| from imusim.all import * |
| import imusim |
| import numpy as np |
| from tqdm import tqdm |
| import multiprocessing |
| import os |
|
|
| with open('./bvh/000000.bvh', 'r') as file: |
| lines = file.readlines() |
| line_109 = lines[108] |
| frame_time = line_109.split(': ')[1].strip() |
| frame_time_value = float(frame_time) |
| print(frame_time_value) |
|
|
| def process_file(f): |
|
|
| imu_file_path = './output/%s.npy' % f |
| if not os.path.exists(imu_file_path): |
| |
| samplingPeriod = frame_time_value |
| imu = Orient3IMU() |
| env = Environment() |
|
|
| samples = 1000 |
| rotationalVelocity = 20 |
| calibrator = ScaleAndOffsetCalibrator(env, samples, samplingPeriod, rotationalVelocity) |
| calibration = calibrator.calibrate(imu) |
|
|
| try: |
| model = loadBVHFile('./bvh/%s.bvh' % f) |
| splinedModel = SplinedBodyModel(model) |
|
|
| imu_list = [] |
| for i in range(22): |
| sim = Simulation(environment=env) |
| imu.simulation = sim |
| |
| if i not in [4,8,13,17,21]: |
| imu.trajectory = splinedModel.getJoint('joint_%s' % str(i)) |
| else: |
| imu.trajectory = splinedModel.getPoint('joint_%s_end' % str(i-1)) |
|
|
| sim.time = splinedModel.startTime |
| BasicIMUBehaviour(imu, samplingPeriod, calibration, initialTime=sim.time) |
| sim.run(splinedModel.endTime, printProgress=False) |
|
|
| acc = imu.accelerometer.calibratedMeasurements.values |
| gyro = imu.gyroscope.calibratedMeasurements.values |
|
|
| imu_npy = np.concatenate((acc, gyro), axis=0) |
| imu_list.append(imu_npy) |
|
|
| imu_npy = np.stack(imu_list, axis=1).transpose(2,1,0) |
| np.save('./output/%s' % f, imu_npy) |
|
|
| except (imusim.maths.splines.Spline.InsufficientPointsError, AttributeError, IndexError) as e: |
| print(f"Error processing file {f}: {e}. Skipping.") |
| with open('log.txt', 'a') as log_file: |
| log_file.write(f + '\n') |
|
|
| source_dir = './bvh' |
| npy_files = [file[:-4] for file in os.listdir(source_dir) if file.endswith('.bvh')] |
|
|
| |
| pool = multiprocessing.Pool(processes=8) |
| for _ in tqdm(pool.imap_unordered(process_file, npy_files), total=len(npy_files)): |
| pass |
| pool.close() |
| pool.join() |
