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import re
import numpy as np
channelmap = {
'Xrotation': 'x',
'Yrotation': 'y',
'Zrotation': 'z'
}
channelmap_inv = {
'x': 'Xrotation',
'y': 'Yrotation',
'z': 'Zrotation',
}
ordermap = {
'x': 0,
'y': 1,
'z': 2,
}
def load(filename:str, order:str=None) -> dict:
"""Loads a BVH file.
Args:
filename (str): Path to the BVH file.
order (str): The order of the rotation channels. (i.e."xyz")
Returns:
dict: A dictionary containing the following keys:
* names (list)(jnum): The names of the joints.
* parents (list)(jnum): The parent indices.
* offsets (np.ndarray)(jnum, 3): The offsets of the joints.
* rotations (np.ndarray)(fnum, jnum, 3) : The local coordinates of rotations of the joints.
* positions (np.ndarray)(fnum, jnum, 3) : The positions of the joints.
* order (str): The order of the channels.
* frametime (float): The time between two frames.
"""
f = open(filename, "r")
i = 0
active = -1
end_site = False
# Create empty lists for saving parameters
names = []
offsets = np.array([]).reshape((0, 3))
parents = np.array([], dtype=int)
# Parse the file, line by line
for line in f:
if "HIERARCHY" in line: continue
if "MOTION" in line: continue
rmatch = re.match(r"ROOT (\w+)", line)
if rmatch:
names.append(rmatch.group(1))
offsets = np.append(offsets, np.array([[0, 0, 0]]), axis=0)
parents = np.append(parents, active)
active = (len(parents) - 1)
continue
if "{" in line: continue
if "}" in line:
if end_site:
end_site = False
else:
active = parents[active]
continue
offmatch = re.match(r"\s*OFFSET\s+([\-\d\.e]+)\s+([\-\d\.e]+)\s+([\-\d\.e]+)", line)
if offmatch:
if not end_site:
offsets[active] = np.array([list(map(float, offmatch.groups()))])
continue
chanmatch = re.match(r"\s*CHANNELS\s+(\d+)", line)
if chanmatch:
channels = int(chanmatch.group(1))
if order is None:
channelis = 0 if channels == 3 else 3
channelie = 3 if channels == 3 else 6
parts = line.split()[2 + channelis:2 + channelie]
if any([p not in channelmap for p in parts]):
continue
order = "".join([channelmap[p] for p in parts])
continue
jmatch = re.match("\s*JOINT\s+(\w+)", line)
if jmatch:
names.append(jmatch.group(1))
offsets = np.append(offsets, np.array([[0, 0, 0]]), axis=0)
parents = np.append(parents, active)
active = (len(parents) - 1)
continue
if "End Site" in line:
end_site = True
continue
fmatch = re.match("\s*Frames:\s+(\d+)", line)
if fmatch:
fnum = int(fmatch.group(1))
positions = offsets[None].repeat(fnum, axis=0)
rotations = np.zeros((fnum, len(offsets), 3))
continue
fmatch = re.match("\s*Frame Time:\s+([\d\.]+)", line)
if fmatch:
frametime = float(fmatch.group(1))
continue
dmatch = line.strip().split(' ')
if dmatch:
data_block = np.array(list(map(float, dmatch)))
N = len(parents)
fi = i
if channels == 3:
positions[fi, 0:1] = data_block[0:3]
rotations[fi, :] = data_block[3:].reshape(N, 3)
elif channels == 6:
data_block = data_block.reshape(N, 6)
positions[fi, :] = data_block[:, 0:3]
rotations[fi, :] = data_block[:, 3:6]
elif channels == 9:
positions[fi, 0] = data_block[0:3]
data_block = data_block[3:].reshape(N - 1, 9)
rotations[fi, 1:] = data_block[:, 3:6]
positions[fi, 1:] += data_block[:, 0:3] * data_block[:, 6:9]
else:
raise Exception("Too many channels! %i" % channels)
i += 1
f.close()
return {
'rotations': rotations,
'positions': positions,
'offsets': offsets,
'parents': parents,
'names': names,
'order': order,
'frametime': frametime
}
def save_joint(f, data, t, i, save_order, order='zyx', save_positions=False):
save_order.append(i)
f.write("%sJOINT %s\n" % (t, data['names'][i]))
f.write("%s{\n" % t)
t += '\t'
f.write("%sOFFSET %f %f %f\n" % (t, data['offsets'][i,0], data['offsets'][i,1], data['offsets'][i,2]))
if save_positions:
f.write("%sCHANNELS 6 Xposition Yposition Zposition %s %s %s \n" % (t,
channelmap_inv[order[0]], channelmap_inv[order[1]], channelmap_inv[order[2]]))
else:
f.write("%sCHANNELS 3 %s %s %s\n" % (t,
channelmap_inv[order[0]], channelmap_inv[order[1]], channelmap_inv[order[2]]))
end_site = True
for j in range(len(data['parents'])):
if data['parents'][j] == i:
t = save_joint(f, data, t, j, save_order, order=order, save_positions=save_positions)
end_site = False
if end_site:
f.write("%sEnd Site\n" % t)
f.write("%s{\n" % t)
t += '\t'
f.write("%sOFFSET %f %f %f\n" % (t, 0.0, 0.0, 0.0))
t = t[:-1]
f.write("%s}\n" % t)
t = t[:-1]
f.write("%s}\n" % t)
return t
def save(filename, data, save_positions=False):
""" Save a joint hierarchy to a file.
Args:
filename (str): The output will save on the bvh file.
data (dict): The data to save.(rotations, positions, offsets, parents, names, order, frametime)
save_positions (bool): Whether to save all of joint positions on MOTION. (False is recommended.)
"""
order = data['order']
frametime = data['frametime']
with open(filename, 'w') as f:
t = ""
f.write("%sHIERARCHY\n" % t)
f.write("%sROOT %s\n" % (t, data['names'][0]))
f.write("%s{\n" % t)
t += '\t'
f.write("%sOFFSET %f %f %f\n" % (t, data['offsets'][0,0], data['offsets'][0,1], data['offsets'][0,2]) )
f.write("%sCHANNELS 6 Xposition Yposition Zposition %s %s %s \n" %
(t, channelmap_inv[order[0]], channelmap_inv[order[1]], channelmap_inv[order[2]]))
save_order = [0]
for i in range(len(data['parents'])):
if data['parents'][i] == 0:
t = save_joint(f, data, t, i, save_order, order=order, save_positions=save_positions)
t = t[:-1]
f.write("%s}\n" % t)
rots, poss = data['rotations'], data['positions']
f.write("MOTION\n")
f.write("Frames: %i\n" % len(rots));
f.write("Frame Time: %f\n" % frametime);
for i in range(rots.shape[0]):
for j in save_order:
if save_positions or j == 0:
f.write("%f %f %f %f %f %f " % (
poss[i,j,0], poss[i,j,1], poss[i,j,2],
rots[i,j,0], rots[i,j,1], rots[i,j,2]))
else:
f.write("%f %f %f " % (
rots[i,j,0], rots[i,j,1], rots[i,j,2]))
f.write("\n") |