def get_positions_and_transformations(self, raw_data, mirrored=False):
data = np.swapaxes(np.squeeze(raw_data), -1, 0)
if data.shape[-1] == 73:
positions, root_x, root_z, root_r = data[:, 3:-7], data[:, -7], data[:, -6], data[:, -5]
elif data.shape[-1] == 66:
positions, root_x, root_z, root_r = data[:, :-3], data[:, -3], data[:, -2], data[:, -1]
else:
raise AssertionError('Input data format not understood')
num_frames = len(positions)
positions_local = positions.reshape((num_frames, -1, 3))
if mirrored:
positions_local[:, self.joints_left], positions_local[:, self.joints_right] = \
positions_local[:, self.joints_right], positions_local[:, self.joints_left]
positions_local[:, :, [0, 2]] = -positions_local[:, :, [0, 2]]
positions_world = np.zeros_like(positions_local)
num_joints = positions_world.shape[1]
trajectory = np.empty((num_frames, 3))
orientations = np.empty(num_frames)
rotations = np.zeros((num_frames, num_joints - 1, 4))
cum_rotations = np.zeros((num_frames, 4))
rotations_euler = np.zeros((num_frames, num_joints - 1, 3))
cum_rotations_euler = np.zeros((num_frames, 3))
translations = np.zeros((num_frames, num_joints, 3))
cum_translations = np.zeros((num_frames, 3))
offsets = []
for t in range(num_frames):
positions_world[t, :, :] = (Quaternions(cum_rotations[t - 1]) if t > 0 else Quaternions.id(1)) * \
positions_local[t]
positions_world[t, :, 0] = positions_world[t, :, 0] + (cum_translations[t - 1, 0] if t > 0 else 0)
positions_world[t, :, 2] = positions_world[t, :, 2] + (cum_translations[t - 1, 2] if t > 0 else 0)
trajectory[t] = positions_world[t, 0]
# if t > 0:
# rotations[t, 1:] = Quaternions.between(positions_world[t - 1, 1:], positions_world[t, 1:]).qs
# else:
# rotations[t, 1:] = Quaternions.id(positions_world.shape[1] - 1).qs
limbs = positions_world[t, 1:] - positions_world[t, self.joint_parents[1:]]
rotations[t] = Quaternions.between(self.joint_offsets[1:], limbs)
# limb_recons = Quaternions(rotations[t, 1:]) * self._offsets[1:]
# test_limbs = np.setdiff1d(np.arange(20), [12, 16])
# if np.max(np.abs(limb_recons[test_limbs] - limbs[test_limbs])) > 1e-6:
# temp = 1
rotations_euler[t] = Quaternions(rotations[t]).euler('yzx')
orientations[t] = -root_r[t]
# rotations[t, 0] = Quaternions.from_angle_axis(-root_r[t], np.array([0, 1, 0])).qs
# rotations_euler[t, 0] = Quaternions(rotations[t, 0]).euler('yzx')
cum_rotations[t] = (Quaternions.from_angle_axis(orientations[t], np.array([0, 1, 0])) *
(Quaternions(cum_rotations[t - 1]) if t > 0 else Quaternions.id(1))).qs
# cum_rotations[t] = (Quaternions(rotations[t, 0]) *
# (Quaternions(cum_rotations[t - 1]) if t > 0 else Quaternions.id(1))).qs
cum_rotations_euler[t] = Quaternions(cum_rotations[t]).euler('yzx')
offsets.append(Quaternions(cum_rotations[t]) * np.array([0, 0, 1]))
translations[t, 0] = Quaternions(cum_rotations[t]) * np.array([root_x[t], 0, root_z[t]])
cum_translations[t] = (cum_translations[t - 1] if t > 0 else np.zeros((1, 3))) + translations[t, 0]
# limb_lengths = np.zeros((num_frames, 20))
return positions_local, positions_world, trajectory, orientations, rotations, rotations_euler, \
translations, cum_rotations, cum_rotations_euler, cum_translations, offsets
def get_positions_and_transformations(self, raw_data, mirrored=False):
data = np.swapaxes(np.squeeze(raw_data), -1, 0)
if data.shape[-1] == 73:
positions, root_x, root_z, root_r = data[:, 3:
-7], data[:,
-7], data[:,
-6], data[:,
-5]
elif data.shape[-1] == 66:
positions, root_x, root_z, root_r = data[:, :
-3], data[:,
-3], data[:,
-2], data[:,
-1]
else:
raise AssertionError('Input data format not understood')
num_frames = len(positions)
positions_local = positions.reshape((num_frames, -1, 3))
