File size: 9,115 Bytes
823807d |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 |
import re
import numpy as np
from common.quaternion import *
from visualization.Animation import Animation
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, start=None, end=None, world=False, need_quater=True):
"""
Reads a BVH file and constructs an animation
Parameters
----------
filename: str
File to be opened
start : int
Optional Starting Frame
end : int
Optional Ending Frame
order : str
Optional Specifier for joint order.
Given as string E.G 'xyz', 'zxy'
world : bool
If set to true euler angles are applied
together in world space rather than local
space
Returns
-------
(animation, joint_names, frametime)
Tuple of loaded animation and joint names
"""
f = open(filename, "r")
i = 0
active = -1
end_site = False
names = []
orients = Quaterions.id(0)
offsets = np.array([]).reshape((0, 3))
parents = np.array([], dtype=int)
orders = []
for line in f:
if "HIERARCHY" in line: continue
if "MOTION" in line: continue
# """ Modified line read to handle mixamo data """
rmatch = re.match(r"ROOT (\w+)", line)
# rmatch = re.match(r"ROOT (\w+:?\w+)", line)
if rmatch:
names.append(rmatch.group(1))
offsets = np.append(offsets, np.array([[0, 0, 0]]), axis=0)
orients = np.append(orients, np.array([[1, 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))
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])
orders.append(order)
continue
# """ Modified line read to handle mixamo data """
jmatch = re.match("\s*JOINT\s+(\w+)", line)
# jmatch = re.match("\s*JOINT\s+(\w+:?\w+)", line)
if jmatch:
names.append(jmatch.group(1))
offsets = np.append(offsets, np.array([[0, 0, 0]]), axis=0)
orients = np.append(orients, np.array([[1, 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:
if start and end:
fnum = (end - start) - 1
else:
fnum = int(fmatch.group(1))
jnum = len(parents)
positions = offsets[np.newaxis].repeat(fnum, axis=0)
rotations = np.zeros((fnum, len(orients), 3))
continue
fmatch = re.match("\s*Frame Time:\s+([\d\.]+)", line)
if fmatch:
frametime = float(fmatch.group(1))
continue
if (start and end) and (i < start or i >= end - 1):
i += 1
continue
# dmatch = line.strip().split(' ')
dmatch = line.strip().split()
if dmatch:
data_block = np.array(list(map(float, dmatch)))
N = len(parents)
fi = i - start if start else 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()
all_rotations = []
canonical_order = 'xyz'
for i, order in enumerate(orders):
rot = rotations[:, i:i + 1]
if need_quater:
quat = euler_to_quat_np(np.radians(rot), order=order, world=world)
all_rotations.append(quat)
continue
elif order != canonical_order:
quat = euler_to_quat_np(np.radians(rot), order=order, world=world)
rot = np.degrees(qeuler_np(quat, order=canonical_order))
all_rotations.append(rot)
rotations = np.concatenate(all_rotations, axis=1)
return Animation(rotations, positions, orients, offsets, parents, names, frametime)
def write_bvh(parent, offset, rotation, rot_position, names, frametime, order, path, endsite=None):
file = open(path, 'w')
frame = rotation.shape[0]
assert rotation.shape[-1] == 3
joint_num = rotation.shape[1]
order = order.upper()
file_string = 'HIERARCHY\n'
seq = []
def write_static(idx, prefix):
nonlocal parent, offset, rotation, names, order, endsite, file_string, seq
seq.append(idx)
if idx == 0:
name_label = 'ROOT ' + names[idx]
channel_label = 'CHANNELS 6 Xposition Yposition Zposition {}rotation {}rotation {}rotation'.format(
*order)
else:
name_label = 'JOINT ' + names[idx]
channel_label = 'CHANNELS 3 {}rotation {}rotation {}rotation'.format(*order)
offset_label = 'OFFSET %.6f %.6f %.6f' % (offset[idx][0], offset[idx][1], offset[idx][2])
file_string += prefix + name_label + '\n'
file_string += prefix + '{\n'
file_string += prefix + '\t' + offset_label + '\n'
file_string += prefix + '\t' + channel_label + '\n'
has_child = False
for y in range(idx + 1, rotation.shape[1]):
if parent[y] == idx:
has_child = True
write_static(y, prefix + '\t')
if not has_child:
file_string += prefix + '\t' + 'End Site\n'
file_string += prefix + '\t' + '{\n'
file_string += prefix + '\t\t' + 'OFFSET 0 0 0\n'
file_string += prefix + '\t' + '}\n'
file_string += prefix + '}\n'
write_static(0, '')
file_string += 'MOTION\n' + 'Frames: {}\n'.format(frame) + 'Frame Time: %.8f\n' % frametime
for i in range(frame):
file_string += '%.6f %.6f %.6f ' % (rot_position[i][0], rot_position[i][1],
rot_position[i][2])
for j in range(joint_num):
idx = seq[j]
file_string += '%.6f %.6f %.6f ' % (rotation[i][idx][0], rotation[i][idx][1], rotation[i][idx][2])
file_string += '\n'
file.write(file_string)
return file_string
class WriterWrapper:
def __init__(self, parents, frametime, offset=None, names=None):
self.parents = parents
self.offset = offset
self.frametime = frametime
self.names = names
def write(self, filename, rot, r_pos, order, offset=None, names=None, repr='quat'):
"""
Write animation to bvh file
:param filename:
:param rot: Quaternion as (w, x, y, z)
:param pos:
:param offset:
:return:
"""
if repr not in ['euler', 'quat', 'quaternion', 'cont6d']:
raise Exception('Unknown rotation representation')
if offset is None:
offset = self.offset
if not isinstance(offset, torch.Tensor):
offset = torch.tensor(offset)
n_bone = offset.shape[0]
if repr == 'cont6d':
rot = rot.reshape(rot.shape[0], -1, 6)
rot = cont6d_to_quat_np(rot)
if repr == 'cont6d' or repr == 'quat' or repr == 'quaternion':
# rot = rot.reshape(rot.shape[0], -1, 4)
# rot /= rot.norm(dim=-1, keepdim=True) ** 0.5
euler = qeuler_np(rot, order=order)
rot = euler
if names is None:
if self.names is None:
names = ['%02d' % i for i in range(n_bone)]
else:
names = self.names
write_bvh(self.parents, offset, rot, r_pos, names, self.frametime, order, filename) |