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Fixed two bugs in to_xyz, checked on a test version of MATLAB code.

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This commit is contained in:
Neil Lawrence 2013-04-26 23:37:48 +01:00
parent 8306bb652c
commit 8b00c5a827
1 changed files with 11 additions and 9 deletions
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20
GPy/util/mocap.py
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@ -215,10 +215,10 @@ class acclaim_skeleton(skeleton):
self.load_skel(file_name) self.load_skel(file_name)
def to_xyz(self, channels): def to_xyz(self, channels):
rot_val = self.vertices[0].meta['orientation'] rot_val = list(self.vertices[0].meta['orientation'])
for i in range(len(self.vertices[0].meta['rot_ind'])): for i in range(len(self.vertices[0].meta['rot_ind'])):
rind = self.vertices[0].meta['rot_ind'][i] rind = self.vertices[0].meta['rot_ind'][i]
if rind != 0: if rind != -1:
rot_val[i] += channels[rind] rot_val[i] += channels[rind]
self.vertices[0].meta['rot'] = rotation_matrix(rot_val[0], self.vertices[0].meta['rot'] = rotation_matrix(rot_val[0],
@ -227,11 +227,11 @@ class acclaim_skeleton(skeleton):
self.vertices[0].meta['axis_order'], self.vertices[0].meta['axis_order'],
degrees=True) degrees=True)
# vertex based store of the xyz location # vertex based store of the xyz location
self.vertices[0].meta['xyz'] = self.vertices[0].meta['offset'] self.vertices[0].meta['xyz'] = list(self.vertices[0].meta['offset'])
for i in range(len(self.vertices[0].meta['pos_ind'])): for i in range(len(self.vertices[0].meta['pos_ind'])):
pind = self.vertices[0].meta['pos_ind'][i] pind = self.vertices[0].meta['pos_ind'][i]
if pind != 0: if pind != -1:
self.vertices[0].meta['xyz'][i] += channels[pind] self.vertices[0].meta['xyz'][i] += channels[pind]
@ -253,7 +253,7 @@ class acclaim_skeleton(skeleton):
rot_val = np.zeros(3) rot_val = np.zeros(3)
for j in range(len(self.vertices[ind].meta['rot_ind'])): for j in range(len(self.vertices[ind].meta['rot_ind'])):
rind = self.vertices[ind].meta['rot_ind'][j] rind = self.vertices[ind].meta['rot_ind'][j]
if rind != 0: if rind != -1:
rot_val[j] = channels[rind] rot_val[j] = channels[rind]
else: else:
rot_val[j] = 0 rot_val[j] = 0
@ -275,7 +275,8 @@ class acclaim_skeleton(skeleton):
self.vertices[ind].meta['rot'] = np.dot(np.dot(np.dot(torient_inv,tdof),torient),self.vertices[parent].meta['rot']) self.vertices[ind].meta['rot'] = np.dot(np.dot(np.dot(torient_inv,tdof),torient),self.vertices[parent].meta['rot'])
self.vertices[ind].meta['xyz'] += np.dot(self.vertices[ind].meta['offset'],self.vertices[ind].meta['rot'])
self.vertices[ind].meta['xyz'] = self.vertices[parent].meta['xyz'] + np.dot(self.vertices[ind].meta['offset'],self.vertices[ind].meta['rot'])
for i in range(len(children)): for i in range(len(children)):
cind = children[i] cind = children[i]
@ -524,6 +525,7 @@ class acclaim_skeleton(skeleton):
self.vertices[0].meta['orientation'] = [float(parts[1]), self.vertices[0].meta['orientation'] = [float(parts[1]),
float(parts[2]), float(parts[2]),
float(parts[3])] float(parts[3])]
print self.vertices[0].meta['orientation']
lin = self.read_line(fid) lin = self.read_line(fid)
return lin return lin
@ -574,9 +576,9 @@ class acclaim_skeleton(skeleton):
"""Get indices for the skeleton from the channels when loading in channel data.""" """Get indices for the skeleton from the channels when loading in channel data."""
channels = self.vertices[index].meta['channels'] channels = self.vertices[index].meta['channels']
base_channel = start_val - 1 base_channel = start_val
rot_ind = np.zeros(3) rot_ind = -np.ones(3, dtype=int)
pos_ind = np.zeros(3) pos_ind = -np.ones(3, dtype=int)
for i in range(len(channels)): for i in range(len(channels)):
if channels[i]== 'Xrotation': if channels[i]== 'Xrotation':
rot_ind[0] = base_channel + i rot_ind[0] = base_channel + i