export IK to bvh for MoCap

Author: davidpagnon

Pose2Sim/Demo_Batch/Config.toml

@@ -302,6 +302,7 @@ use_simple_model = false # true or false # >10 times faster IK if true. No muscl
 filter_ik = false # true or false # Useful for force estimations if results are noisy 
 ik_filter_type = 'acc_minimizing' # butterworth, acc_minimizing, kalman, one_euro, gcv_spline, gaussian, LOESS, median, butterworth_on_speed
                                # see and edit the filtering parameters in the [filtering] section
+make_bvh = true # save kinematics in bvh format in addition to osim and mot (for motion capture software) 
 
 right_left_symmetry = true # true or false (lowercase) # Set to false only if you have good reasons to think the participant is not symmetrical (e.g. prosthetic limb)
 default_height = 1.7 # meters # If automatic height calculation did not work, this value is used to scale the model

Pose2Sim/Demo_Batch/Trial_1/Config.toml

@@ -302,6 +302,7 @@
 # filter_ik = false # true or false # Useful for force estimations if results are noisy 
 # ik_filter_type = 'acc_minimizing' # butterworth, acc_minimizing, kalman, one_euro, gcv_spline, gaussian, LOESS, median, butterworth_on_speed
 #                                # see and edit the filtering parameters in the [filtering] section
+# make_bvh = true # save kinematics in bvh format in addition to osim and mot (for motion capture software) 
 
 # right_left_symmetry = true # true or false (lowercase) # Set to false only if you have good reasons to think the participant is not symmetrical (e.g. prosthetic limb)
 # default_height = 1.7 # meters # If automatic height calculation did not work, this value is used to scale the model

Pose2Sim/Demo_Batch/Trial_2/Config.toml

@@ -300,6 +300,7 @@ keypoints_to_consider = ['RWrist'] # 'all' if all points should be considered, f
 # filter_ik = false # true or false # Useful for force estimations if results are noisy 
 # ik_filter_type = 'acc_minimizing' # butterworth, acc_minimizing, kalman, one_euro, gcv_spline, gaussian, LOESS, median, butterworth_on_speed
 #                                # see and edit the filtering parameters in the [filtering] section
+# make_bvh = true # save kinematics in bvh format in addition to osim and mot (for motion capture software) 
 
 # right_left_symmetry = true # true or false (lowercase) # Set to false only if you have good reasons to think the participant is not symmetrical (e.g. prosthetic limb)
 # default_height = 1.7 # meters # If automatic height calculation did not work, this value is used to scale the model

Pose2Sim/Demo_MultiPerson/Config.toml

@@ -301,6 +301,7 @@ use_simple_model = false # true or false # >10 times faster IK if true. No muscl
 filter_ik = false # true or false # Useful for force estimations if results are noisy 
 ik_filter_type = 'acc_minimizing' # butterworth, acc_minimizing, kalman, one_euro, gcv_spline, gaussian, LOESS, median, butterworth_on_speed
                                # see and edit the filtering parameters in the [filtering] section
+make_bvh = true # save kinematics in bvh format in addition to osim and mot (for motion capture software) 
 
 right_left_symmetry = true # true or false (lowercase) # Set to false only if you have good reasons to think the participant is not symmetrical (e.g. prosthetic limb)
 default_height = 1.7 # meters # If automatic height calculation did not work, this value is used to scale the model

Pose2Sim/Demo_SinglePerson/Config.toml

@@ -299,6 +299,7 @@ use_simple_model = false # true or false # >10 times faster IK if true. No muscl
 filter_ik = false # true or false # Useful for force estimations if results are noisy 
 ik_filter_type = 'acc_minimizing' # butterworth, acc_minimizing, kalman, one_euro, gcv_spline, gaussian, LOESS, median, butterworth_on_speed
                                # see and edit the filtering parameters in the [filtering] section
+make_bvh = true # save kinematics in bvh format in addition to osim and mot (for motion capture software) 
 
 right_left_symmetry = true # true or false (lowercase) # Set to false only if you have good reasons to think the participant is not symmetrical (e.g. prosthetic limb)
 default_height = 1.7 # meters # If automatic height calculation did not work, this value is used to scale the model

Pose2Sim/Utilities/tests.py

@@ -155,6 +155,7 @@ def test_workflow(self, mock_input):
         config_dict.get("pose").update({"save_video":'none'})
         config_dict.get('synchronization').update({'keypoints_to_consider':['RWrist']})
         config_dict.get('kinematics').update({'use_simple_model':True})
+        config_dict.get('kinematics').update({'make_bvh':False})
         Pose2Sim.runAll(config_dict)
 
 
@@ -183,6 +184,7 @@ def test_workflow(self, mock_input):
         config_dict.get("filtering").update({"display_figures":False})
         config_dict.get("filtering").update({"save_filt_plots":False})
         config_dict.get('kinematics').update({'use_simple_model':True})
+        config_dict.get('kinematics').update({'make_bvh':False})
 
         # 1. Run step by step
         Pose2Sim.calibration(config_dict)

Pose2Sim/kinematics.py

@@ -48,6 +48,7 @@
                             trimmed_mean, compute_height, get_max_workers
 from Pose2Sim.filtering import filter_all
 from Pose2Sim.skeletons import *
+from Pose2Sim.Utilities.osim_to_bvh import export_to_bvh
 
 import locale 
 locale.setlocale(locale.LC_NUMERIC, 'C')
@@ -614,6 +615,7 @@ def kinematics_all(config_dict):
     use_augmentation = config_dict.get('kinematics', {}).get('use_augmentation', True)
     use_simple_model = config_dict.get('kinematics', {}).get('use_simple_model', False)
     filter_ik = config_dict.get('kinematics', {}).get('filter_ik', False)
+    make_bvh = config_dict.get('kinematics', {}).get('make_bvh', True)
     multi_person = config_dict.get('project', {}).get('multi_person', False)
     parallel_workers = config_dict.get('kinematics', {}).get('parallel_workers_kinematics', 'auto')
     right_left_symmetry = config_dict.get('kinematics', {}).get('right_left_symmetry', True)
@@ -754,3 +756,13 @@ def kinematics_all(config_dict):
         config_dict['filtering']['type'] = config_dict.get('kinematics', {}).get('ik_filter_type', 'acc_minimizing')
 
         filter_all(config_dict)
+
+    if make_bvh:
+        logging.info(f"\nExporting OpenSim results to BVH files...")
+        for trc_file in trc_files:
+            osim_path = (kinematics_dir / (trc_file.stem + '.osim')).resolve()
+            mot_path = Path(kinematics_dir, trc_file.stem + '.mot').resolve()
+            bvh_path = Path(kinematics_dir, trc_file.stem + '_ik.bvh').resolve()
+            export_to_bvh(
+                model_path=osim_path, output_path=bvh_path, motion_path=mot_path)
+