def createAnimationTrack(self, jointsOrder=None, name="BVHMotion"):
"""
Create an animation track from the motion stored in this BHV file.
"""
if jointsOrder == None:
jointsData = [
joint.matrixPoses for joint in self.getJoints()
if not joint.isEndConnector()
]
# We leave out end effectors as they should not have animation data
else:
nFrames = self.frameCount
import re
# Remove the tail from duplicate bone names
for idx, jName in enumerate(jointsOrder):
# Joint mappings can contain a rotation compensation
if isinstance(jName, tuple):
jName, _ = jName
if not jName:
continue
r = re.search("(.*)_\d+$", jName)
if r:
jointsOrder[idx] = r.group(1)
jointsData = []
for jointName in jointsOrder:
if isinstance(jointName, tuple):
jointName, angle = jointName
else:
angle = 0.0
if jointName:
poseMats = self.getJointByCanonicalName(
jointName).matrixPoses.copy()
if isinstance(angle, float):
if angle != 0.0:
# Rotate around global Z axis
rot = tm.rotation_matrix(-angle * D, [0, 0, 1])
# Roll around global Y axis (this is a limitation)
roll = tm.rotation_matrix(angle * D, [0, 1, 0])
for i in xrange(nFrames):
# TODO make into numpy loop
poseMats[i] = np.dot(poseMats[i], rot)
poseMats[i] = np.dot(poseMats[i], roll)
else: # Compensation (angle) is a transformation matrix
# Compensate animation frames
for i in xrange(nFrames):
# TODO make into numpy loop
poseMats[i] = np.mat(poseMats[i]) * np.mat(angle)
#poseMats[i] = np.mat(angle) # Test compensated rest pose
jointsData.append(poseMats)
else:
jointsData.append(animation.emptyTrack(nFrames))
nJoints = len(jointsData)
nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints * nFrames, 4, 4)
framerate = 1.0 / self.frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)
def createAnimationTrack(self, jointsOrder = None, name="BVHMotion"):
"""
Create an animation track from the motion stored in this BHV file.
"""
if jointsOrder == None:
jointsData = [joint.matrixPoses for joint in self.getJoints() if not joint.isEndConnector()]
# We leave out end effectors as they should not have animation data
else:
nFrames = self.frameCount
import re
# Remove the tail from duplicate bone names
for idx,jName in enumerate(jointsOrder):
# Joint mappings can contain a rotation compensation
if isinstance(jName, tuple):
jName, _ = jName
if not jName:
continue
r = re.search("(.*)_\d+$",jName)
if r:
jointsOrder[idx] = r.group(1)
jointsData = []
for jointName in jointsOrder:
if isinstance(jointName, tuple):
jointName, angle = jointName
else:
angle = 0.0
if jointName:
poseMats = self.getJointByCanonicalName(jointName).matrixPoses.copy()
if isinstance(angle, float):
if angle != 0.0:
# Rotate around global Z axis
rot = tm.rotation_matrix(-angle*D, [0,0,1])
# Roll around global Y axis (this is a limitation)
roll = tm.rotation_matrix(angle*D, [0,1,0])
for i in range(nFrames):
# TODO make into numpy loop
poseMats[i] = np.dot(poseMats[i], rot)
poseMats[i] = np.dot(poseMats[i], roll)
else: # Compensation (angle) is a transformation matrix
# Compensate animation frames
for i in range(nFrames):
# TODO make into numpy loop
poseMats[i] = np.mat(poseMats[i]) * np.mat(angle)
#poseMats[i] = np.mat(angle) # Test compensated rest pose
jointsData.append(poseMats)
else:
jointsData.append(animation.emptyTrack(nFrames))
nJoints = len(jointsData)
nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints*nFrames,4,4)
framerate = 1.0/self.frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)
def calculateFrames(self):
"""
Calculate transformation matrices from this joint's (BVH) channel data.
