From c938754d00feec116c31b34123e955109efd44f2 Mon Sep 17 00:00:00 2001
From: "d.kilic" <d.kilic@fz-juelich.de>
Date: Wed, 15 Dec 2021 13:38:16 +0100
Subject: [PATCH] Use joints instead of bony landmarks for the visualization of
MoCap-Data
This means PeTrack now requires C3D-files with joint positions added in. This results in a more accurate representation of the skeleton.
---
include/skeletonTreeFactory.h | 46 ++++++++++---------
src/IO.cpp | 59 +++++++++----------------
src/moCapController.cpp | 2 +-
src/skeletonTreeFactory.cpp | 27 ++++++-----
tests/unit_test/tst_SkeletonTree.cpp | 59 ++++++++++++++++---------
tests/unit_test/tst_io.cpp | 5 ++-
tests/unit_test/tst_moCapController.cpp | 8 ++--
7 files changed, 107 insertions(+), 99 deletions(-)
diff --git a/include/skeletonTreeFactory.h b/include/skeletonTreeFactory.h
index b77768d56..52bb584ca 100644
--- a/include/skeletonTreeFactory.h
+++ b/include/skeletonTreeFactory.h
@@ -36,38 +36,42 @@
**/
struct XSenseStruct
{
- cv::Point3f mRoot; /***< pSacrum used as sacrum and root. Id is 0. */
+ cv::Point3f mRoot; /**< used as root. Id is 0. */
- cv::Point3f mNeck; /**< pC7SpinalProcess used as atlas bone. Id is 1. */
+ cv::Point3f mNeck1; /**< used as atlas bone. Id is 1. */
+ cv::Point3f mNeck2; /**< used as atlas bone. Id is 19. */
- cv::Point3f mHeadTop; /**< pTopOfHead used as the top of the head. Id is 2. */
+ cv::Point3f mHeadTop; /**< used as the top of the head. Id is 2. */
- cv::Point3f mShldrR; /**< pRightAcromion used as right shoulder. Id is 7. */
- cv::Point3f mShldrL; /**< pLeftAcromion used as left shoulder. Id is 3. */
+ cv::Point3f mShldrR; /**< used as right shoulder. Id is 7. */
+ cv::Point3f mShldrL; /**< used as left shoulder. Id is 3. */
- cv::Point3f mElbowR; /**< pRightOlecranon used as right elbow. Id is 8. */
- cv::Point3f mElbowL; /**< pLeftOlecranon used as left elbow. Id is 4. */
+ cv::Point3f mElbowR; /**< used as right elbow. Id is 8. */
+ cv::Point3f mElbowL; /**< used as left elbow. Id is 4. */
- cv::Point3f mWristR; /**< pRightStyloid used as right wrist. Id is 9. */
- cv::Point3f mWristL; /**< pLeftStyloid used as left wrist. Id is 5. */
+ cv::Point3f mWristR; /**< used as right wrist. Id is 9. */
+ cv::Point3f mWristL; /**< used as left wrist. Id is 5. */
- cv::Point3f mHandR; /**< pRightTopOfHand used as the right hand. Id is 10. */
- cv::Point3f mHandL; /**< pLeftTopOfHand used as the left hand. Id is 6.*/
+ cv::Point3f mHandR; /**< used as the right hand. Id is 10. */
+ cv::Point3f mHandL; /**< used as the left hand. Id is 6.*/
- cv::Point3f mHipR; /**< pRightIschialTub used as the right hip. Id is 15. */
- cv::Point3f mHipL; /**< pLeftIschialTub used as the left hip. Id is 11. */
+ cv::Point3f mHipR; /**< used as the right hip. Id is 15. */
+ cv::Point3f mHipL; /**< used as the left hip. Id is 11. */
- cv::Point3f mKneeR; /**< pRightPatella used as the right knee. Id is 16. */
- cv::Point3f mKneeL; /**< pLeftPatella used as the left knee. Id is 12. */
+ cv::Point3f mKneeR; /**< used as the right knee. Id is 16. */
+ cv::Point3f mKneeL; /**< used as the left knee. Id is 12. */
- cv::Point3f mHeelR; /**< pRightHeelFoot used as the right heel. Id is 17. */
- cv::Point3f mHeelL; /**< pLeftHeelFoot used as the left heel. Id is 13 .*/
+ cv::Point3f mAnkleR; /**< used as the right ankle. Id is 20. */
+ cv::Point3f mAnkleL; /**< used as the left ankle. Id is 21. */
- cv::Point3f mToeR; /**< pRightHeel used as the right of the right foot. Id is 18. */
- cv::Point3f mToeL; /**< pLeftHeel used as the right of the left foot. Id is 14. */
+ cv::Point3f mHeelR; /**< used as the right heel. Id is 17. */
+ cv::Point3f mHeelL; /**< used as the left heel. Id is 13 .*/
- cv::Point3f mEarR; /**< pRightAuricularis used as the right ear. No id. */
- cv::Point3f mEarL; /**< pLeftAuricularis used as the left ear. No id. */
+ cv::Point3f mToeR; /**< used as the right of the right foot. Id is 18. */
+ cv::Point3f mToeL; /**< used as the right of the left foot. Id is 14. */
+
+ cv::Point3f mEarR; /**< used as the right ear. No id. */
+ cv::Point3f mEarL; /**< used as the left ear. No id. */
};
/** @brief This class is used to construct a SkeletonTree.
