Esempio n. 1
0
/**
 * Set the local offset of each non-fixed marker so that in the model's
 * current pose the marker coincides with the marker's global position
 * in the passed-in MarkerData.
 *
 * @param aModel the model to use
 * @param aPose the static-pose marker cloud to get the marker locations from
 */
void MarkerPlacer::moveModelMarkersToPose(SimTK::State& s, Model& aModel,
        MarkerData& aPose) const
{
    aPose.averageFrames(0.01);
    const MarkerFrame &frame = aPose.getFrame(0);

    // const SimbodyEngine& engine = aModel.getSimbodyEngine();

    MarkerSet& markerSet = aModel.updMarkerSet();

    int i;
    for (i = 0; i < markerSet.getSize(); i++)
    {
        Marker& modelMarker = markerSet.get(i);

        if (true/*!modelMarker.getFixed()*/)
        {
            int index = aPose.getMarkerIndex(modelMarker.getName());
            if (index >= 0)
            {
                Vec3 globalMarker = frame.getMarker(index);
                if (!globalMarker.isNaN())
                {
                    Vec3 pt, pt2;
                    Vec3 globalPt = globalMarker;
                    double conversionFactor = aPose.getUnits().convertTo(aModel.getLengthUnits());
                    pt = conversionFactor*globalPt;
                    pt2 = modelMarker.getParentFrame().findLocationInAnotherFrame(s, pt, aModel.getGround());
                    modelMarker.set_location(pt2);
                }
                else
                {
                    cout << "___WARNING___: marker " << modelMarker.getName() << " does not have valid coordinates in " << aPose.getFileName() << endl;
                    cout << "               It will not be moved to match location in marker file." << endl;
                }
            }
        }
    }

    cout << "Moved markers in model " << aModel.getName() << " to match locations in marker file " << aPose.getFileName() << endl;
}
Esempio n. 2
0
/**
 * This method creates a SimmMotionTrial instance with the markerFile and
 * timeRange parameters. It also creates a Storage instance with the
 * coordinateFile parameter. Then it updates the coordinates and markers in
 * the model, if specified. Then it does IK to fit the model to the static
 * pose. Then it uses the current model pose to relocate all non-fixed markers
 * according to their locations in the SimmMotionTrial. Then it writes the
 * output files selected by the user.
 *
 * @param aModel the model to use for the marker placing process.
 * @return Whether the marker placing process was successful or not.
 */
bool MarkerPlacer::processModel(Model* aModel,
        const string& aPathToSubject) const {

    if(!getApply()) return false;

    cout << endl << "Step 3: Placing markers on model" << endl;

    if (_timeRange.getSize()<2) 
        throw Exception("MarkerPlacer::processModel, time_range is unspecified.");

    /* Load the static pose marker file, and average all the
    * frames in the user-specified time range.
    */
    MarkerData* staticPose = new MarkerData(aPathToSubject + _markerFileName);
    staticPose->averageFrames(_maxMarkerMovement, _timeRange[0], _timeRange[1]);
    staticPose->convertToUnits(aModel->getLengthUnits());

    /* Delete any markers from the model that are not in the static
     * pose marker file.
     */
    aModel->deleteUnusedMarkers(staticPose->getMarkerNames());

    // Construct the system and get the working state when done changing the model
    SimTK::State& s = aModel->initSystem();
    
    // Create references and WeightSets needed to initialize InverseKinemaicsSolver
    Set<MarkerWeight> markerWeightSet;
    _ikTaskSet.createMarkerWeightSet(markerWeightSet); // order in tasks file
    // MarkersReference takes ownership of marker data (staticPose)
    MarkersReference markersReference(staticPose, &markerWeightSet);
    SimTK::Array_<CoordinateReference> coordinateReferences;

    // Load the coordinate data
    // create CoordinateReferences for Coordinate Tasks
    FunctionSet *coordFunctions = NULL;
    // bool haveCoordinateFile = false;
    if(_coordinateFileName != "" && _coordinateFileName != "Unassigned"){
        Storage coordinateValues(aPathToSubject + _coordinateFileName);
        aModel->getSimbodyEngine().convertDegreesToRadians(coordinateValues);
        // haveCoordinateFile = true;
        coordFunctions = new GCVSplineSet(5,&coordinateValues);
    }
    
