def create_skeleton_from_amass_bodymodel(bm, betas, num_joints, joint_names):
pose_body_zeros = torch.zeros((1, 3 * (num_joints - 1)))
body = bm(pose_body=pose_body_zeros, betas=betas)
base_position = body.Jtr.detach().numpy()[0, 0:num_joints]
parents = bm.kintree_table[0].long()[:num_joints]
joints = []
for i in range(num_joints):
joint = motion_class.Joint(name=joint_names[i])
if i == 0:
joint.info["dof"] = 6
joint.xform_from_parent_joint = conversions.p2T(np.zeros(3))
else:
joint.info["dof"] = 3
joint.xform_from_parent_joint = conversions.p2T(
base_position[i] - base_position[parents[i]])
joints.append(joint)
parent_joints = []
for i in range(num_joints):
parent_joint = None if parents[i] < 0 else joints[parents[i]]
parent_joints.append(parent_joint)
skel = motion_class.Skeleton()
for i in range(num_joints):
skel.add_joint(joints[i], parent_joints[i])
return skel
def load(file, motion=None, scale=1.0, load_skel=True, load_motion=True):
if load_skel:
tmp_joints = parse_asf(file)
# convert format
joints = []
parent_joints = []
for k, v in tmp_joints.items():
joint = motion_class.Joint(name=k)
if v.parent_joint is None:
joint.info["dof"] = 6
parent_joint = None
joint.xform_from_parent_joint = conversions.p2T(np.zeros(3))
else:
joint.info["dof"] = 3
parent_joint = v.parent_joint
joint.xform_from_parent_joint = conversions.p2T(
v.direction.squeeze() * v.length)
joints.append(joint)
parent_joints.append(parent_joint)
skel = motion_class.Skeleton()
for i in range(len(joints)):
skel.add_joint(joints[i], parent_joints[i])
if load_motion:
return parse_amc(motion, tmp_joints, skel)
return skel
raise NotImplementedError
def test_p2T(self):
T = test_utils.get_random_T()
_, p = conversions.T2Rp(T)
np.testing.assert_almost_equal(
conversions.p2T(np.array([p]))[0], conversions.p2T(p),
)
def translate(motion, v, local=False):
"""
Apply translation to motion sequence.
Args:
motion: Motion sequence to be translated
v: Array of shape (3,) indicating translation vector to be applied to
all poses of motion sequence
local: Optional; Set local=True if the translation is to be applied
locally, relative to root position.
"""
return transform(motion, conversions.p2T(v), local)
def render_progress_circle_2D(
progress,
origin=(0, 0),
radius=100,
line_width=2.0,
color_base=[0.5, 0.5, 0.5, 1],
color_input=[1, 0, 0, 1],
):
p = np.array([origin[0], origin[1], 0])
T = conversions.p2T(p)
render_circle(T=T, r=radius, line_width=line_width, color=color_base)
theta = 2 * math.pi * progress
p += radius * np.array([math.cos(theta), math.sin(theta), 0])
render_point_2D((p[0], p[1]), size=0.1 * radius, color=color_input)
def render_direction_input_2D(
val,
val_max,
origin=(0, 0),
radius=100,
line_width=2.0,
color_base=[0.5, 0.5, 0.5, 1],
color_input=[1, 0, 0, 1],
):
v = np.array([val[0] / val_max[0], val[1] / val_max[1]])
v *= radius
p = np.array([origin[0], origin[1], 0])
T = conversions.p2T(p)
render_circle(T=T, r=radius, line_width=line_width, color=color_base)
render_line_2D(p1=origin,
p2=origin + v,
line_width=line_width,
color=color_input)
render_point_2D(origin, size=0.1 * radius, color=[0.5, 0.5, 0.5, 1])
def load(
file,
motion=None,
scale=1.0,
load_skel=True,
load_motion=True,
v_up_skel=np.array([0.0, 1.0, 0.0]),
v_face_skel=np.array([0.0, 0.0, 1.0]),
v_up_env=np.array([0.0, 1.0, 0.0]),
):
if not motion:
motion = motion_class.Motion(fps=60)
if load_skel:
skel = motion_class.Skeleton(
v_up=v_up_skel, v_face=v_face_skel, v_up_env=v_up_env,
)
smpl_offsets = np.zeros([24, 3])
smpl_offsets[0] = OFFSETS[0]
for idx, pid in enumerate(SMPL_PARENTS[1:]):
smpl_offsets[idx + 1] = OFFSETS[idx + 1] - OFFSETS[pid]
for joint_name, parent_joint, offset in zip(
SMPL_JOINTS, SMPL_PARENTS, smpl_offsets
):
joint = motion_class.Joint(name=joint_name)
if parent_joint == -1:
parent_joint_name = None
joint.info["dof"] = 6 # root joint is free
offset -= offset
else:
parent_joint_name = SMPL_JOINTS[parent_joint]
offset = offset / np.linalg.norm(smpl_offsets[4])
T1 = conversions.p2T(scale * offset)
joint.xform_from_parent_joint = T1
skel.add_joint(joint, parent_joint_name)
motion.skel = skel
else:
assert motion.skel is not None
if load_motion:
assert motion.skel is not None
# Assume 60fps
motion.fps = 60.0
dt = float(1 / motion.fps)
with open(file, "rb") as f:
data = pkl.load(f, encoding="latin1")
poses = np.array(data["poses"]) # shape (seq_length, 135)
assert len(poses) > 0, "file is empty"
poses = poses.reshape((-1, len(SMPL_MAJOR_JOINTS), 3, 3))
for pose_id, pose in enumerate(poses):
pose_data = [
constants.eye_T() for _ in range(len(SMPL_JOINTS))