diff --git a/src/IO.cpp b/src/IO.cpp
index c60fad128..1293ba31a 100644
--- a/src/IO.cpp
+++ b/src/IO.cpp
@@ -212,55 +212,40 @@ void IO::readSkeletonC3D_XSENS(
MoCapPerson & person,
const std::function<cv::Point3f(const ezc3d::DataNS::Points3dNS::Point &)> &c3dToPoint3f)
{
- /*
- * Points from XSens
- * 1 based so everything minus 1
- * hip/Sacrum: 8
- * C7: 16
- * right shoulder: 21
- * left shoulder: 22
- * right elbow: 29
- * left elbow: 32
- * right wrist: 28
- * left wrist: 31
- * right top of hand: 33
- * left top of hand: 36
- * top of head: 17
- * right ischial tub: 6
- * left ischial tub: 7
- * right kneecap: 42
- * left kneecap: 46
- * right heel: 53
- * left heel: 59
- * right toe: 58
- * left toe: 64
- */
-
const auto &frames = c3d.data().frames();
for(const auto &frame : frames)
{
- const auto & points = frame.points().points();
+ const auto &points = frame.points().points();
+ if(points.size() != 87)
+ {
+ PCritical(nullptr, "Wrong C3D", "You need a C3D-File with joints for visualization in PeTrack.");
+ break;
+ }
+
XSenseStruct skeletonStruct;
- skeletonStruct.mHipR = c3dToPoint3f(points[5]);
- skeletonStruct.mHipL = c3dToPoint3f(points[6]);
- skeletonStruct.mRoot = c3dToPoint3f(points[7]);
- skeletonStruct.mNeck = c3dToPoint3f(points[15]);
+ skeletonStruct.mHipR = c3dToPoint3f(points[78]);
+ skeletonStruct.mHipL = c3dToPoint3f(points[82]);
+ skeletonStruct.mRoot = c3dToPoint3f(points[0]);
+ skeletonStruct.mNeck1 = c3dToPoint3f(points[15]);
+ skeletonStruct.mNeck2 = c3dToPoint3f(points[69]);
skeletonStruct.mHeadTop = c3dToPoint3f(points[16]);
skeletonStruct.mEarR = c3dToPoint3f(points[17]);
skeletonStruct.mEarL = c3dToPoint3f(points[18]);
- skeletonStruct.mShldrR = c3dToPoint3f(points[20]);
- skeletonStruct.mShldrL = c3dToPoint3f(points[21]);
- skeletonStruct.mWristR = c3dToPoint3f(points[27]);
- skeletonStruct.mElbowR = c3dToPoint3f(points[28]);
- skeletonStruct.mWristL = c3dToPoint3f(points[30]);
- skeletonStruct.mElbowL = c3dToPoint3f(points[31]);
+ skeletonStruct.mShldrR = c3dToPoint3f(points[71]);
+ skeletonStruct.mShldrL = c3dToPoint3f(points[75]);
+ skeletonStruct.mWristR = c3dToPoint3f(points[73]);
+ skeletonStruct.mElbowR = c3dToPoint3f(points[72]);
+ skeletonStruct.mWristL = c3dToPoint3f(points[77]);
+ skeletonStruct.mElbowL = c3dToPoint3f(points[76]);
skeletonStruct.mHandR = c3dToPoint3f(points[32]);
skeletonStruct.mHandL = c3dToPoint3f(points[35]);
- skeletonStruct.mKneeR = c3dToPoint3f(points[41]);
- skeletonStruct.mKneeL = c3dToPoint3f(points[45]);
+ skeletonStruct.mKneeR = c3dToPoint3f(points[79]);
+ skeletonStruct.mKneeL = c3dToPoint3f(points[83]);
+ skeletonStruct.mAnkleR = c3dToPoint3f(points[80]);
skeletonStruct.mHeelR = c3dToPoint3f(points[52]);
skeletonStruct.mToeR = c3dToPoint3f(points[57]);
+ skeletonStruct.mAnkleL = c3dToPoint3f(points[84]);
skeletonStruct.mHeelL = c3dToPoint3f(points[58]);
skeletonStruct.mToeL = c3dToPoint3f(points[63]);
diff --git a/src/moCapController.cpp b/src/moCapController.cpp
