This document contains both English and 中文 descriptions
The purpose of this code is to convert Xsens Dot data into Xsens MVN data, and then into OpenSim readable data for human body modeling The data output by Xsens MVN includes: meter header, time stamp, acceleration data, rotation matrix, UT Time and other data without specific values The output of Xsens Dot is only meter head, free acceleration, quaternion or Euler angle.Therefore, it is necessary to convert the quaternion in Xsens Dot into a rotation matrix, convert the header of the acceleration data, and supplement information such as UT Time
The following will show the data and differences between Xsens Dot and Xsens MVN, and finally perform the corresponding conversion
- OpenSenseExampleIMUData The data in the OpenSenseExampleIMUData folder is the IMU data officially provided by OpenSim, which is exported using Xsens MVN software
- Original_XsensDot_Data_Offline The original data of the data exported by Xsens Dot offline mode
- Transformed_XsensDot_Data_Ofline is the data after Xsens Dot offline mode conversion
- XsensDot2Mtw4OpenPoseOffline.ipynb offline mode data conversion script
- Original_XsensDot_Data_Realtime Xsens Dot original data exported in offline mode
- Transformed_XsensDot_Data_Realtime is the data after Xsens Dot offline mode conversion
- XsensDot2Mtw4OpenPoseRealtime.ipynb real-time mode data conversion script
Note:
This document is only suitable for converting the real-time data collected by Xsens Dot into a form acceptable to OpenSense.
本代码的目的是将 Xsens Dot 的数据转换成 Xsens MVN 数据，进而转换成 OpenSim 可读的数据，进行人体建模 Xsens MVN 输出的数据包含：表头、时间戳、加速度数据、旋转矩阵以及UT Time 等不含具体数值的数据 而 Xsens Dot 输出的只有表头、自由加速度、四元数或者欧拉角。 因此，需要将 Xsens Dot 中的四元数转换为旋转矩阵，将加速度数据的表头进行转换，补充 UT Time 等信息 下面将展示下 Xsens Dot 和 Xsens MVN 的数据以及差异，最后进行对应的转换
- OpenSenseExampleIMUData 文件夹内数据为 OpenSim 官方提供的 IMU 数据，使用 Xsens MVN 软件导出
- Original_XsensDot_Data_Offline Xsens Dot 离线模式导出的数据原始数据
- Transformed_XsensDot_Data_Ofline 为 Xsens Dot 离线模式转换后的数据
- XsensDot2Mtw4OpenPoseOffline.ipynb 离线模式数据转换脚本
- Original_XsensDot_Data_Realtime Xsens Dot 离线模式导出的数据原始数据
- Transformed_XsensDot_Data_Realtime 为 Xsens Dot 离线模式转换后的数据
- XsensDot2Mtw4OpenPoseRealtime.ipynb 实时模式数据转换脚本
注意： 本文档只适合将 Xsens Dot 实时采集的数据转换为 OpenSense 可以接受的形式。