path: root/io_anim_c3d/__init__.py

# ##### BEGIN GPL LICENSE BLOCK #####
#
#  This program is free software; you can redistribute it and/or
#  modify it under the terms of the GNU General Public License
#  as published by the Free Software Foundation; either version 3
#  of the License, or (at your option) any later version.
#
#  This program is distributed in the hope that it will be useful,
#  but WITHOUT ANY WARRANTY; without even the implied warranty of
#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#  GNU General Public License for more details.
#
#  You should have received a copy of the GNU General Public License
#  along with this program; if not, write to the Free Software Foundation,
#  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
# ##### END GPL LICENSE BLOCK #####

# <pep8-80 compliant>

# This script was developed with financial support from the Foundation for
# Science and Technology of Portugal, under the grant SFRH/BD/66452/2009.


bl_info = {
    "name": "C3D Graphics Lab Motion Capture file (.c3d)",
    "author": "Daniel Monteiro Basso <daniel@basso.inf.br>",
    "version": (2015, 5, 5, 1),
    "blender": (2, 74, 1),
    "location": "File > Import",
    "description": "Imports C3D Graphics Lab Motion Capture files",
    "wiki_url": "http://wiki.blender.org/index.php/Extensions:2.6/Py/"
                "Scripts/Import-Export/C3D_Importer",
    "category": 'Import-Export',
}


import bpy
from bpy.props import (
    StringProperty,
    BoolProperty,
    FloatProperty,
    IntProperty,
)

import os
import math
from mathutils import Vector
from . import import_c3d


class C3DAnimateCloud(bpy.types.Operator):
    """
        Animate the Marker Cloud
    """
    bl_idname = "import_anim.c3danim"
    bl_label = "Animate C3D"

    is_armature = False
    markerset = None
    uname = None
    curframe = 0
    fskip = 0
    scale = 0
    timer = None
    Y_up = False

    def update_empty(self, fno, ml, m):
        name = self.unames[self.prefix + ml]
        o = bpy.context.scene.objects[name]
        p = Vector(m.position) * self.scale
        o.location = Vector((p[0], -p[2], p[1])) if self.Y_up else p
        o.keyframe_insert('location', frame=fno)

    def update_bone(self, fno, ml, m, bones):
        name = self.prefix + ml
        if name not in bones:
            return
        b = bones[name]
        p = Vector(m.position) * self.scale
        b.matrix.translation = Vector((p[0], -p[2], p[1])) if self.Y_up else p
        b.keyframe_insert('location', -1, fno, name)

    def update_frame(self):
        fno = self.curframe
        if not self.use_frame_no:
            fno = (self.curframe - self.markerset.startFrame) / self.fskip
        for i in range(self.fskip):
            self.markerset.readNextFrameData()
        if self.is_armature:
            bones = bpy.context.active_object.pose.bones
        for ml in self.markerset.markerLabels:
            m = self.markerset.getMarker(ml, self.curframe)
            if m.confidence < self.confidence:
                continue
            if self.is_armature:
                self.update_bone(fno, ml, m, bones)
            else:
                self.update_empty(fno, ml, m)

    def modal(self, context, event):
        if event.type == 'ESC':
            return self.cancel(context)
        if event.type == 'TIMER':
            if self.curframe > self.markerset.endFrame:
                return self.cancel(context)
            self.update_frame()
            self.curframe += self.fskip
        return {'PASS_THROUGH'}

    def execute(self, context):
        self.timer = context.window_manager.\
            event_timer_add(0.001, context.window)
        context.window_manager.modal_handler_add(self)
        return {'RUNNING_MODAL'}

    def cancel(self, context):
        bpy.context.scene.frame_set(bpy.context.scene.frame_current)
        context.window_manager.event_timer_remove(self.timer)
        return {'FINISHED'}


class C3DImporter(bpy.types.Operator):
    """
        Load a C3D Marker Cloud
    """
    bl_idname = "import_anim.c3d"
    bl_label = "Import C3D"

