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