Thread: [cgkit-commits] cgkit2/cgkit asfamcimport.py,NONE,1.1 __init__.py,1.2,1.3
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From: Matthias B. <mb...@us...> - 2005-02-10 22:52:38
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Update of /cvsroot/cgkit/cgkit2/cgkit In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27470/cgkit Modified Files: __init__.py Added Files: asfamcimport.py Log Message: ASF/AMC import plugin, based on the asfamc module --- NEW FILE: asfamcimport.py --- ########################################################################### # cgkit - Python Computer Graphics Kit # Copyright (C) 2004 Matthias Baas (ba...@ir...) # # This library is free software; you can redistribute it and/or # modify it under the terms of the GNU Lesser General Public # License as published by the Free Software Foundation; either # version 2.1 of the License, or (at your option) any later version. # # This library is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU # Lesser General Public License for more details. # # You should have received a copy of the GNU Lesser General Public # License along with this library; if not, write to the Free Software # Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA # # cgkit homepage: http://cgkit.sourceforge.net ########################################################################### # $Id: asfamcimport.py,v 1.1 2005/02/10 22:52:25 mbaas Exp $ import os.path, glob from cgtypes import * from quadrics import Sphere from joint import Joint from valuetable import ValueTable import asfamc import pluginmanager from sl import * # ASFReader class ASFReader(asfamc.ASFReader): """Specialized ASF reader class. The class creates a hierarchy of Joint objects. """ def __init__(self, filename): asfamc.ASFReader.__init__(self, filename) # Bone data self.bones = {} # cgkit Joint objects (+root) self.joints = {} self.len_scale = 1.0 def onUnits(self, units): self.len_scale = units.get("length", 1.0) def onRoot(self, data): pos = self.toVec3(data.get("position", (0,0,0))) orient = self.toVec3(data.get("orientation", (0,0,0))) pos = self.len_scale*vec3(pos) orient = vec3(orient) self.joints["root"] = Sphere(name="root", pos=pos, radius=0.2) # Dummy "bone" data self.bones["root"] = { "name":"root", "order":data.get("order"), "direction":vec3(1,0,0), "length":0.0, "axis_order":data.get("axis")[0]} def onBonedata(self, bones): for data in bones: name = data.get("name")[0] dir = self.toVec3(data.get("direction")) length = self.len_scale*float(data.get("length")[0]) axis = self.toVec3(data.get("axis")[:3]) axis_order = data.get("axis")[3] self.bones[name] = { "name":name, "direction":dir, "length":length, "axis":axis, "axis_order":axis_order, "dof":data.get("dof", ""), "limits":data.get("limits")} def onHierarchy(self, links): # At the end, this list contains the leaves which need # a dummy joint at the end. leaves = [] for parentname, childnames in links: leaves += childnames if parentname in leaves: leaves.remove(parentname) # Create the second joint of the bone called parentname # (which is the first joint of the bone called data["name"]) parent = self.joints[parentname] data = self.bones[parentname] dir = data["direction"].normalize() length = data["length"] for childname in childnames: data = self.bones[childname] axis = data["axis"] ao = data["axis_order"] axis_order = ao[2]+ao[1]+ao[0] j = Joint(name = data["name"], rotationorder = axis_order, radius = 0.3, pos = length*dir.normalize(), parent = parent) exec "fromEuler = mat3.fromEuler%s"%axis_order.upper() R = mat3() fromEuler(R, radians(axis.x), radians(axis.y), radians(axis.z)) j.setOffsetTransform(mat4(1).setMat3(R)) j.freezePivot() self.joints[j.name] = j # Create end joints for name in leaves: parent = self.joints[name] data = self.bones[name] dir = data["direction"].normalize() length = data["length"] Joint(name = name+"_end", rotationorder = "xyz", radius = 0.3, pos = length*dir.normalize(), parent = parent) def toVec3(self, stup): return vec3(map(lambda x: float(x), stup)) # AMCReader class AMCReader(asfamc.AMCReader): """Specialized AMC reader class. When reading the AMC file, the content is just read and stored in self.values. Once the data is read, the applyMotion() method has to be called which takes an instance of an ASFReader class and the framerate of the data as input. """ def __init__(self, filename): asfamc.AMCReader.