"""
self.frames = np.asarray(self.frames, dtype=np.float32)
nChannels = len(self.channels)
nFrames = self.skeleton.frameCount
dataLen = nFrames * nChannels
if len(self.frames) < dataLen:
log.debug("Frame data: %s", self.frames)
raise RuntimeError(
'Expected frame data length for joint %s is %s found %s' %
(self.getName(), dataLen, len(self.frames)))
rotOrder = ""
rotAngles = []
rXs = rYs = rZs = None
for (chanIdx, channel) in enumerate(self.channels):
if channel == "Xposition":
rXs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Yposition":
if self.skeleton.convertFromZUp:
rZs = -self.frames[chanIdx:dataLen:nChannels]
else:
rYs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Zposition":
if self.skeleton.convertFromZUp:
rYs = self.frames[chanIdx:dataLen:nChannels]
else:
rZs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Xrotation":
aXs = D * self.frames[chanIdx:dataLen:nChannels]
rotOrder = "x" + rotOrder
rotAngles.append(aXs)
elif channel == "Yrotation":
if self.skeleton.convertFromZUp:
aYs = -D * self.frames[chanIdx:dataLen:nChannels]
rotOrder = "z" + rotOrder
else:
aYs = D * self.frames[chanIdx:dataLen:nChannels]
rotOrder = "y" + rotOrder
rotAngles.append(aYs)
elif channel == "Zrotation":
aZs = D * self.frames[chanIdx:dataLen:nChannels]
if self.skeleton.convertFromZUp:
rotOrder = "y" + rotOrder
else:
rotOrder = "z" + rotOrder
rotAngles.append(aZs)
rotOrder = "s" + rotOrder
self.rotOrder = rotOrder
# Calculate pose matrix for each animation frame
self.matrixPoses = animation.emptyTrack(nFrames)
# Add rotations to pose matrices
if len(rotAngles) > 0 and len(rotAngles) < 3:
# TODO allow partial rotation channels too?
pass
elif len(rotAngles) >= 3:
for frameIdx in range(nFrames):
self.matrixPoses[frameIdx, :3, :3] = tm.euler_matrix(
rotAngles[2][frameIdx],
rotAngles[1][frameIdx],
rotAngles[0][frameIdx],
axes=rotOrder)[:3, :3]
# TODO eliminate loop with numpy?
'''
for rotAngle in rotAngles:
self.matrixPoses[:] = tm.euler_matrix(rotAngle[2], rotAngle[1], rotAngle[0], axes=rotOrder))
# unfortunately tm.euler_matrix is not a np ufunc
'''
# Add translations to pose matrices
# Allow partial transformation channels too
allowTranslation = self.skeleton.allowTranslation
if allowTranslation == "all":
poseTranslate = True
elif allowTranslation == "onlyroot":
poseTranslate = (self.parent is None)
else:
poseTranslate = False
if poseTranslate and (rXs is not None or rYs is not None
or rZs is not None):
if rXs is None:
rXs = np.zeros(nFrames, dtype=np.float32)
if rYs is None:
rYs = np.zeros(nFrames, dtype=np.float32)
if rZs is None:
rZs = np.zeros(nFrames, dtype=np.float32)
self.matrixPoses[:, :3, 3] = np.column_stack([rXs, rYs, rZs])[:, :]
def createAnimationTrack(self, skel=None, name=None):
"""
Create an animation track from the motion stored in this BHV file.
