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Adding Quat Calculations #9

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Adding Quat Calculations #9

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3ed6fc5
Adding Quat Calculations
onyalcin Mar 7, 2019
1d49620
Merge branch 'master' into master
onyalcin Aug 22, 2020
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20 changes: 15 additions & 5 deletions pymo/preprocessing.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,12 +24,15 @@ def fit(self, X, y=None):

def transform(self, X, y=None):
if self.param_type == 'euler':
print('euler')
return X
elif self.param_type == 'expmap':
return self._to_expmap(X)
elif self.param_type == 'quat':
return X
print('Quats')
return self._to_pos(X)
elif self.param_type == 'position':
print('pos')
return self._to_pos(X)
else:
raise UnsupportedParamError('Unsupported param: %s. Valid param types are: euler, quat, expmap, position' % self.param_type)
Expand Down Expand Up @@ -110,10 +113,17 @@ def _to_pos(self, X):
#euler_values = [[0,0,0] for f in rc.iterrows()] #for deugging
#pos_values = [[0,0,0] for f in pc.iterrows()] #for deugging

# Convert the eulers to rotation matrices
############################ input rotation order as Rotation class's argument #########################
rotmats = np.asarray([Rotation([f[0], f[1], f[2]], 'euler', rotation_order, from_deg=True).rotmat for f in euler_values])
########################################################################################################

# Convert the eulers or quats to rotation matrices
if self.param_type == 'euler':
# Convert the eulers to rotation matrices
rotmats = np.asarray([Rotation([f[0], f[1], f[2]], 'euler', rotation_order, from_deg=True).rotmat for f in euler_values])
elif self.param_type == 'quat':
# Rotation order for quats currently not supported
rotmats = np.asarray([Rotation([f[0], f[1], f[2]], 'quat', rotation_order, from_deg=False).rotmat for f in euler_values])
else:
raise 'Type not supported'

tree_data[joint]=[
[], # to store the rotation matrix
[] # to store the calculated position
Expand Down
28 changes: 27 additions & 1 deletion pymo/rotation_tools.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ def __init__(self,rot, param_type, rotation_order, **params):
self._from_euler(rot[0],rot[1],rot[2], params)
elif param_type == 'expmap':
self._from_expmap(rot[0], rot[1], rot[2], params)
elif param_type == 'quat':
self._from_quat(rot[0], rot[1], rot[2], params)

def _from_euler(self, alpha, beta, gamma, params):
'''Expecting degress'''
Expand Down Expand Up @@ -90,7 +92,31 @@ def _from_expmap(self, alpha, beta, gamma, params):
[2*x*z*s**2-2*y*c*s, 2*y*z*s**2+2*x*c*s , 2*(z**2-1)*s**2+1]
])


def _from_quat(self, alpha, beta, gamma, params):
if params['from_deg']==True:
alpha = deg2rad(alpha)
beta = deg2rad(beta)
gamma = deg2rad(gamma)

axis = [alpha, beta, gamma]
theta = np.linalg.norm(axis)

if not np.isclose(np.linalg.norm(axis), 1.):
axis = axis/np.linalg.norm(axis)

sinThetaOver2 = np.sin(theta * 0.5)

q1 = sinThetaOver2 * axis[0]
q2 = sinThetaOver2 * axis[1]
q3 = sinThetaOver2 * axis[2]
q4 = np.cos(theta * 0.5)

self.rotmat = np.asarray([
[1-2*q2*q2-2*q3*q3, 2*(q1*q2-q3*q4), 2*(q1*q3+q2*q4)],
[2*(q1*q2+q3*q4), 1-2*q1*q1-2*q3*q3, 2*(q2*q3-q1*q4)],
[2*(q1*q3-q2*q4), 2*(q1*q4+q2*q3), 1-2*q1*q1-2*q2*q2]
])


def get_euler_axis(self):
R = self.rotmat
Expand Down