__init__(self, filename) # Key: Bone name Value: A list of values (one sublist per frame) self.values = {} def onFrame(self, framenr, data): for name,values in data: if name not in self.values: self.values[name] = [] self.values[name].append(values) def applyMotion(self, asf, framerate=25): """Apply the motion to a previously read skeleton. asf is the ASFReader class that has already read the skeleton. framerate is the rate that was used to record the motion data. """ for name in self.values.keys(): track = self.values[name] print name, if name=="root": self.applyRootTrack(asf, track, framerate) else: self.applyBoneTrack(asf, name, track, framerate) print "" def applyBoneTrack(self, asf, name, track, framerate): data = asf.bones[name] order = data["dof"] order = map(lambda s: s.lower(), order) vtabx = [] vtaby = [] vtabz = [] framenr = 0 for vals in track: t = float(framenr)/framerate d = self.valueDict(vals, order) if "rx" in d: vtabx.append((t,d["rx"])) if "ry" in d: vtaby.append((t,d["ry"])) if "rz" in d: vtabz.append((t,d["rz"])) framenr += 1 total_t = float(framenr)/framerate joint = asf.joints[name] if vtabx!=[]: vt = ValueTable(type="double", values=vtabx, modulo=total_t) vt.output_slot.connect(joint.anglex_slot) if vtaby!=[]: vt = ValueTable(type="double", values=vtaby, modulo=total_t) vt.output_slot.connect(joint.angley_slot) if vtabz!=[]: vt = ValueTable(type="double", values=vtabz, modulo=total_t) vt.output_slot.connect(joint.anglez_slot) def applyRootTrack(self, asf, track, framerate): len_scale = asf.len_scale data = asf.bones["root"] order = data["order"] order = map(lambda s: s.lower(), order) ao = data["axis_order"] axis_order = ao[2]+ao[1]+ao[0] vtab = [] vtabrot = [] framenr = 0 for vals in track: t = float(framenr)/framerate d = self.valueDict(vals, order) pos = len_scale*vec3(d["tx"], d["ty"], d["tz"]) vtab.append((t, pos)) ang = vec3(d["rx"], d["ry"], d["rz"]) exec "fromEuler = mat3.fromEuler%s"%axis_order.upper() R = mat3() fromEuler(R, radians(ang.x), radians(ang.y), radians(ang.z)) vtabrot.append((t, R)) framenr += 1 total_t = float(framenr)/framerate vt = ValueTable(values=vtab, modulo=total_t) vt.output_slot.connect(asf.joints["root"].pos_slot) vr = ValueTable(values=vtabrot, type="mat3", modulo=total_t) vr.output_slot.connect(asf.joints["root"].rot_slot) # valueDict def valueDict(self, values, order): """Convert a value list into a dictionary. values is a sequence of values whose order is defined by the argument order. order must be a sequence of strings where each string defines the meaning of the corresponding value in the list values. Example: values = [10,20,30] order = ["tx", "ty", "tz"] Result: {"tx":10, "ty":20, "tz":30} """ if len(values)!=len(order): raise ValueError, "Invalid number of values" res = {} for v,t in zip(values, order): res[t]=v return res ###################################################################### # ASFImporter class ASFImporter: _protocols = ["Import"] # extension def extension(): """Return the file extensions for this format.""" return ["asf"] extension = staticmethod(extension) # description def description(self): """Return a short description for the file dialog.""" return "Acclaim Skeleton File" description = staticmethod(description) # importFile def importFile(self, filename): """Import an ASF file.""" asf = ASFReader(filename) asf.read() # AMCImporter class AMCImporter: _protocols = ["Import"] # extension def extension(): """Return the file extensions for this format.""" return ["amc"] extension = staticmethod(extension) # description def description(self): """Return a short description for the file dialog.""" return "Acclaim Motion Capture Data" description = staticmethod(description) # importFile def importFile(self, filename, asf=None, framerate=30): """Import an AMC file.""" if asf==None: # Check for an ASF file with the same name than the AMC file asf, ext = os.path.splitext(filename) asf += ".asf" if not os.path.exists(asf): dir = os.path.dirname(filename) asflist = glob.glob(os.path.join(dir, "*.asf")) if len(asflist)==1: asf = asflist[0] elif len(asflist)==0: raise ValueError, "No skeleton file found." else: raise ValueError, "There are several skeleton files in the directory, please specify one or rename the ASF file so it is identical with the AMC file." asf = ASFReader(asf) asf.read() amc = AMCReader(filename) # print 'Reading motion file "%s"...'%amcfile amc.read() # print "Applying motion..." amc.applyMotion(asf, framerate=framerate) ###################################################################### # Register the Importer class as a plugin class pluginmanager.register(ASFImporter) pluginmanager.register(AMCImporter) Index: __init__.py =================================================================== RCS file: /cvsroot/cgkit/cgkit2/cgkit/__init__.py,v retrieving revision 1.2 retrieving revision 1.3 diff -C2 -d -r1.2 -r1.3 *** __init__.py 9 Jan 2005 20:13:06 -0000 1.2 --- __init__.py 10 Feb 2005 22:52:25 -0000 1.3 *************** *** 130,133 **** --- 130,134 ---- import objimport import stlimport + import asfamcimport # Exporter import ribexport |