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read_TC_data.py
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read_TC_data.py
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import numpy as np
import argparse
import glob
import os
import math
import cv2
import scipy.io as sio
import pickle as pkl
import quaternion as pip_quaternion # The quaternion installed via pip
from psbody.smpl.serialization import load_model
ID_SMPL_0 = [15, 9, 0, 16, 17, 18, 19, 1, 2, 4, 5]
ID_SMPL_3 = [15, 9, 3, 16, 17, 18, 19, 1, 2, 4, 5]
if 1:
#TC_2_TNT = [5, 6, 9, 10, 0, 2]
# 4_7, to use for SOP/SIP code
TC_2_TNT = [9, 10, 5, 6, 0, 2]
else:
TC_2_TNT = [5, 6, 9, 10, 1, 2, 3, 4, 7, 8]
# Todo
MODEL_PATH = '**************/%s/model.pkl'
model = load_model(MODEL_PATH % 'male')
parser = argparse.ArgumentParser()
parser.add_argument('--folder_path', type=str)
parser.add_argument('--res_path', type=str)
args = parser.parse_args()
def pose2matrix(pose):
res = []
model.pose[:] = pose
for j in ID_SMPL_0:
res.append(model.A_global[j][:3, :3].r)
return np.array(res)
def compare_imu_mosh(imu_ori, mosh_pose):
mosh_ori_0 = pose2matrix(mosh_pose[0])
imu_ori_0 = imu_ori[0]
res = []
total = min(len(imu_ori), len(mosh_pose))
for idx in range(1, total):
mosh_ori_i = pose2matrix(mosh_pose[idx])
imu_ori_i = imu_ori[idx]
# For each joint
for j in range(0, len(ID_SMPL_0)):
tmp = np.dot(imu_ori_i[j, :, :], imu_ori_0[j, :, :].T)
imu_ori_i[j, :, :] = np.dot(tmp, mosh_ori_0[j])
# Compare
for j in range(0, len(ID_SMPL_0)):
tmp = np.dot(mosh_ori_i[j], imu_ori_i[j].T)
tmp = cv2.Rodrigues(tmp)[0]
tmp = tmp / np.pi * 180
res.append(abs(tmp))
# Todo
MOSH_BASE_PATH='******************/TotalCapture_fr12_Dw00100.000_Sw009500.000_Iw00300.000_Bw00012.500_Pw00002.500'
def quaternion_matrix_bk(quaternion_input, is_w_first):
quaternion = np.copy(quaternion_input)
if not is_w_first:
quaternion = [quaternion[3],quaternion[0],quaternion[1],quaternion[2]]
a = quaternion[0]
b = quaternion[1]
c = quaternion[2]
d = quaternion[3]
res = np.array([
[a**2+b**2-c**2-d**2, 2*b*c-2*a*d, 2*b*d+2*a*c],
[2*b*c+2*a*d, a**2-b**2+c**2-d**2, 2*c*d-2*a*b],
[2*b*d-2*a*c, 2*c*d+2*a*b, a**2-b**2-c**2+d**2]])
res_2 = np.quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3])
res_2 = pip_quaternion.as_rotation_matrix(res_2)
try:
assert np.mean(np.square(res_2.flatten() - res.flatten())) < 1e-6
except:
print 'Bk, Assertion error!'
return res
def quaternion_matrix(quaternion_input, is_w_first):
quaternion = np.copy(quaternion_input)
if not is_w_first:
quaternion = [quaternion[3],quaternion[0],quaternion[1],quaternion[2]]
_EPS = np.finfo(float).eps * 4.0
q = np.array(quaternion, dtype=np.float32, copy=True)
n = np.dot(q, q)
if n < _EPS:
return np.identity(3)
q *= math.sqrt(2.0 / n)
q = np.outer(q, q)
res = np.array([
[1.0-q[2, 2]-q[3, 3], q[1, 2]-q[3, 0], q[1, 3]+q[2, 0]],
[ q[1, 2]+q[3, 0], 1.0-q[1, 1]-q[3, 3], q[2, 3]-q[1, 0]],
[ q[1, 3]-q[2, 0], q[2, 3]+q[1, 0], 1.0-q[1, 1]-q[2, 2]]])
res_2 = np.quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3])
res_2 = pip_quaternion.as_rotation_matrix(res_2)
try:
assert np.mean(np.square(res_2.flatten() - res.flatten())) < 1e-6
except:
print 'Assertion error!'