# positions_local[:, 11:13, [0, 2]] += 2. * (positions_local[:, 10:11, [0, 2]] - positions_local[:, 11:12, [0, 2]])
# positions_local[:, 12, [0, 2]] = 2. * positions_local[:, 11, [0, 2]] - positions_local[:, 12, [0, 2]]
# positions_local[:, 13:17, 0] += \
# np.sqrt(
# np.sum(np.square(positions_local[:, 13:14, [0, 2]] -
# positions_local[:, 10:11, [0, 2]]), axis=-1) -\
# np.square(0.8)
# ) + positions_local[:, 10:11, 0] - positions_local[:, 13:14, 0]
# positions_local[:, 13:17, 2] += positions_local[:, 10:11, 2] + 0.8 - positions_local[:, 13:14, 2]
# positions_local[:, 17:, 0] += \
# positions_local[:, 10:11, 0] - \
# np.sqrt(
# np.sum(np.square(positions_local[:, 17:18, [0, 2]] -
# positions_local[:, 10:11, [0, 2]]), axis=-1) -\
# np.square(0.5)
# ) - positions_local[:, 17:18, 0]
# positions_local[:, 17:, 2] += positions_local[:, 10:11, 2] + 0.5 - positions_local[:, 17:18, 2]
if mirrored:
positions_local[:, self.joints_left], positions_local[:, self.joints_right] = \
positions_local[:, self.joints_right], positions_local[:, self.joints_left]
positions_local[:, :, [0, 2]] = -positions_local[:, :, [0, 2]]
positions_world = np.zeros_like(positions_local)
num_joints = positions_world.shape[1]
trajectory = np.empty((num_frames, 3))
orientations = np.empty(num_frames)
rotations = np.zeros((num_frames, num_joints - 1, 4))
cum_rotations = np.zeros((num_frames, 4))
rotations_euler = np.zeros((num_frames, num_joints - 1, 3))
cum_rotations_euler = np.zeros((num_frames, 3))
translations = np.zeros((num_frames, num_joints, 3))
cum_translations = np.zeros((num_frames, 3))
offsets = []
limbs_all = []
for t in range(num_frames):
positions_world[t, :, :] = (Quaternions(cum_rotations[t - 1]) if t > 0 else Quaternions.id(1)) * \
positions_local[t]
positions_world[t, :, 0] = positions_world[t, :, 0] + (
cum_translations[t - 1, 0] if t > 0 else 0)
positions_world[t, :, 2] = positions_world[t, :, 2] + (
cum_translations[t - 1, 2] if t > 0 else 0)
trajectory[t] = positions_world[t, 0]
# if t > 0:
# rotations[t, 1:] = Quaternions.between(positions_world[t - 1, 1:], positions_world[t, 1:]).qs
# else:
# rotations[t, 1:] = Quaternions.id(positions_world.shape[1] - 1).qs
limbs = positions_world[t, 1:] - positions_world[
t, self.joint_parents[1:]]
rotations[t] = Quaternions.between(self.joint_offsets[1:], limbs)
limbs_all.append(limbs)
# limb_recons = Quaternions(rotations[t, 1:]) * self._offsets[1:]
# test_limbs = np.setdiff1d(np.arange(20), [12, 16])
# if np.max(np.abs(limb_recons[test_limbs] - limbs[test_limbs])) > 1e-6:
# temp = 1
rotations_euler[t] = Quaternions(rotations[t]).euler('yzx')
orientations[t] = -root_r[t]
# rotations[t, 0] = Quaternions.from_angle_axis(-root_r[t], np.array([0, 1, 0])).qs
# rotations_euler[t, 0] = Quaternions(rotations[t, 0]).euler('yzx')
cum_rotations[t] = (Quaternions.from_angle_axis(
orientations[t], np.array([0, 1, 0])) * (Quaternions(
cum_rotations[t - 1]) if t > 0 else Quaternions.id(1))).qs
# cum_rotations[t] = (Quaternions(rotations[t, 0]) *
# (Quaternions(cum_rotations[t - 1]) if t > 0 else Quaternions.id(1))).qs
cum_rotations_euler[t] = Quaternions(cum_rotations[t]).euler('yzx')
offsets.append(Quaternions(cum_rotations[t]) * np.array([0, 0, 1]))
translations[t, 0] = Quaternions(cum_rotations[t]) * np.array(
[root_x[t], 0, root_z[t]])
cum_translations[t] = (cum_translations[t - 1] if t > 0 else
np.zeros((1, 3))) + translations[t, 0]
# limb_lengths =
limbs_all = np.stack(limbs_all)
self.save_as_bvh(np.expand_dims(positions_world[:, 0], 0),
np.expand_dims(orientations.reshape(-1, 1), 0),
np.expand_dims(rotations, 0),
dataset_name='edin',
subset_name='test')
return positions_local, positions_world, trajectory, orientations, rotations, rotations_euler, \
translations, cum_rotations, cum_rotations_euler, cum_translations, offsets