index 5561ea338..8ec534dab 100644
--- a/src/moCapController.cpp
+++ b/src/moCapController.cpp
@@ -95,7 +95,7 @@ void MoCapController::transformPersonSkeleton(
for(const auto &pair : interpolatedPairs)
{
projectedPairs.emplace_back(mExtrCalib.getImagePoint(pair.start), mExtrCalib.getImagePoint(pair.end));
- if(pair.start_id == 1 && pair.end_id == 2)
+ if(pair.start_id == 19 && pair.end_id == 2)
{
neckToHead = pair;
neckToHead3D = Vec3F(pair.end - pair.start);
diff --git a/src/skeletonTreeFactory.cpp b/src/skeletonTreeFactory.cpp
index 681aade7f..e98bbd570 100644
--- a/src/skeletonTreeFactory.cpp
+++ b/src/skeletonTreeFactory.cpp
@@ -37,15 +37,16 @@ SkeletonTree SkeletonTreeFactory::generateTree(const XSenseStruct &points)
{
// Start from the root
SkeletonNode root(0, points.mRoot);
- SkeletonNode &neck = root.addChild(SkeletonNode(1, points.mNeck));
+ SkeletonNode &neck = root.addChild(SkeletonNode(1, points.mNeck1));
// continue with the neck
- neck.addChild(SkeletonNode(2, points.mHeadTop));
- SkeletonNode &lShoulder = neck.addChild(SkeletonNode(3, points.mShldrL));
+ SkeletonNode &neck2 = neck.addChild(SkeletonNode(19, points.mNeck2));
+ neck2.addChild(SkeletonNode(2, points.mHeadTop));
// add the left arm
- SkeletonNode &lElbow = lShoulder.addChild(SkeletonNode(4, points.mElbowL));
- SkeletonNode &lWrist = lElbow.addChild(SkeletonNode(5, points.mWristL));
+ SkeletonNode &lShoulder = neck.addChild(SkeletonNode(3, points.mShldrL));
+ SkeletonNode &lElbow = lShoulder.addChild(SkeletonNode(4, points.mElbowL));
+ SkeletonNode &lWrist = lElbow.addChild(SkeletonNode(5, points.mWristL));
lWrist.addChild(SkeletonNode(6, points.mHandL));
// add the right arm
@@ -55,19 +56,21 @@ SkeletonTree SkeletonTreeFactory::generateTree(const XSenseStruct &points)
rWrist.addChild(SkeletonNode(10, points.mHandR));
// add the left leg
- SkeletonNode &lHip = root.addChild(SkeletonNode(11, points.mHipL));
- SkeletonNode &lKnee = lHip.addChild(SkeletonNode(12, points.mKneeL));
- SkeletonNode &lHeel = lKnee.addChild(SkeletonNode(13, points.mHeelL));
+ SkeletonNode &lHip = root.addChild(SkeletonNode(11, points.mHipL));
+ SkeletonNode &lKnee = lHip.addChild(SkeletonNode(12, points.mKneeL));
+ SkeletonNode &lAnkle = lKnee.addChild(SkeletonNode(20, points.mAnkleL));
+ SkeletonNode &lHeel = lAnkle.addChild(SkeletonNode(13, points.mHeelL));
lHeel.addChild(SkeletonNode(14, points.mToeL));
- SkeletonNode &rHip = root.addChild(SkeletonNode(15, points.mHipR));
- SkeletonNode &rKnee = rHip.addChild(SkeletonNode(16, points.mKneeR));
- SkeletonNode &rHeel = rKnee.addChild(SkeletonNode(17, points.mHeelR));
+ SkeletonNode &rHip = root.addChild(SkeletonNode(15, points.mHipR));
+ SkeletonNode &rKnee = rHip.addChild(SkeletonNode(16, points.mKneeR));
+ SkeletonNode &rAnkle = rKnee.addChild(SkeletonNode(21, points.mAnkleR));
+ SkeletonNode &rHeel = rAnkle.addChild(SkeletonNode(17, points.mHeelR));
rHeel.addChild(SkeletonNode(18, points.mToeR));
// calculate view direction of the head