    int index = 0;
    for(int i=0; i< _ikTaskSet.getSize(); i++){
        IKCoordinateTask *coordTask = dynamic_cast<IKCoordinateTask *>(&_ikTaskSet[i]);
        if (coordTask && coordTask->getApply()){
            std::unique_ptr<CoordinateReference> coordRef{};
            if(coordTask->getValueType() == IKCoordinateTask::FromFile){
                index = coordFunctions->getIndex(coordTask->getName(), index);
                if(index >= 0){
                    coordRef.reset(new CoordinateReference(coordTask->getName(),coordFunctions->get(index)));
                }
            }
            else if((coordTask->getValueType() == IKCoordinateTask::ManualValue)){
                Constant reference(Constant(coordTask->getValue()));
                coordRef.reset(new CoordinateReference(coordTask->getName(), reference));
            }
            else{ // assume it should be held at its current/default value
                double value = aModel->getCoordinateSet().get(coordTask->getName()).getValue(s);
                Constant reference = Constant(value);
                coordRef.reset(new CoordinateReference(coordTask->getName(), reference));
            }

            if(coordRef == NULL)
                throw Exception("MarkerPlacer: value for coordinate "+coordTask->getName()+" not found.");

            // We have a valid coordinate reference so now set its weight according to the task
            coordRef->setWeight(coordTask->getWeight());
            coordinateReferences.push_back(*coordRef);      
        }           
    }
    double constraintWeight = std::numeric_limits<SimTK::Real>::infinity();

    InverseKinematicsSolver ikSol(*aModel, markersReference,
                                  coordinateReferences, constraintWeight);
    ikSol.assemble(s);

    // Call realize Position so that the transforms are updated and  markers can be moved correctly
    aModel->getMultibodySystem().realize(s, SimTK::Stage::Position);
    // Report marker errors to assess the quality 
    int nm = markerWeightSet.getSize();
    SimTK::Array_<double> squaredMarkerErrors(nm, 0.0);
    SimTK::Array_<Vec3> markerLocations(nm, Vec3(0));
    double totalSquaredMarkerError = 0.0;
    double maxSquaredMarkerError = 0.0;
    int worst = -1;
    // Report in the same order as the marker tasks/weights
    ikSol.computeCurrentSquaredMarkerErrors(squaredMarkerErrors);
    for(int j=0; j<nm; ++j){
        totalSquaredMarkerError += squaredMarkerErrors[j];
        if(squaredMarkerErrors[j] > maxSquaredMarkerError){
            maxSquaredMarkerError = squaredMarkerErrors[j];
            worst = j;
        }
    }
    cout << "Frame at (t=" << s.getTime() << "):\t";
    cout << "total squared error = " << totalSquaredMarkerError;
    cout << ", marker error: RMS=" << sqrt(totalSquaredMarkerError/nm);
    cout << ", max=" << sqrt(maxSquaredMarkerError) << " (" << ikSol.getMarkerNameForIndex(worst) << ")" << endl;
    /* Now move the non-fixed markers on the model so that they are coincident
     * with the measured markers in the static pose. The model is already in
     * the proper configuration so the coordinates do not need to be changed.
     */
    if(_moveModelMarkers) moveModelMarkersToPose(s, *aModel, *staticPose);

    _outputStorage.reset();
    // Make a storage file containing the solved states and markers for display in GUI.
    Storage motionData;
    StatesReporter statesReporter(aModel);
    statesReporter.begin(s);
    
    _outputStorage.reset(new Storage(statesReporter.updStatesStorage()));
    _outputStorage->setName("static pose");
    //_outputStorage->print("statesReporterOutput.sto");
    Storage markerStorage;
    staticPose->makeRdStorage(*_outputStorage);
    _outputStorage->getStateVector(0)->setTime(s.getTime());
    statesReporter.updStatesStorage().addToRdStorage(*_outputStorage, s.getTime(), s.getTime());
    //_outputStorage->print("statesReporterOutputWithMarkers.sto");

    if(_printResultFiles) {
        if (!_outputModelFileNameProp.getValueIsDefault())
        {
            aModel->print(aPathToSubject + _outputModelFileName);
            cout << "Wrote model file " << _outputModelFileName << " from model " << aModel->getName() << endl;
        }

        if (!_outputMarkerFileNameProp.getValueIsDefault())
        {
            aModel->writeMarkerFile(aPathToSubject + _outputMarkerFileName);
            cout << "Wrote marker file " << _outputMarkerFileName << " from model " << aModel->getName() << endl;
        }
        
        if (!_outputMotionFileNameProp.getValueIsDefault())
        {
            _outputStorage->print(aPathToSubject + _outputMotionFileName, 
                "w", "File generated from solving marker data for model "+aModel->getName());
        }
    }

    return true;
}
/**
 * This method creates a SimmMotionTrial instance with the markerFile and
 * timeRange parameters. It also creates a Storage instance with the
 * coordinateFile parameter. Then it updates the coordinates and markers in
 * the model, if specified. Then it does IK to fit the model to the static
 * pose. Then it uses the current model pose to relocate all non-fixed markers
 * according to their locations in the SimmMotionTrial. Then it writes the
 * output files selected by the user.
 *
 * @param aModel the model to use for the marker placing process.
 * @return Whether the marker placing process was successful or not.
 */
bool MarkerPlacer::processModel(Model* aModel,
        const string& aPathToSubject) const {

    if(!getApply()) return false;

    cout << endl << "Step 3: Placing markers on model" << endl;

    if (_timeRange.getSize()<2) 
        throw Exception("MarkerPlacer::processModel, time_range is unspecified.");

