPoint("RHJC").GetValues().mean(axis=0),
decimal=3)
np.testing.assert_almost_equal(
acqStatic.GetPoint("LFEO").GetValues().mean(axis=0),
acqStatic.GetPoint("LKJC").GetValues().mean(axis=0),
decimal=3)
np.testing.assert_almost_equal(
acqStatic.GetPoint("RFEO").GetValues().mean(axis=0),
acqStatic.GetPoint("RKJC").GetValues().mean(axis=0),
decimal=3)
np.testing.assert_almost_equal(
acqStatic.GetPoint("LTIO").GetValues().mean(axis=0),
acqStatic.GetPoint("LAJC").GetValues().mean(axis=0),
decimal=3)
np.testing.assert_almost_equal(
acqStatic.GetPoint("RTIO").GetValues().mean(axis=0),
acqStatic.GetPoint("RAJC").GetValues().mean(axis=0),
decimal=3)
# foot offsets
vicon_spf_l = np.rad2deg(
acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild(
"LStaticPlantFlex").value().GetInfo().ToDouble()[0])
vicon_spf_r = np.rad2deg(
acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild(
"RStaticPlantFlex").value().GetInfo().ToDouble()[0])
vicon_sro_l = np.rad2deg(
acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild(
"LStaticRotOff").value().GetInfo().ToDouble()[0])
vicon_sro_r = np.rad2deg(
acqStatic.GetMetaData().FindChild("PROCESSING").value().FindChild(
"RStaticRotOff").value().GetInfo().ToDouble()[0])
logging.info(" LStaticPlantFlex : Vicon (%.6f) Vs pyCGM2 (%.6f)" %
(spf_l, vicon_spf_l))
logging.info(" RStaticPlantFlex : Vicon (%.6f) Vs pyCGM2 (%.6f)" %
(spf_r, vicon_spf_r))
logging.info(" LStaticRotOff : Vicon (%.6f) Vs pyCGM2 (%.6f)" %
(sro_l, vicon_sro_l))
logging.info(" RStaticRotOff : Vicon (%.6f) Vs pyCGM2 (%.6f)" %
(sro_r, vicon_sro_r))
np.testing.assert_almost_equal(spf_l, vicon_spf_l, decimal=3)
np.testing.assert_almost_equal(spf_r, vicon_spf_r, decimal=3)
np.testing.assert_almost_equal(sro_l, vicon_sro_l, decimal=3)
np.testing.assert_almost_equal(sro_r, vicon_sro_r, decimal=3)
# -------- CGM FITTING -------------------------------------------------
# ---- on c3d processed vicon static-pig operation
# Motion FILTER
# optimisation segmentaire et calibration fonctionnel
modMotion = modelFilters.ModelMotionFilter(
scp,
acqStatic,
model,
pyCGM2Enums.motionMethod.Determinist,
markerDiameter=markerDiameter,
pigStatic=True,
viconCGM1compatible=False)
modMotion.compute()
# relative angles
modelFilters.ModelJCSFilter(model, acqStatic).compute(
description="vectoriel", pointLabelSuffix="cgm1_6dof")
btkTools.smartWriter(acqStatic, "test_basicCGM1_staticAngles.c3d")
# ---- on c3d processed vicon dynamic-pig operation
gaitFilename = "MRI-US-01, 2008-08-08, 3DGA 02-dynamics.c3d" #"staticComparisonPipelines.c3d"
acqGait = btkTools.smartReader(str(MAIN_PATH + gaitFilename))
# # output and plot
#btkTools.smartWriter(acqGait, "test_basicCGM1_staticAngles.c3d")
plotComparison(acqGait, acqStatic, "LHipAngles")
plotComparison(acqGait, acqStatic, "LKneeAngles")
plotComparison(acqGait, acqStatic, "LAnkleAngles")
plt.figure()
plt.plot(
acqStatic.GetPoint("LAnkleAngles").GetValues()[:, 0] -
acqStatic.GetPoint("LAnkleAngles" + "_cgm1_6dof").GetValues()[:,
0])
plt.figure()
plt.plot(
acqStatic.GetPoint("LAnkleAngles").GetValues()[:, 2] -
acqStatic.GetPoint("LAnkleAngles" + "_cgm1_6dof").GetValues()[:,
2])
def calibrate(DATA_PATH,calibrateFilenameLabelled,translators,
required_mp,optional_mp,
leftFlatFoot,rightFlatFoot,markerDiameter,
pointSuffix):
# --------------------------ACQUISITION ------------------------------------
# ---btk acquisition---
acqStatic = btkTools.smartReader(str(DATA_PATH+calibrateFilenameLabelled))
btkTools.checkMultipleSubject(acqStatic)
acqStatic = btkTools.applyTranslators(acqStatic,translators)
# ---definition---
model=cgm.CGM1LowerLimbs()
model.setVersion("CGM1.1")
model.configure()
model.addAnthropoInputParameters(required_mp,optional=optional_mp)
# --store calibration parameters--
model.setStaticFilename(calibrateFilenameLabelled)
model.setCalibrationProperty("leftFlatFoot",leftFlatFoot)
model.setCalibrationProperty("rightFlatFoot",rightFlatFoot)
model.setCalibrationProperty("markerDiameter",markerDiameter)
# ---check marker set used----
smc= cgm.CGM.checkCGM1_StaticMarkerConfig(acqStatic)
# --------------------------STATIC CALBRATION--------------------------
scp=modelFilters.StaticCalibrationProcedure(model) # load calibration procedure
# ---initial calibration filter----
modelFilters.ModelCalibrationFilter(scp,acqStatic,model,
leftFlatFoot = leftFlatFoot,
rightFlatFoot = rightFlatFoot,
markerDiameter = markerDiameter,
).compute()
# ---- Decorators -----
decorators.applyDecorators_CGM(smc, model,acqStatic,optional_mp,markerDiameter)
# ----Final Calibration filter if model previously decorated -----
if model.decoratedModel:
# initial static filter
modelFilters.ModelCalibrationFilter(scp,acqStatic,model,
leftFlatFoot = leftFlatFoot, rightFlatFoot = rightFlatFoot,
markerDiameter=markerDiameter).compute()
# ----------------------CGM MODELLING----------------------------------
# ----motion filter----
# notice : viconCGM1compatible option duplicate error on Construction of the foot coordinate system
modMotion=modelFilters.ModelMotionFilter(scp,acqStatic,model,enums.motionMethod.Determinist,
markerDiameter=markerDiameter)
modMotion.compute()
#---- Joint kinematics----
# relative angles
modelFilters.ModelJCSFilter(model,acqStatic).compute(description="vectoriel", pointLabelSuffix=pointSuffix)
# detection of traveling axis
longitudinalAxis,forwardProgression,globalFrame = btkTools.findProgressionAxisFromPelvicMarkers(acqStatic,["LASI","RASI","RPSI","LPSI"])
# absolute angles
modelFilters.ModelAbsoluteAnglesFilter(model,acqStatic,
segmentLabels=["Left Foot","Right Foot","Pelvis"],
angleLabels=["LFootProgress", "RFootProgress","Pelvis"],
eulerSequences=["TOR","TOR", "ROT"],
globalFrameOrientation = globalFrame,
forwardProgression = forwardProgression).compute(pointLabelSuffix=pointSuffix)
return model, acqStatic