- cv::Point3f headUp = points.mHeadTop - points.mNeck;
+ cv::Point3f headUp = points.mHeadTop - points.mNeck2;
cv::Point3f rightVector = points.mEarR - points.mEarL;
// the direction is calculated using the cross product
cv::Point3f dir = headUp.cross(rightVector);
diff --git a/tests/unit_test/tst_SkeletonTree.cpp b/tests/unit_test/tst_SkeletonTree.cpp
index 758183b77..3c925482b 100644
--- a/tests/unit_test/tst_SkeletonTree.cpp
+++ b/tests/unit_test/tst_SkeletonTree.cpp
@@ -53,18 +53,19 @@ TEST_CASE("SkeletonTree for XSenseData is built")
// check neck next
auto &neckNode = rootNode.getChildById(1);
- REQUIRE(neckNode.getPos() == XSENSE_DUMMY_DATA.mNeck);
+ REQUIRE(neckNode.getPos() == XSENSE_DUMMY_DATA.mNeck1);
REQUIRE(neckNode.getChildrenCount() == 3);
// head
- REQUIRE_NOTHROW(neckNode.getChildById(2));
+ auto &upperNeckNode = neckNode.getChildById(19);
+ REQUIRE_NOTHROW(upperNeckNode.getChildById(2));
// left shoulder
REQUIRE_NOTHROW(neckNode.getChildById(3));
// right shoulder
REQUIRE_NOTHROW(neckNode.getChildById(7));
// head
- auto &headNode = neckNode.getChildById(2);
+ auto &headNode = upperNeckNode.getChildById(2);
REQUIRE(headNode.getPos() == XSENSE_DUMMY_DATA.mHeadTop);
REQUIRE(headNode.getChildrenCount() == 0);
@@ -137,19 +138,26 @@ TEST_CASE("SkeletonTree for XSenseData is built")
REQUIRE(lKneeNode.getPos() == XSENSE_DUMMY_DATA.mKneeL);
REQUIRE(lKneeNode.getChildrenCount() == 1);
- REQUIRE_NOTHROW(lKneeNode.getChildById(13));
+ REQUIRE_NOTHROW(lKneeNode.getChildById(20));
+
+ // left ankle
+ auto &lAnkle = lKneeNode.getChildById(20);
+ REQUIRE(lAnkle.getPos() == XSENSE_DUMMY_DATA.mAnkleL);
+ REQUIRE(lAnkle.getChildrenCount() == 1);
+
+ REQUIRE_NOTHROW(lAnkle.getChildById(13));
// left heel
- auto &lHeelNode = lKneeNode.getChildById(13);
- REQUIRE(lKneeNode.getPos() == XSENSE_DUMMY_DATA.mKneeL);
- REQUIRE(lKneeNode.getChildrenCount() == 1);
+ auto &lHeel = lAnkle.getChildById(13);
+ REQUIRE(lHeel.getPos() == XSENSE_DUMMY_DATA.mHeelL);
+ REQUIRE(lHeel.getChildrenCount() == 1);
- REQUIRE_NOTHROW(lHeelNode.getChildById(14));
+ REQUIRE_NOTHROW(lHeel.getChildById(14));
- // left toe
- auto &lToeNode = lHeelNode.getChildById(14);
- REQUIRE(lToeNode.getPos() == XSENSE_DUMMY_DATA.mToeL);
- REQUIRE(lToeNode.getChildrenCount() == 0);
+ // left Toe
+ auto &lToe = lHeel.getChildById(14);
+ REQUIRE(lToe.getPos() == XSENSE_DUMMY_DATA.mToeL);
+ REQUIRE(lToe.getChildrenCount() == 0);
// right hip
auto &rHipNode = rootNode.getChildById(15);
@@ -163,25 +171,32 @@ TEST_CASE("SkeletonTree for XSenseData is built")
REQUIRE(rKneeNode.getPos() == XSENSE_DUMMY_DATA.mKneeR);
REQUIRE(rKneeNode.getChildrenCount() == 1);
- REQUIRE_NOTHROW(rKneeNode.getChildById(17));
+ REQUIRE_NOTHROW(rKneeNode.getChildById(21));
+
+ // right ankle
+ auto &rAnkle = rKneeNode.getChildById(21);
+ REQUIRE(rAnkle.getPos() == XSENSE_DUMMY_DATA.mAnkleR);
+ REQUIRE(rAnkle.getChildrenCount() == 1);
+
+ REQUIRE_NOTHROW(rAnkle.getChildById(17));
// right heel