"""
def _bvhJointName(boneName):
# Remove the tail from duplicate bone names (added by the BVH parser)
import re
if not boneName:
return boneName
r = re.search("(.*)_\d+$", boneName)
if r:
return r.group(1)
return boneName
def _createAnimation(jointsData, name, frameTime, nFrames):
nJoints = len(jointsData)
#nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints * nFrames, 3, 4)
framerate = 1.0 / frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)
if name is None:
name = self.name
if skel is None:
jointsData = [
joint.matrixPoses for joint in self.getJoints()
if not joint.isEndConnector()
]
# We leave out end effectors as they should not have animation data
return _createAnimation(jointsData, name, self.frameTime,
self.frameCount)
elif isinstance(skel, list):
# skel parameter is a list of joint or bone names
jointsOrder = skel
jointsData = []
for jointName in jointsOrder:
jointName = _bvhJointName(jointName)
if jointName and self.getJointByCanonicalName(
jointName) is not None:
poseMats = self.getJointByCanonicalName(
jointName).matrixPoses.copy()
jointsData.append(poseMats)
else:
jointsData.append(animation.emptyTrack(self.frameCount))
return _createAnimation(jointsData, name, self.frameTime,
self.frameCount)
else:
# skel parameter is a Skeleton
jointsData = []
for bone in skel.getBones():
if len(bone.reference_bones) > 0:
# Combine the rotations of reference bones to influence this bone
# TODO combining poses like this does not work, works with one reference bone only
bvhJoints = []
for bonename in bone.reference_bones:
jointname = _bvhJointName(bonename)
joint = self.getJointByCanonicalName(jointname)
if joint:
bvhJoints.append(joint)
if len(bvhJoints) == 0:
poseMats = animation.emptyTrack(self.frameCount)
elif len(bvhJoints) == 1:
poseMats = bvhJoints[0].matrixPoses.copy()
else: # len(bvhJoints) >= 2:
# Combine the rotations using quaternions to simplify math and normalizing (rotations only)
poseMats = animation.emptyTrack(self.frameCount)
m = np.identity(4, dtype=np.float32)
for f_idx in range(self.frameCount):
m[:3, :4] = bvhJoints[0].matrixPoses[f_idx]
q1 = tm.quaternion_from_matrix(m, True)
m[:3, :4] = bvhJoints[1].matrixPoses[f_idx]
q2 = tm.quaternion_from_matrix(m, True)
quat = tm.quaternion_multiply(q2, q1)
for bvhJoint in bvhJoints[2:]:
m[:3, :4] = bvhJoint.matrixPoses[f_idx]
q = tm.quaternion_from_matrix(m, True)
quat = tm.quaternion_multiply(q, quat)
poseMats[f_idx] = tm.quaternion_matrix(
quat)[:3, :4]
jointsData.append(poseMats)
else:
# Map bone to joint by bone name
jointName = _bvhJointName(bone.name)
joint = self.getJointByCanonicalName(jointName)
if joint:
jointsData.append(joint.matrixPoses.copy())
else:
jointsData.append(animation.emptyTrack(
self.frameCount))
return _createAnimation(jointsData, name, self.frameTime,
self.frameCount)
def calculateFrames(self):
"""
Calculate transformation matrices from this joint's (BVH) channel data.
"""
self.frames = np.asarray(self.frames, dtype=np.float32)
nChannels = len(self.channels)
nFrames = self.skeleton.frameCount
dataLen = nFrames * nChannels
if len(self.frames) < dataLen:
log.debug("Frame data: %s", self.frames)
raise RuntimeError('Expected frame data length for joint %s is %s found %s' % ( self.getName(),
dataLen, len(self.frames)))
rotOrder = ""
rotAngles = []
rXs = rYs = rZs = None
for (chanIdx, channel) in enumerate(self.channels):
if channel == "Xposition":
rXs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Yposition":
rYs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Zposition":
rZs = self.frames[chanIdx:dataLen:nChannels]
elif channel == "Xrotation":
aXs = D*self.frames[chanIdx:dataLen:nChannels]
rotOrder = "x" + rotOrder
rotAngles.append(aXs)
elif channel == "Yrotation":
if self.skeleton.convertFromZUp:
aYs = -D*self.frames[chanIdx:dataLen:nChannels]
rotOrder = "z" + rotOrder
else:
aYs = D*self.frames[chanIdx:dataLen:nChannels]
rotOrder = "y" + rotOrder
rotAngles.append(aYs)
elif channel == "Zrotation":
aZs = D*self.frames[chanIdx:dataLen:nChannels]
if self.skeleton.convertFromZUp:
rotOrder = "y" + rotOrder
else:
rotOrder = "z" + rotOrder
rotAngles.append(aZs)
rotOrder = "s"+ rotOrder
self.rotOrder = rotOrder
# Calculate pose matrix for each animation frame
self.matrixPoses = animation.emptyTrack(nFrames)
# Add rotations to pose matrices
if len(rotAngles) > 0 and len(rotAngles) < 3:
# TODO allow partial rotation channels too?
pass
elif len(rotAngles) >= 3:
for frameIdx in range(nFrames):
self.matrixPoses[frameIdx,:3,:3] = tm.euler_matrix(rotAngles[2][frameIdx], rotAngles[1][frameIdx], rotAngles[0][frameIdx], axes=rotOrder)[:3,:3]