]
major_joint_id = 0
for joint_id, joint_name in enumerate(SMPL_JOINTS):
if joint_id in SMPL_MAJOR_JOINTS:
pose_data[
motion.skel.get_index_joint(joint_name)
] = conversions.R2T(pose[major_joint_id])
major_joint_id += 1
motion.add_one_frame(pose_id * dt, pose_data)
return motion
def load(
file,
motion=None,
scale=1.0,
load_skel=True,
load_motion=True,
v_up_skel=np.array([0.0, 1.0, 0.0]),
v_face_skel=np.array([0.0, 0.0, 1.0]),
v_up_env=np.array([0.0, 1.0, 0.0]),
):
if not motion:
motion = motion_classes.Motion()
words = None
with open(file, "rb") as f:
words = [word.decode() for line in f for word in line.split()]
f.close()
assert words is not None and len(words) > 0
cnt = 0
total_depth = 0
joint_stack = [None, None]
joint_list = []
parent_joint_list = []
if load_skel:
assert motion.skel is None
motion.skel = motion_classes.Skeleton(
v_up=v_up_skel,
v_face=v_face_skel,
v_up_env=v_up_env,
)
if load_skel:
while cnt < len(words):
# joint_prev = joint_stack[-2]
joint_cur = joint_stack[-1]
word = words[cnt].lower()
if word == "root" or word == "joint":
parent_joint_list.append(joint_cur)
name = words[cnt + 1]
joint = motion_classes.Joint(name=name)
joint_stack.append(joint)
joint_list.append(joint)
cnt += 2
elif word == "offset":
x, y, z = (
float(words[cnt + 1]),
float(words[cnt + 2]),
float(words[cnt + 3]),
)
T1 = conversions.p2T(scale * np.array([x, y, z]))
joint_cur.xform_from_parent_joint = T1
cnt += 4
elif word == "channels":
ndofs = int(words[cnt + 1])
if ndofs == 6:
joint_cur.info["type"] = "free"
elif ndofs == 3:
joint_cur.info["type"] = "ball"
elif ndofs == 1:
joint_cur.info["type"] = "revolute"
else:
raise Exception("Undefined")
joint_cur.info["dof"] = ndofs
joint_cur.info["bvh_channels"] = []
for i in range(ndofs):
joint_cur.info["bvh_channels"].append(words[cnt + 2 +
i].lower())
cnt += ndofs + 2
elif word == "end":
joint_dummy = motion_classes.Joint(name="END")
joint_stack.append(joint_dummy)
cnt += 2
elif word == "{":
total_depth += 1
cnt += 1
elif word == "}":
joint_stack.pop()
total_depth -= 1
cnt += 1
if total_depth == 0:
for i in range(len(joint_list)):
motion.skel.add_joint(
joint_list[i],
parent_joint_list[i],
)
break
elif word == "hierarchy":
cnt += 1
else:
raise Exception(f"Unknown Token {word} at token {cnt}")
if load_motion:
assert motion.skel is not None
assert np.allclose(motion.skel.v_up, v_up_skel)
assert np.allclose(motion.skel.v_face, v_face_skel)
assert np.allclose(motion.skel.v_up_env, v_up_env)
while cnt < len(words):
word = words[cnt].lower()
if word == "motion":
num_frames = int(words[cnt + 2])
dt = float(words[cnt + 5])
motion.set_fps(round(1 / dt))
cnt += 6
t = 0.0
range_num_dofs = range(motion.skel.num_dofs)
positions = np.zeros(
(num_frames, motion.skel.num_joints(), 3, 3))
rotations = np.zeros((num_frames, motion.skel.num_joints(), 3))
T = np.zeros((num_frames, motion.skel.num_joints(), 4, 4))
T[...] = constants.eye_T()
position_channels = {
"xposition": 0,
"yposition": 1,
"zposition": 2,
}
rotation_channels = {
"xrotation": 0,
"yrotation": 1,
"zrotation": 2,
}
for frame_idx in range(num_frames):
# if frame_idx == 1:
# break
raw_values = [
float(words[cnt + j]) for j in range_num_dofs
]
cnt += motion.skel.num_dofs
cnt_channel = 0
for joint_idx, joint in enumerate(motion.skel.joints):
for channel in joint.info["bvh_channels"]:
value = raw_values[cnt_channel]
if channel in position_channels:
value = scale * value
positions[frame_idx][joint_idx][
position_channels[channel]][
position_channels[channel]] = value
elif channel in rotation_channels:
value = conversions.deg2rad(value)
rotations[frame_idx][joint_idx][
rotation_channels[channel]] = value
else:
raise Exception("Unknown Channel")
cnt_channel += 1
for joint_idx, joint in enumerate(motion.skel.joints):
for channel in joint.info["bvh_channels"]:
if channel in position_channels:
T[:,
joint_idx] = T[:, joint_idx] @ conversions.p2T(
positions[:, joint_idx,
position_channels[channel], :, ])
elif channel == "xrotation":
T[:,
joint_idx] = T[:, joint_idx] @ conversions.R2T(
conversions.Ax2R(
rotations[:, joint_idx,
rotation_channels[channel], ]))
elif channel == "yrotation":
T[:,
joint_idx] = T[:, joint_idx] @ conversions.R2T(
conversions.Ay2R(
rotations[:, joint_idx,
rotation_channels[channel], ]))
elif channel == "zrotation":
T[:,
joint_idx] = T[:, joint_idx] @ conversions.R2T(
conversions.Az2R(
rotations[:, joint_idx,
rotation_channels[channel], ]))
for i in range(num_frames):
motion.add_one_frame(list(T[i]))
t += dt
else:
cnt += 1
assert motion.num_frames() > 0
return motion