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bvh.py
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bvh.py
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# ***** BEGIN LICENSE BLOCK *****
# Version: MPL 1.1/GPL 2.0/LGPL 2.1
#
# The contents of this file are subject to the Mozilla Public License Version
# 1.1 (the "License"); you may not use this file except in compliance with
# the License. You may obtain a copy of the License at
# http://www.mozilla.org/MPL/
#
# Software distributed under the License is distributed on an "AS IS" basis,
# WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
# for the specific language governing rights and limitations under the
# License.
#
# The Original Code is the Python Computer Graphics Kit.
#
# The Initial Developer of the Original Code is Matthias Baas.
# Portions created by the Initial Developer are Copyright (C) 2004
# the Initial Developer. All Rights Reserved.
#
# Minor modifications made to make PEP8 compatible and switch to new-style
# classes by Matt Graham (March 2016).
#
# Contributor(s):
#
# Alternatively, the contents of this file may be used under the terms of
# either the GNU General Public License Version 2 or later (the "GPL"), or
# the GNU Lesser General Public License Version 2.1 or later (the "LGPL"),
# in which case the provisions of the GPL or the LGPL are applicable instead
# of those above. If you wish to allow use of your version of this file only
# under the terms of either the GPL or the LGPL, and not to allow others to
# use your version of this file under the terms of the MPL, indicate your
# decision by deleting the provisions above and replace them with the notice
# and other provisions required by the GPL or the LGPL. If you do not delete
# the provisions above, a recipient may use your version of this file under
# the terms of any one of the MPL, the GPL or the LGPL.
#
# ***** END LICENSE BLOCK *****
# $Id: bvh.py,v 1.1 2005/02/06 22:26:02 mbaas Exp $
# \file bvh.py
# Contains the BVHReader class.
import string
class Node(object):
"""Skeleton hierarchy node."""
def __init__(self, root=False):
self.name = None
self.channels = []
self.offset = (0, 0, 0)
self.children = []
self._is_root = root
@property
def is_root(self):
return self._is_root
@property
def is_end_site(self):
return len(self.children) == 0
class BvhReader(object):
"""BioVision Hierarchical (.bvh) file reader."""
def __init__(self, filename):
self.filename = filename
# A list of unprocessed tokens (strings)
self._token_list = []
# The current line number
self._line_num = 0
# Root node
self.root = None
self._node_stack = []
# Total number of channels
self.num_channels = 0
def on_hierarchy(self, root):
pass
def on_motion(self, frames, dt):
pass
def on_frame(self, values):
pass
def read(self):
"""Read the entire file."""
with open(self.filename, 'r') as self._file_handle:
self.read_hierarchy()
self.on_hierarchy(self.root)
self.read_motion()
def read_motion(self):
"""Read the motion samples."""
# No more tokens (i.e. end of file)? Then just return
try:
tok = self.token()
except StopIteration:
return
if tok != "MOTION":
raise SyntaxError("Syntax error in line %d: 'MOTION' expected, "
"got '%s' instead" % (self._line_num, tok))
# Read the number of frames
tok = self.token()
if tok != "Frames:":
raise SyntaxError("Syntax error in line %d: 'Frames:' expected, "
"got '%s' instead" % (self._line_num, tok))
frames = self.int_token()
# Read the frame time
tok = self.token()
if tok != "Frame":
raise SyntaxError("Syntax error in line %d: 'Frame Time:' "
"expected, got '%s' instead"
% (self._line_num, tok))
tok = self.token()
if tok != "Time:":
raise SyntaxError("Syntax error in line %d: 'Frame Time:' "
"expected, got 'Frame %s' instead"
% (self._line_num, tok))
dt = self.float_token()
self.on_motion(frames, dt)
# Read the channel values
for i in range(frames):
s = self.read_line()
a = s.split()
if len(a) != self.num_channels:
raise SyntaxError("Syntax error in line %d: %d float values "
"expected, got %d instead"
% (self._line_num, self.num_channels,
len(a)))
values = list(map(lambda x: float(x), a)) # In Python 3 map returns map-object, not a list. Can't slice.
self.on_frame(values)
def read_hierarchy(self):
"""Read the skeleton hierarchy."""
tok = self.token()
if tok != "HIERARCHY":
raise SyntaxError("Syntax error in line %d: 'HIERARCHY' expected, "
"got '%s' instead" % (self._line_num, tok))
tok = self.token()
if tok != "ROOT":
raise SyntaxError("Syntax error in line %d: 'ROOT' expected, "
"got '%s' instead" % (self._line_num, tok))
self.root = Node(root=True)
self._node_stack.append(self.root)
self.read_node()
def read_node(self):
"""Read the data for a node."""
# Read the node name (or the word 'Site' if it was a 'End Site' node)
name = self.token()
self._node_stack[-1].name = name
tok = self.token()
if tok != "{":
raise SyntaxError("Syntax error in line %d: '{' expected, "
"got '%s' instead" % (self._line_num, tok))
while 1:
tok = self.token()
if tok == "OFFSET":
x = self.float_token()
y = self.float_token()
z = self.float_token()
self._node_stack[-1].offset = (x, y, z)
elif tok == "CHANNELS":
n = self.int_token()
channels = []
for i in range(n):
tok = self.token()
if tok not in ["Xposition", "Yposition", "Zposition",
"Xrotation", "Yrotation", "Zrotation"]:
raise SyntaxError("Syntax error in line %d: Invalid "
"channel name: '%s'"
% (self._line_num, tok))
channels.append(tok)
self.num_channels += len(channels)
self._node_stack[-1].channels = channels
elif tok == "JOINT":
node = Node()
self._node_stack[-1].children.append(node)
self._node_stack.append(node)
self.read_node()
elif tok == "End":
node = Node()
self._node_stack[-1].children.append(node)
self._node_stack.append(node)
self.read_node()
elif tok == "}":
if self._node_stack[-1].is_end_site:
self._node_stack[-1].name = "End Site"
self._node_stack.pop()
break
else:
raise SyntaxError("Syntax error in line %d: Unknown "
"keyword '%s'" % (self._line_num, tok))
def int_token(self):
"""Return the next token which must be an int. """
tok = self.token()
try:
return int(tok)
except ValueError:
raise SyntaxError("Syntax error in line %d: Integer expected, "
"got '%s' instead" % (self._line_num, tok))
def float_token(self):
"""Return the next token which must be a float."""
tok = self.token()
try:
return float(tok)
except ValueError:
raise SyntaxError("Syntax error in line %d: Float expected, "
"got '%s' instead" % (self._line_num, tok))
def token(self):
"""Return the next token."""
# Are there still some tokens left? then just return the next one
if self._token_list:
tok = self._token_list[0]
self._token_list = self._token_list[1:]
return tok
# Read a new line
s = self.read_line()
self.create_tokens(s)
return self.token()
def read_line(self):
"""Return the next line.
Empty lines are skipped. If the end of the file has been
reached, a StopIteration exception is thrown. The return
value is the next line containing data (this will never be an
empty string).
"""
# Discard any remaining tokens
self._token_list = []
# Read the next line
while 1:
s = self._file_handle.readline()
self._line_num += 1
if s == "":
raise StopIteration
return s
def create_tokens(self, s):
"""Populate the token list from the content of s."""
s = s.strip()
a = s.split()
self._token_list = a