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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')]
# Process files in parallel
pool = multiprocessing.Pool(processes=8)
for _ in tqdm(pool.imap_unordered(process_file, npy_files), total=len(npy_files)):
pass
pool.close()
pool.join() |