def __init__(self, motion, skeleton=feat_utils.Skeleton.PFNN):
self.global_positions = motion.positions(local=False)
self.joints = [joint.name for joint in motion.skel.joints]
self.frame_time = 1 / motion.fps
self.frame_num = 1
self.offsets = [
conversions.T2p(joint.xform_from_parent_joint)
for joint in motion.skel.joints
]
if skeleton == feat_utils.Skeleton.PFNN:
self.joint_mapping = feat_utils.GENERIC_TO_PFNN_MAPPING
else:
self.joint_mapping = feat_utils.GENERIC_TO_CMU_MAPPING
# humerus length
self.hl = feat_utils.distance_between_points(
self.transform_and_fetch_offset("lshoulder"),
self.transform_and_fetch_offset("lelbow"),
)
# shoulder width
self.sw = feat_utils.distance_between_points(
self.transform_and_fetch_offset("lshoulder"),
self.transform_and_fetch_offset("rshoulder"),
)
# hip width
self.hw = feat_utils.distance_between_points(
self.transform_and_fetch_offset("lhip"),
self.transform_and_fetch_offset("rhip"),
)
def _render_pose(self, pose, body_model, color):
skel = pose.skel
for j in skel.joints:
T = pose.get_transform(j, local=False)
pos = conversions.T2p(T)
gl_render.render_point(pos, radius=0.03 * self.scale, color=color)
if j.parent_joint is not None:
# returns X that X dot vec1 = vec2
pos_parent = conversions.T2p(
pose.get_transform(j.parent_joint, local=False))
p = 0.5 * (pos_parent + pos)
l = np.linalg.norm(pos_parent - pos)
r = 0.05
R = math.R_from_vectors(np.array([0, 0, 1]), pos_parent - pos)
gl_render.render_capsule(
conversions.Rp2T(R, p),
l,
r * self.scale,
color=color,
slice=8,
)
def get_joint_position(j, p_root, Q_root, p_link, Q_link):
if j == self._char_info.ROOT or self._joint_parent_link[
j] == self._char_info.ROOT:
p, Q = p_root, Q_root
else:
p, Q = p_link[self._joint_parent_link[j]], Q_link[
self._joint_parent_link[j]]
T_link_world = conversions.Qp2T(Q, p)
T_joint_local = constants.eye_T(
) if j == self._char_info.ROOT else self._joint_xform_from_parent_link[
j]
T_joint_world = np.dot(T_link_world, T_joint_local)
return conversions.T2p(T_joint_world)
def keyboard_callback(self, key):
motion = self.motions[self.file_idx]
if key == b"s":
self.cur_time = 0.0
self.time_checker.begin()
elif key == b"]":
next_frame = min(
motion.num_frames() - 1,
motion.time_to_frame(self.cur_time) + 1,
)
self.cur_time = motion.frame_to_time(next_frame)
elif key == b"[":
prev_frame = max(0, motion.time_to_frame(self.cur_time) - 1)
self.cur_time = motion.frame_to_time(prev_frame)
elif key == b"+":
self.play_speed = min(self.play_speed + 0.2, 5.0)
elif key == b"-":
self.play_speed = max(self.play_speed - 0.2, 0.2)
elif key == b"r":
start_time = 0.0
end_time = self.motions[0].length()
fps = self.motions[0].fps
save_dir = input("Enter directory to store screenshots: ")
os.makedirs(save_dir, exist_ok=True)
cnt_screenshot = 0
time_processed = start_time
dt = 1 / fps
while self.cur_time <= end_time:
print(
f"Recording progress: {self.cur_time:.2f}s/{end_time:.2f}s ({int(100*self.cur_time/end_time)}%) \r",
end="",
)
name = "screenshot_%04d" % (cnt_screenshot)
p = conversions.T2p(
motion.get_pose_by_time(
self.cur_time).get_root_transform())
self.draw_GL()
self.save_screen(dir=save_dir, name=name)
self.cur_time += dt
cnt_screenshot += 1
else:
return False
return True