- auto &rHeelNode = rKneeNode.getChildById(17);
- REQUIRE(rKneeNode.getPos() == XSENSE_DUMMY_DATA.mKneeR);
- REQUIRE(rKneeNode.getChildrenCount() == 1);
+ auto &rHeel = rAnkle.getChildById(17);
+ REQUIRE(rHeel.getPos() == XSENSE_DUMMY_DATA.mHeelR);
+ REQUIRE(rHeel.getChildrenCount() == 1);
- REQUIRE_NOTHROW(rHeelNode.getChildById(18));
+ REQUIRE_NOTHROW(rHeel.getChildById(18));
- // right toe
- auto &rToeNode = rHeelNode.getChildById(18);
- REQUIRE(rToeNode.getPos() == XSENSE_DUMMY_DATA.mToeR);
- REQUIRE(rToeNode.getChildrenCount() == 0);
+ // right Toe
+ auto &rToe = rHeel.getChildById(18);
+ REQUIRE(rToe.getPos() == XSENSE_DUMMY_DATA.mToeR);
+ REQUIRE(rToe.getChildrenCount() == 0);
}
SECTION("Test the line data")
{
auto lines = skel.getLines();
- REQUIRE(lines.size() == 18);
+ REQUIRE(lines.size() == 21);
for(SkeletonLine &line : lines)
{
REQUIRE(line.start_id != line.end_id);
diff --git a/tests/unit_test/tst_io.cpp b/tests/unit_test/tst_io.cpp
index 292f6592d..601efcdf4 100644
--- a/tests/unit_test/tst_io.cpp
+++ b/tests/unit_test/tst_io.cpp
@@ -501,7 +501,8 @@ SCENARIO("I want to read a XSens c3d file", "[io]")
unit.set("cm");
c3d.parameter("POINT", unit);
- for(int i = 0; i < 64; ++i)
+ constexpr int numPoints = 87;
+ for(int i = 0; i < numPoints; ++i)
{
c3d.point("marker_" + std::to_string(i + 1));
}
@@ -544,7 +545,7 @@ SCENARIO("I want to read a XSens c3d file", "[io]")
auto root = skeleton.getRoot();
// NOTE checking everything should be part of a test for the SkeletonFactory
- REQUIRE(root.getPos() == cv::Point3f{7, 7, 7}); // pSacrum point[7]
+ REQUIRE(root.getPos() == cv::Point3f{0, 0, 0}); // pSacrum point[7]
REQUIRE(root.getChildById(1).getPos() == cv::Point3f(15, 15, 15)); // pC7SpinalProcess point[15]
}
}
diff --git a/tests/unit_test/tst_moCapController.cpp b/tests/unit_test/tst_moCapController.cpp
index 1e8591e6f..b57727d79 100644
--- a/tests/unit_test/tst_moCapController.cpp
+++ b/tests/unit_test/tst_moCapController.cpp
@@ -46,13 +46,13 @@ SCENARIO("I want to get the render data with one person loaded", "[ui]")
* Resulting Lines should be: root to child; child to grandchild;
*/
SkeletonNode rootA{0, cv::Point3f{100, 100, 0}};
- SkeletonNode &childA = rootA.addChild({1, cv::Point3f{200, 100, 69}});
- SkeletonNode &grandchildA = childA.addChild({1, cv::Point3f{50, 50, 42}});
+ SkeletonNode &childA = rootA.addChild({19, cv::Point3f{200, 100, 69}});
+ SkeletonNode &grandchildA = childA.addChild({19, cv::Point3f{50, 50, 42}});
grandchildA.addChild({2, cv::Point3f{150, 150, 1337}});
SkeletonNode rootB{0, cv::Point3f{50, 50, 0}};
- SkeletonNode &childB = rootB.addChild({1, cv::Point3f{100, 50, 69}});
- SkeletonNode &grandchildB = childB.addChild({1, cv::Point3f{25, 25, 42}});
+ SkeletonNode &childB = rootB.addChild({19, cv::Point3f{100, 50, 69}});
+ SkeletonNode &grandchildB = childB.addChild({19, cv::Point3f{25, 25, 42}});
grandchildB.addChild({2, cv::Point3f{75, 75, 1337}});
MoCapPerson person;
--
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