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8b3f571 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 | # BSD License
# For fairmotion software
# Copyright (c) Facebook, Inc. and its affiliates. All rights reserved.
# Redistribution and use in source and binary forms, with or without modification,
# are permitted provided that the following conditions are met:
# * Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name Facebook nor the names of its contributors may be used to
# endorse or promote products derived from this software without specific
# prior written permission.
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
import numpy as np
def distance_between_points(a, b):
return np.linalg.norm(np.array(a) - np.array(b))
def distance_from_plane(a, b, c, p, threshold):
ba = np.array(b) - np.array(a)
ca = np.array(c) - np.array(a)
cross = np.cross(ca, ba)
pa = np.array(p) - np.array(a)
return np.dot(cross, pa) / np.linalg.norm(cross) > threshold
def distance_from_plane_normal(n1, n2, a, p, threshold):
normal = np.array(n2) - np.array(n1)
pa = np.array(p) - np.array(a)
return np.dot(normal, pa) / np.linalg.norm(normal) > threshold
def angle_within_range(j1, j2, k1, k2, range):
j = np.array(j2) - np.array(j1)
k = np.array(k2) - np.array(k1)
angle = np.arccos(np.clip(np.dot(j, k) / (np.linalg.norm(j) * np.linalg.norm(k)), -1.0, 1.0))
angle = np.degrees(angle)
if angle > range[0] and angle < range[1]:
return True
else:
return False
def velocity_direction_above_threshold(
j1, j1_prev, j2, j2_prev, p, p_prev, threshold, time_per_frame=1 / 120.0
):
velocity = (
np.array(p) - np.array(j1) - (np.array(p_prev) - np.array(j1_prev))
)
direction = np.array(j2) - np.array(j1)
velocity_along_direction = np.dot(velocity, direction) / np.linalg.norm(
direction
)
velocity_along_direction = velocity_along_direction / time_per_frame
return velocity_along_direction > threshold
def velocity_direction_above_threshold_normal(
j1, j1_prev, j2, j3, p, p_prev, threshold, time_per_frame=1 / 120.0
):
velocity = (
np.array(p) - np.array(j1) - (np.array(p_prev) - np.array(j1_prev))
)
j31 = np.array(j3) - np.array(j1)
j21 = np.array(j2) - np.array(j1)
direction = np.cross(j31, j21)
velocity_along_direction = np.dot(velocity, direction) / np.linalg.norm(
direction
)
velocity_along_direction = velocity_along_direction / time_per_frame
return velocity_along_direction > threshold
def velocity_above_threshold(p, p_prev, threshold, time_per_frame=1 / 120.0):
velocity = np.linalg.norm(np.array(p) - np.array(p_prev)) / time_per_frame
return velocity > threshold
def calc_average_velocity(positions, i, joint_idx, sliding_window, frame_time):
current_window = 0
average_velocity = np.zeros(len(positions[0][joint_idx]))
for j in range(-sliding_window, sliding_window + 1):
if i + j - 1 < 0 or i + j >= len(positions):
continue
average_velocity += (
positions[i + j][joint_idx] - positions[i + j - 1][joint_idx]
)
current_window += 1
return np.linalg.norm(average_velocity / (current_window * frame_time))
def calc_average_acceleration(
positions, i, joint_idx, sliding_window, frame_time
):
current_window = 0
average_acceleration = np.zeros(len(positions[0][joint_idx]))
for j in range(-sliding_window, sliding_window + 1):
if i + j - 1 < 0 or i + j + 1 >= len(positions):
continue
v2 = (
positions[i + j + 1][joint_idx] - positions[i + j][joint_idx]
) / frame_time
v1 = (
positions[i + j][joint_idx]
- positions[i + j - 1][joint_idx] / frame_time
)
average_acceleration += (v2 - v1) / frame_time
current_window += 1
return np.linalg.norm(average_acceleration / current_window)
def calc_average_velocity_horizontal(
positions, i, joint_idx, sliding_window, frame_time, up_vec="z"
):
current_window = 0
average_velocity = np.zeros(len(positions[0][joint_idx]))
for j in range(-sliding_window, sliding_window + 1):
if i + j - 1 < 0 or i + j >= len(positions):
continue
average_velocity += (
positions[i + j][joint_idx] - positions[i + j - 1][joint_idx]
)
current_window += 1
if up_vec == "y":
average_velocity = np.array(
[average_velocity[0], average_velocity[2]]
) / (current_window * frame_time)
elif up_vec == "z":
average_velocity = np.array(
[average_velocity[0], average_velocity[1]]
) / (current_window * frame_time)
else:
raise NotImplementedError
return np.linalg.norm(average_velocity)
def calc_average_velocity_vertical(
positions, i, joint_idx, sliding_window, frame_time, up_vec
):
current_window = 0
average_velocity = np.zeros(len(positions[0][joint_idx]))
for j in range(-sliding_window, sliding_window + 1):
if i + j - 1 < 0 or i + j >= len(positions):
continue
average_velocity += (
positions[i + j][joint_idx] - positions[i + j - 1][joint_idx]
)
current_window += 1
if up_vec == "y":
average_velocity = np.array([average_velocity[1]]) / (
current_window * frame_time
)
elif up_vec == "z":
average_velocity = np.array([average_velocity[2]]) / (
current_window * frame_time
)
else:
raise NotImplementedError
return np.linalg.norm(average_velocity) |