    filepath = StringProperty(
        subtype='FILE_PATH',
    )
    Y_up = BoolProperty(
        name="Up vector is Y axis",
        default=False,
        description="Check when the data uses Y-up, uncheck when it uses Z-up",
    )
    from_inches = BoolProperty(
        name="Convert from inches to meters",
        default=False,
        description="Scale by 2.54/100",
    )
    scale = FloatProperty(
        name="Scale",
        default=1.0,
        description="Scale the positions by this value",
        min=0.0000001, max=1000000.0,
        soft_min=0.001, soft_max=100.0,
    )
    auto_scale = BoolProperty(
        name="Adjust scale automatically",
        default=False,
        description="Guess correct scale factor",
    )
    auto_magnitude = BoolProperty(
        name="Adjust scale magnitude",
        default=True,
        description="Automatically adjust scale magnitude",
    )
    create_armature = BoolProperty(
        name="Create an armature",
        default=True,
        description="Import the markers as bones instead of empties",
    )
    size = FloatProperty(
        name="Empty or bone size",
        default=.03,
        description="The size of each empty or bone",
        min=0.0001, max=1000000.0,
        soft_min=0.001, soft_max=100.0,
    )
    x_ray = BoolProperty(
        name="Use X-Ray",
        default=True,
        description="Show the empties or armature over other objects",
    )
    frame_skip = IntProperty(
        name="Fps divisor",
        default=1,
        description="Frame supersampling factor",
        min=1,
    )
    use_frame_no = BoolProperty(
        name="Use frame numbers",
        default=False,
        description="Offset start of animation according to the source",
    )
    show_names = BoolProperty(
        name="Show Names", default=False,
        description="Show the markers' name",
    )
    prefix = StringProperty(
        name="Name Prefix", maxlen=32,
        description="Prefix object names with this",
    )
    use_existing = BoolProperty(
        name="Use existing empties or armature",
        default=False,
        description="Use previously created homonymous empties or bones",
    )
    confidence = FloatProperty(
        name="Minimum Confidence Level", default=0,
        description="Only consider markers with at least "
                    "this confidence level",
        min=-1., max=1000000.0,
        soft_min=-1., soft_max=100.0,
    )

    filter_glob = StringProperty(default="*.c3d;*.csv", options={'HIDDEN'})

    def find_height(self, ms):
        """
            Heuristic to find the height of the subject in the markerset
            (only works for standing poses and you must have correct data
            on the first frame)
        """
        zmin, zmax = None, None
        hidx = 1 if self.properties.Y_up else 2
        for ml in ms.markerLabels:
            # check if LTOE is a substring of this marker label
            if 'LTOE' in ml:
                # substitute the substring to get the head marker
                hd = ml.replace('LTOE', 'LFHD')
                if hd not in ms.markerLabels:
                    break
                pmin_idx = ms.markerLabels.index(ml)
                pmax_idx = ms.markerLabels.index(hd)
                zmin = ms.frames[0][pmin_idx].position[hidx]
                zmax = ms.frames[0][pmax_idx].position[hidx]
                break
        if zmin is None:  # could not find named markers, get extremes
            allz = [m.position[hidx] for m in ms.frames[0]]
            zmin, zmax = min(allz), max(allz)
        return abs(zmax - zmin) or 1

    def adjust_scale_magnitude(self, height, scale):
        mag = math.log10(height * scale)
        return scale * math.pow(10, -int(mag))

    def adjust_scale(self, height, scale):
        """
            Try to find the correct scale for some common configurations
            found in CMU's c3d files.
        """
        factor = height * scale / 1.75  # normalize
        if factor < 0.5:
            scale /= 10.0
            factor *= 10.0
        cmu_factors = [(1.0, 1.0), (1.1, 1.45), (1.6, 1.6), (2.54, 2.54)]
        sqerr, fix = min(
            ((cf[0] - factor) ** 2.0, 1.0 / cf[1])
            for cf in cmu_factors
        )
        return scale * fix