return res
# Read IMU
def read_imu(imu_file_path):
with open(imu_file_path) as fin:
all_lines = fin.readlines()
del all_lines[0]
del all_lines[::14]
def f1(line):
str_list = line.split()[1:]
num_list = [float(str_num) for str_num in str_list]
return num_list
data = map(f1, all_lines)
data = np.array(data)
imu_ori = data[:, :4]
imu_acc = data[:, 4:]
imu_ori_matrix = map(lambda x: quaternion_matrix(x, True), imu_ori)
imu_ori_matrix_2 = map(lambda x: quaternion_matrix_bk(x, True), imu_ori)
return imu_ori_matrix, imu_acc
# Read calibration file
def read_calib(calib_file_path):
with open(calib_file_path) as fin:
all_lines = fin.readlines()
del all_lines[0]
def f1(line):
str_list = line.split()[1:]
num_list = [float(str_num) for str_num in str_list]
return num_list
data = map(f1, all_lines)
data = np.array(data)
calib_matrix = map(lambda x: quaternion_matrix(x, False), data)
calib_matrix_2 = map(lambda x: quaternion_matrix_bk(x, False), data)
return calib_matrix
def process_imu(imu_file_path):
# Read IMU data
imu_ori_matrix, imu_acc = read_imu(imu_file_path)
# Read reference data
calib_file_path = imu_file_path.replace('_Xsens.sensors', '_calib_imu_ref.txt')
calib_ref_matrix = read_calib(calib_file_path)
# Read bone data
calib_file_path = imu_file_path.replace('_Xsens.sensors', '_calib_imu_bone.txt')
calib_bone_matrix = read_calib(calib_file_path)
save_path = calib_file_path.replace(args.folder_path, args.res_path).replace('_calib_imu_bone.txt', '.pkl')
name_splits = os.path.basename(save_path).split('_')
mosh_path = os.path.join(MOSH_BASE_PATH, name_splits[0], name_splits[1])
mosh_gt = pkl.load(open(mosh_path))['poses']
mosh_ori_0 = pose2matrix(mosh_gt[0])
total = len(imu_ori_matrix)
print total
ori_global = []
acc_global = []
#rot_y = cv2.Rodrigues(np.array([0, -1 * np.pi/2, 0]))[0]
rot_y = cv2.Rodrigues(np.array([0, np.pi, 0]))[0]
#tmp1 = pip_quaternion.from_rotation_matrix(imu_ori_matrix[8])
#tmp2 = pip_quaternion.from_rotation_matrix(calib_ref_matrix[8])
for i in range(0, total):
j = i % 13
ori_tmp = imu_ori_matrix[i]
calib_ref_tmp_ori = calib_ref_matrix[j]
calib_ref_tmp = np.dot(rot_y, calib_ref_tmp_ori)
new_ori = np.dot(calib_ref_tmp, ori_tmp)
ori_global.append(new_ori)
acc_tmp = imu_acc[i]
new_acc = np.dot(new_ori, acc_tmp).flatten() - np.array([0, 9.8707, 0])
acc_global.append(new_acc)
ori_global = np.array(ori_global)
ori_global = ori_global.reshape([-1, 13, 3, 3])
ori_global = ori_global[:, :-2, :, :]
acc_global = np.array(acc_global)
acc_global = acc_global.reshape([-1, 13, 3])
acc_global = acc_global[:, :-2, :]
total = total / 13
if total > len(mosh_gt): total = len(mosh_gt)
print imu_file_path
print total
print len(mosh_gt)
for i in range(1, total):
mosh_ori_i = pose2matrix(mosh_gt[i])
for j in range(0, 11):
ori_global[i, j, :, :] = np.dot(np.dot(ori_global[i, j, :, :], ori_global[0, j, :, :].T), mosh_ori_0[j])
#print np.linalg.norm(cv2.Rodrigues(np.dot(ori_global[i, j, :, :], mosh_ori_i[j].T))[0]) * 180 / np.pi
res = {'ori':ori_global[1:, np.array(TC_2_TNT), :, :], 'acc':acc_global[1:, np.array(TC_2_TNT), :], 'gt': mosh_gt[1:]}
with open(save_path, 'w') as fout:
pkl.dump(res, fout)
out_file_path = save_path.replace('.pkl', '.mat')
sio.savemat(out_file_path, mdict={'data': res})
print 'Finish %s\n' % imu_file_path
if __name__ == '__main__':
all_imu_files = glob.glob(os.path.join(args.folder_path, '*Xsens.sensors'))
#all_imu_files = glob.glob(os.path.join(args.folder_path, '*s1_walking2*Xsens.sensors'))
#map(process_imu, all_imu_files)
for imu_file in all_imu_files:
try:
process_imu(imu_file)
except Exception as e:
print e