def loads(s):
bvhlib = BVHLIB.Bvh(s)
root = parse_bvh_node(bvhlib.get_joints()[0])
return (
root,
[[float(f) for f in frame] for frame in bvhlib.frames],
bvhlib.frame_time,
)
def parse_imu_bone_info(fpath):
with open(fpath, 'r') as f:
mocap = bvh.Bvh(f.read())
all_joints = mocap.get_joints()
joints_names = mocap.get_joints_names()
bone_info = dict()
for b in bone_names:
start = imu_bone_vicon_start[b]
end = imu_bone_vicon_end[b]
if start == end:
this_joint = all_joints[mocap.get_joint_index(start)]
bone_length = tuple(
float(x) for x in this_joint.children[2].children[0].value[1:])
else:
bone_length = mocap.joint_offset(end)
bone_info[b] = (start, end, bone_length)
return bone_info
def load_file(file_name):
with open(file_name) as f:
mocap = bvh.Bvh(f.read())
FRAMES = mocap.nframes
FRAME_TIME = mocap.frame_time
joint_names = mocap.get_joints_names()
JOINT_COUNT = joint_names.__len__()
joint_channels = []
joint_offsets = []
joint_channels = []
frame_joint_channels = []
frame_joint_quaternions = []
frame_positions = []
for joint_name in joint_names:
joint_channels.append(mocap.joint_channels(joint_name))
joint_offsets.append(mocap.joint_offset(joint_name))
# joint_id parent_id name offset
dependency = []
for joint_name in joint_names:
currRow = []
joint_idx = joint_names.index(joint_name)
currRow.append(joint_idx)
if (joint_idx == 0):
currRow.append(-1)
else:
currRow.append(joint_names.index(mocap.get_joint(joint_name).parent.name))
# currRow.append(joint_name)
for coord in joint_offsets[joint_idx]:
currRow.append(coord)
dependency.append(currRow)
# rotations local_positions global_positions(wrt root)
frames = np.array(mocap.frames).astype(float)
root_positions = frames[:, 0:3]
euler_rotations = frames[:, 3:]
dependencies = np.array(dependency)
offsets = dependencies[:, -3:]
zipped_euler_rotations = []
zipped_local_rotations = []
zipped_local_positions = []
zipped_global_positions = []
zipped_global_rotations = []
zipped_local_quat_rotations = []
zipped_global_quat_rotations = []
for curr_joint in range(JOINT_COUNT):
start_idx = 3 * curr_joint
end_idx = 3 * (curr_joint + 1)
curr_joint_euler_rots = euler_rotations[:, start_idx:end_idx]
flipped_euler_rotations = np.flip(curr_joint_euler_rots, 1)
curr_local_rotations = R.from_euler('xyz', flipped_euler_rotations, degrees=True)
curr_joint_offset = np.array(offsets[curr_joint])
curr_local_positions = curr_local_rotations.apply(curr_joint_offset)
if (curr_joint == 0):
curr_global_rotations = curr_local_rotations
curr_global_positions = root_positions
else:
curr_parent_rotation = zipped_global_rotations[dependencies[curr_joint, -4].astype(int)];
curr_global_rotations = curr_parent_rotation * curr_local_rotations
curr_global_positions = curr_parent_rotation.apply(curr_joint_offset) + zipped_global_positions[
dependencies[curr_joint, -4].astype(int)]
zipped_euler_rotations.append(curr_joint_euler_rots)
zipped_local_rotations.append(curr_local_rotations)
zipped_local_positions.append(curr_local_positions)
zipped_global_positions.append(curr_global_positions)
zipped_global_rotations.append(curr_global_rotations)
zipped_local_quat_rotations.append(curr_local_rotations.as_quat())
zipped_global_quat_rotations.append(curr_global_rotations.as_quat())
#print("lul")
zipped_global_positions = np.moveaxis(np.array(zipped_global_positions), 0, 1)
zipped_local_positions = np.moveaxis(np.array(zipped_local_positions), 0, 1)
zipped_global_quat_rotations = np.moveaxis(np.array(zipped_global_quat_rotations), 0, 1)
zipped_local_quat_rotations = np.moveaxis(np.array(zipped_local_quat_rotations), 0, 1)
return FRAMES, FRAME_TIME, joint_names, dependencies[:, :2].astype('int'), zipped_global_quat_rotations, zipped_local_quat_rotations, zipped_global_positions, zipped_local_positions
template_file = 'bvh_template1.yaml'
job_folder = './job/'
import glob
import os
import bvh
bvh_files = glob.glob('../data/bvh/*.bvh')
class SafeDict(dict):
def __missing__(self, key):
return '{' + key + '}'
template = open(template_file).read()
for bvh_file in bvh_files:
# bvh_file = '../data/bvh/embrace.bvh'
act_name = os.path.basename(bvh_file).replace('.bvh', '')
print(bvh_file)
bvh_data = bvh.Bvh(open(bvh_file).read())
print(bvh_data.nframes)
num_frame = bvh_data.nframes
job_filename = os.path.join(job_folder, '{act_name}.yaml'.format(**locals()))
with open(job_filename, 'w') as f:
kv = SafeDict(locals())
f.write(template.format_map(kv))