    def create_empties(self, ms):
        """
            Create the empties and get their collision-free names
        """
        unames = {}
        use_existing = self.properties.use_existing
        s = self.properties.size
        empty_size = (s, s, s)
        for ml in ms.markerLabels:
            name = self.properties.prefix + ml
            if use_existing and name in bpy.context.scene.objects:
                o = bpy.context.scene.objects[name]
            else:
                bpy.ops.object.add()
                o = bpy.context.active_object
                o.name = name
            unames[name] = o.name
            bpy.ops.transform.resize(value=empty_size)
            o.show_name = self.properties.show_names
            o.show_x_ray = self.properties.x_ray
        for name in unames.values():
            bpy.context.scene.objects[name].select = True
        return unames

    def create_armature_obj(self, ms, scale):
        """
            Create or use existing armature, return a bone dict,
            leave the armature in POSE mode
        """
        head_dir = Vector((0, 0, self.properties.size))
        ao = bpy.context.active_object
        # when using an existing armature we restrict importing
        # the markers only for existing bones
        if not self.properties.use_existing or not ao or ao.type != 'ARMATURE':
            bpy.ops.object.add(type='ARMATURE', enter_editmode=True)
            arm = bpy.context.active_object
            arm.name = os.path.basename(self.properties.filepath)
            arm.data.show_names = self.properties.show_names
            arm.show_x_ray = self.properties.x_ray
            for idx, ml in enumerate(ms.markerLabels):
                name = self.properties.prefix + ml
                bpy.ops.armature.select_all(action='DESELECT')
                bpy.ops.armature.bone_primitive_add(name=name)
                pos = Vector(ms.frames[0][idx].position) * scale
                if self.properties.Y_up:
                    pos = Vector((pos[0], -pos[2], pos[1]))
                b = arm.data.edit_bones[name]
                b.head = pos + head_dir
                b.tail = pos
        bpy.ops.object.mode_set(mode='POSE')
        bpy.ops.pose.select_all(action='SELECT')

    def execute(self, context):
        ms = import_c3d.read(self.properties.filepath, onlyHeader=True)
        ms.readNextFrameData()

        # determine the final scale
        height = self.find_height(ms)
        scale = 1.0 if not self.properties.from_inches else 0.0254
        scale *= ms.scale
        if self.properties.auto_magnitude:
            scale = self.adjust_scale_magnitude(height, scale)
        if self.properties.auto_scale:
            scale = self.adjust_scale(height, scale)
        scale *= self.properties.scale

        if bpy.context.mode != 'OBJECT':
            bpy.ops.object.mode_set(mode='OBJECT')
        if self.properties.create_armature:
            self.create_armature_obj(ms, scale)
        else:
            unames = self.create_empties(ms)

        # start animating the empties
        C3DAnimateCloud.markerset = ms
        C3DAnimateCloud.is_armature = self.properties.create_armature
        if not C3DAnimateCloud.is_armature:
            C3DAnimateCloud.unames = unames
        C3DAnimateCloud.scale = scale
        C3DAnimateCloud.Y_up = self.properties.Y_up
        C3DAnimateCloud.fskip = self.properties.frame_skip
        C3DAnimateCloud.prefix = self.properties.prefix
        C3DAnimateCloud.use_frame_no = self.properties.use_frame_no
        C3DAnimateCloud.confidence = self.properties.confidence
        C3DAnimateCloud.curframe = ms.startFrame
        bpy.ops.import_anim.c3danim()
        return {'FINISHED'}

    def invoke(self, context, event):
        wm = context.window_manager
        wm.fileselect_add(self)
        return {'RUNNING_MODAL'}


def menu_func(self, context):
    self.layout.operator(C3DImporter.bl_idname,
                         text="Graphics Lab Motion Capture (.c3d)")


def register():
    bpy.utils.register_module(__name__)
    bpy.types.INFO_MT_file_import.append(menu_func)


def unregister():
    bpy.utils.unregister_module(__name__)
    bpy.types.INFO_MT_file_import.remove(menu_func)


if __name__ == "__main__":
    register()