# TODO eliminate loop with numpy?
'''
for rotAngle in rotAngles:
self.matrixPoses[:] = tm.euler_matrix(rotAngle[2], rotAngle[1], rotAngle[0], axes=rotOrder))
# unfortunately tm.euler_matrix is not a np ufunc
'''
# Add translations to pose matrices
# Allow partial transformation channels too
if rXs != None or rYs != None or rZs != None:
if rXs == None:
rXs = np.zeros(nFrames, dtype=np.float32)
if rYs == None:
rYs = np.zeros(nFrames, dtype=np.float32)
if rZs == None:
rZs = np.zeros(nFrames, dtype=np.float32)
self.matrixPoses[:,:3,3] = np.column_stack([rXs,rYs,rZs])[:,:]
def createAnimationTrack(self, skel=None, name=None):
"""
Create an animation track from the motion stored in this BHV file.
"""
def _bvhJointName(boneName):
# Remove the tail from duplicate bone names (added by the BVH parser)
import re
if not boneName:
return boneName
r = re.search("(.*)_\d+$", boneName)
if r:
return r.group(1)
return boneName
def _createAnimation(jointsData, name, frameTime, nFrames):
nJoints = len(jointsData)
#nFrames = len(jointsData[0])
# Interweave joints animation data, per frame with joints in breadth-first order
animData = np.hstack(jointsData).reshape(nJoints*nFrames,3,4)
framerate = 1.0/frameTime
return animation.AnimationTrack(name, animData, nFrames, framerate)
if name is None:
name = self.name
if skel is None:
jointsData = [joint.matrixPoses for joint in self.getJoints() if not joint.isEndConnector()]
# We leave out end effectors as they should not have animation data
return _createAnimation(jointsData, name, self.frameTime, self.frameCount)
elif isinstance(skel, list):
# skel parameter is a list of joint or bone names
jointsOrder = skel
jointsData = []
for jointName in jointsOrder:
jointName = _bvhJointName(jointName)
if jointName and self.getJointByCanonicalName(jointName) is not None:
poseMats = self.getJointByCanonicalName(jointName).matrixPoses.copy()
jointsData.append(poseMats)
else:
jointsData.append(animation.emptyTrack(self.frameCount))
return _createAnimation(jointsData, name, self.frameTime, self.frameCount)
else:
# skel parameter is a Skeleton
jointsData = []
for bone in skel.getBones():
if len(bone.reference_bones) > 0:
# Combine the rotations of reference bones to influence this bone
bvhJoints = []
for bonename in bone.reference_bones:
jointname = _bvhJointName(bonename)
joint = self.getJointByCanonicalName(jointname)
if joint:
bvhJoints.append(joint)
if len(bvhJoints) == 0:
poseMats = animation.emptyTrack(self.frameCount)
elif len(bvhJoints) == 1:
poseMats = bvhJoints[0].matrixPoses.copy()
else: # len(bvhJoints) >= 2:
# Combine the rotations using quaternions to simplify math and normalizing (rotations only)
poseMats = animation.emptyTrack(self.frameCount)
m = np.identity(4, dtype=np.float32)
for f_idx in xrange(self.frameCount):
m[:3,:4] = bvhJoints[0].matrixPoses[f_idx]
q1 = tm.quaternion_from_matrix(m, True)
m[:3,:4] = bvhJoints[1].matrixPoses[f_idx]
q2 = tm.quaternion_from_matrix(m, True)
quat = tm.quaternion_multiply(q2, q1)
for bvhJoint in bvhJoints[2:]:
m[:3,:4] = bvhJoint.matrixPoses[f_idx]
q = tm.quaternion_from_matrix(m, True)
quat = tm.quaternion_multiply(q, quat)
poseMats[f_idx] = tm.quaternion_matrix( quat )[:3,:4]
jointsData.append(poseMats)
else:
# Map bone to joint by bone name
jointName = _bvhJointName(bone.name)
joint = self.getJointByCanonicalName(jointName)
if joint:
jointsData.append( joint.matrixPoses.copy() )
else:
jointsData.append(animation.emptyTrack(self.frameCount))
return _createAnimation(jointsData, name, self.frameTime, self.frameCount)
