#!/usr/bin/env python # -*- coding: utf-8 -*- ''' ################################################## ## Build trc from mot and osim files ## ################################################## Build a trc file which stores all real and virtual markers calculated from a .mot motion file and a .osim model file. Beware, it can be quite slow depending on the ccomplexity of the model and on the number of frames. Also, make sure that OpenSim is installed (e.g. via conda) Usage: from Pose2Sim.Utilities import trc_from_mot_osim; trc_from_mot_osim.trc_from_mot_osim_func(r'', r'', r'') python -m trc_from_mot_osim -m input_mot_file -o input_osim_file python -m trc_from_mot_osim -m input_mot_file -o input_osim_file -t output_trc_file ''' ## INIT import os import pandas as pd import numpy as np import opensim as osim import argparse ## AUTHORSHIP INFORMATION __author__ = "David Pagnon" __copyright__ = "Copyright 2021, Pose2Sim" __credits__ = ["David Pagnon"] __license__ = "BSD 3-Clause License" __version__ = "0.9.4" __maintainer__ = "David Pagnon" __email__ = "contact@david-pagnon.com" __status__ = "Development" ## FUNCTIONS def get_marker_positions(motion_data, model, in_degrees=True): ''' Get dataframe of marker positions INPUTS: - motion_data: .mot file opened with osim.TimeSeriesTable - model: .osim file opened with osim.Model OUTPUT: - marker_positions_pd: DataFrame of marker positions ''' # Markerset marker_set = model.getMarkerSet() marker_set_names = [mk.getName() for mk in list(marker_set)] marker_set_names_xyz = np.array([[m+'_x', m+'_y', m+'_z'] for m in marker_set_names]).flatten() # Data times = motion_data.getIndependentColumn() joint_angle_set_names = motion_data.getColumnLabels() # or [c.getName() for c in model.getCoordinateSet()] joint_angle_set_names = [j for j in joint_angle_set_names if not j.endswith('activation')] motion_data_pd = pd.DataFrame(motion_data.getMatrix().to_numpy()[:,:len(joint_angle_set_names)], columns=joint_angle_set_names) # Get marker positions at each state state = model.initSystem() marker_positions = [] print('Time frame:') for n,t in enumerate(times): print('t = ', t, 's') # put the model in the right position for coord in joint_angle_set_names: if in_degrees and not coord.endswith('_tx') and not coord.endswith('_ty') and not coord.endswith('_tz'): value = motion_data_pd.loc[n,coord]*np.pi/180 else: value = motion_data_pd.loc[n,coord] model.getCoordinateSet().get(coord).setValue(state,value, enforceContraints=False) model.assemble(state) # get marker positions marker_positions += [np.array([marker_set.get(mk_name).findLocationInFrame(state, model.getGround()).to_numpy() for mk_name in marker_set_names]).flatten()] marker_positions_pd = pd.DataFrame(marker_positions, columns=marker_set_names_xyz) marker_positions_pd.insert(0, 'time', times) marker_positions_pd.insert(0, 'frame', np.arange(len(times))) return marker_positions_pd def trc_from_mot_osim_func(*args): ''' Build a trc file which stores all real and virtual markers calculated from a .mot motion file and a .osim model file. Usage: from Pose2Sim.Utilities import trc_from_mot_osim; trc_from_mot_osim.trc_from_mot_osim_func(r'', r'', r'') python -m trc_from_mot_osim -m input_mot_file -o input_osim_file python -m trc_from_mot_osim -m input_mot_file -o input_osim_file -t trc_output_file ''' try: motion_path = args[0]['input_mot_file'] # invoked with argparse osim_path = args[0]['input_osim_file'] if args[0]['trc_output_file'] == None: trc_path = motion_path.replace('.mot', '.trc') else: trc_path = args[0]['trc_output_file'] except: motion_path = args[0] # invoked as a function osim_path = args[1] try: trc_path = args[2] except: trc_path = motion_path.replace('.mot', '.trc') # Create dataframe with marker positions model = osim.Model(osim_path) motion_data = osim.TimeSeriesTable(motion_path) # In degrees or radians with open(motion_path) as m_p: while True: line = m_p.readline() if 'inDegrees' in line: break if 'yes' in line: in_degrees = True else: in_degrees = False marker_positions_pd = get_marker_positions(motion_data, model, in_degrees=in_degrees) # Trc header times = motion_data.getIndependentColumn() marker_set = model.getMarkerSet() marker_set_names = [mk.getName() for mk in list(marker_set)] fps = str( int(1/ ((times[-1]-times[0]) / (len(times)-1)))) nb_frames = str(len(times)) nb_markers = str(len(marker_set_names)) header0_str = 'PathFileType\t4\t(X/Y/Z)\t' + os.path.basename(trc_path) header1 = {} header1['DataRate'] = fps header1['CameraRate'] = fps header1['NumFrames'] = nb_frames header1['NumMarkers'] = nb_markers header1['Units'] = 'm' header1['OrigDataRate'] = fps header1['OrigDataStartFrame'] = '0' header1['OrigNumFrames'] = nb_frames header1_str1 = '\t'.join(header1.keys()) header1_str2 = '\t'.join(header1.values()) header2_str1 = 'Frame#\tTime\t' + '\t\t\t'.join([mk.strip() for mk in marker_set_names]) + '\t\t' header2_str2 = '\t\t'+'\t'.join(['X{i}\tY{i}\tZ{i}'.format(i=i+1) for i in range(int(header1['NumMarkers']))]) header_trc = '\n'.join([header0_str, header1_str1, header1_str2, header2_str1, header2_str2]) # write data with open(trc_path, 'w') as trc_o: trc_o.write(header_trc+'\n') marker_positions_pd.to_csv(trc_path, header=False, sep = '\t', mode='a', index=False) print(f'trc file successfully saved as {trc_path}') if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('-m', '--input_mot_file', required = True, help='input mot file') parser.add_argument('-o', '--input_osim_file', required = True, help='input osim file') parser.add_argument('-t', '--trc_output_file', required=False, help='trc output file') args = vars(parser.parse_args()) trc_from_mot_osim_func(args)