BVHデータ

bvh-link

:super = ** bodyset-link**

:slots type offset channels neutral

:init name typ offst chs parent children

create link for bvh model

:type **

:offset **

:channels **

:init name typ offst chs parent children

create link for bvh model

:channels **

:offset **

:type **

bvh-sphere-joint

:super = ** sphere-joint**

:slots axis-order bvh-offset-rotation

:init = `[method]

&rest args &key = (order (list :z :x :y)) ((:bvh-offset-rotation bvh-rotation) (unit-matrix 3)) &allow-other-keys

create joint for bvh model

:joint-angle-bvh &optional v

:joint-angle-bvh-offset &optional v

:joint-angle-bvh-impl v bvh-offset

:axis-order **

:bvh-offset-rotation **

:init = `[method]

&rest args &key = (order (list :z :x :y)) ((:bvh-offset-rotation bvh-rotation) (unit-matrix 3)) &allow-other-keys

create joint for bvh model

:bvh-offset-rotation **

:axis-order **

:joint-angle-bvh-impl v bvh-offset

:joint-angle-bvh-offset &optional v

:joint-angle-bvh &optional v

bvh-6dof-joint

:super = ** 6dof-joint**

:slots scale axis-order bvh-offset-rotation

:bvh-offset-rotation **

:axis-order **

:joint-angle-bvh-impl v bvh-offset

:joint-angle-bvh-offset &optional v

:joint-angle-bvh &optional v

:init &rest args &key (order (list :x :y :z :z :x :y)) ((:scale scl)) ((:bvh-offset-rotation bvh-rotation) (unit-matrix 3)) &allow-other-keys

bvh-robot-model

:super = ** robot-model**

:slots nil

:init = `[method]

&rest args &key = tree coords ((:scale scl))

create robot model for bvh model

:make-bvh-link tree &key parent ((:scale scl))

:angle-vector &optional vec (angle-vector (instantiate float-vector (calc-target-joint-dimension joint-list)))

:dump-joints links &key (depth 0) (strm standard-output)

:dump-hierarchy &optional (strm standard-output)

:dump-motion &optional (strm standard-output)

:copy-state-to robot

:fix-joint-angle i limb joint-name joint-order a

:fix-joint-order jo limb

:bvh-offset-rotate name

:init-end-coords **

:init-root-link **

:init = `[method]

&rest args &key = tree coords ((:scale scl))

create robot model for bvh model

:bvh-offset-rotate name

:fix-joint-order jo limb

:fix-joint-angle i limb joint-name joint-order a

:copy-state-to robot

:dump-motion &optional (strm standard-output)

:dump-hierarchy &optional (strm standard-output)

:dump-joints links &key (depth 0) (strm standard-output)

:angle-vector &optional vec (angle-vector (instantiate float-vector (calc-target-joint-dimension joint-list)))

:make-bvh-link tree &key parent ((:scale scl))

motion-capture-data

:super = ** propertied-object**

:slots frame model animation

:animate &rest args &key (start 0) (step 1) (end (send self :frame-length)) (interval 20) &allow-other-keys

:frame-length **

:frame &optional f

:animation &rest args

:model &rest args

:init fname &key (coords (make-coords)) ((:scale scl))

:init-root-link **

:init-end-coords **

rikiya-bvh-robot-model

:super = ** bvh-robot-model**

:slots nil

:copy-state-to robot

:copy-joint-to robot limb joint &optional (sign 1)

:head-neck &rest args

:torso-chest &rest args

:rleg-ankle &rest args

:rleg-knee &rest args

:rleg-crotch &rest args

:lleg-ankle &rest args

:lleg-knee &rest args

:lleg-crotch &rest args

:rarm-wrist &rest args

:rarm-elbow &rest args

:rarm-shoulder &rest args

:rarm-collar &rest args

:larm-wrist &rest args

:larm-elbow &rest args

:larm-shoulder &rest args

:larm-collar &rest args

:init &rest args

tum-bvh-robot-model

:super = ** bvh-robot-model**

:slots nil

:init &rest args

cmu-bvh-robot-model

:super = ** bvh-robot-model**

:slots nil

:init &rest args

read-bvh fname &key scale

read bvh file

bvh2eus = `[function]

fname &rest args &key = ((:objects obj) nil) &allow-other-keys

read bvh file and anmiate robot model in the viewer

for Supported bvh data, such as

- CMU motion capture database

(https://sites.google.com/a/cgspeed.com/cgspeed/motion-capture/cmu-bvh-conversion)

- The TUM Kitchen Data Set

(http://ias.cs.tum.edu/download/kitchen-activity-data)

Use

(tum-bvh2eus ”Take 005.bvh”) ;; tum

(rikiya-bvh2eus ”A01.bvh”) ;; rikiya

(cmu-bvh2eus ”01_01.bvh”) ;; cmu

Other Sites are:

(http://www.mocapdata.com/page.cgi?p=free_motions)

(http://www.motekentertainment.com/)

(http://www.mocapclub.com/Pages/Library.htm)

(bvh2eus ”poses.bvh”)

load-mcd = `[function]

fname &key = (scale) (coords) (bvh-robot-model-class bvh-robot-model) &allow-other-keys

load motion capture data

rikiya-bvh2eus fname &rest args

read rikiya bvh file and anmiate robot model in the viewer

(rikiya-bvh2eus ”A01.bvh”)

cmu-bvh2eus fname &rest args

read cmu bvh file and anmiate robot model in the viewer

CMU motion capture database

(https://sites.google.com/a/cgspeed.com/cgspeed/motion-capture/cmu-bvh-conversion)

(cmu-bvh2eus ”01_01.bvh” :scale 100.0)

tum-bvh2eus fname &rest args

read tum file and anmiate robot model in the viewer

The TUM Kitchen Data Set

(http://ias.cs.tum.edu/download/kitchen-activity-data)

(tum-bvh2eus ”Take 005.bvh” :scale 10.0)

parse-bvh-sexp src &key ((:scale scl))

make-bvh-robot-model bvh-data &rest args

rikiya-file &key (num 1) (cls ’a)

tum-kitchen-file &key (num 1) (cls 0)

cmu-mocap-file &key (num 1) (cls 1)