    /* Load the static pose marker file, and average all the
    * frames in the user-specified time range.
    */
    TimeSeriesTableVec3 staticPoseTable{aPathToSubject + _markerFileName};
    const auto& timeCol = staticPoseTable.getIndependentColumn();

    // Users often set a time range that purposely exceeds the range of
    // their data with the mindset that all their data will be used.
    // To allow for that, we have to narrow the provided range to data
    // range, since the TimeSeriesTable will correctly throw that the 
    // desired time exceeds the data range.
    if (_timeRange[0] < timeCol.front())
        _timeRange[0] = timeCol.front();
    if (_timeRange[1] > timeCol.back())
        _timeRange[1] = timeCol.back();

    const auto avgRow = staticPoseTable.averageRow(_timeRange[0],
                                                   _timeRange[1]);
    for(size_t r = staticPoseTable.getNumRows(); r-- > 0; )
        staticPoseTable.removeRowAtIndex(r);
    staticPoseTable.appendRow(_timeRange[0], avgRow);
    
    OPENSIM_THROW_IF(!staticPoseTable.hasTableMetaDataKey("Units"),
                     Exception,
                     "MarkerPlacer::processModel -- Marker file does not have "
                     "'Units'.");
    Units
    staticPoseUnits{staticPoseTable.getTableMetaData<std::string>("Units")};
    double scaleFactor = staticPoseUnits.convertTo(aModel->getLengthUnits());
    OPENSIM_THROW_IF(SimTK::isNaN(scaleFactor),
                     Exception,
                     "Model has unspecified units.");
    if(std::fabs(scaleFactor - 1) >= SimTK::Eps) {
        for(unsigned r = 0; r < staticPoseTable.getNumRows(); ++r)
            staticPoseTable.updRowAtIndex(r) *= scaleFactor;

        staticPoseUnits = aModel->getLengthUnits();
        staticPoseTable.removeTableMetaDataKey("Units");
        staticPoseTable.addTableMetaData("Units",
                                         staticPoseUnits.getAbbreviation());
    }
    
    MarkerData* staticPose = new MarkerData(aPathToSubject + _markerFileName);
    staticPose->averageFrames(_maxMarkerMovement, _timeRange[0], _timeRange[1]);
    staticPose->convertToUnits(aModel->getLengthUnits());

    /* Delete any markers from the model that are not in the static
     * pose marker file.
     */
    aModel->deleteUnusedMarkers(staticPose->getMarkerNames());

    // Construct the system and get the working state when done changing the model
    SimTK::State& s = aModel->initSystem();
    s.updTime() = _timeRange[0];
    
    // Create references and WeightSets needed to initialize InverseKinemaicsSolver
    Set<MarkerWeight> markerWeightSet;
    _ikTaskSet.createMarkerWeightSet(markerWeightSet); // order in tasks file
    // MarkersReference takes ownership of marker data (staticPose)
    MarkersReference markersReference(staticPoseTable, &markerWeightSet);
    SimTK::Array_<CoordinateReference> coordinateReferences;

    // Load the coordinate data
    // create CoordinateReferences for Coordinate Tasks
    FunctionSet *coordFunctions = NULL;
    // bool haveCoordinateFile = false;
    if(_coordinateFileName != "" && _coordinateFileName != "Unassigned"){
        Storage coordinateValues(aPathToSubject + _coordinateFileName);
        aModel->getSimbodyEngine().convertDegreesToRadians(coordinateValues);
        // haveCoordinateFile = true;
        coordFunctions = new GCVSplineSet(5,&coordinateValues);
    }
    
    int index = 0;
    for(int i=0; i< _ikTaskSet.getSize(); i++){
        IKCoordinateTask *coordTask = dynamic_cast<IKCoordinateTask *>(&_ikTaskSet[i]);
        if (coordTask && coordTask->getApply()){
            std::unique_ptr<CoordinateReference> coordRef{};
            if(coordTask->getValueType() == IKCoordinateTask::FromFile){
                index = coordFunctions->getIndex(coordTask->getName(), index);
                if(index >= 0){
                    coordRef.reset(new CoordinateReference(coordTask->getName(),coordFunctions->get(index)));
                }
            }
            else if((coordTask->getValueType() == IKCoordinateTask::ManualValue)){
                Constant reference(Constant(coordTask->getValue()));
                coordRef.reset(new CoordinateReference(coordTask->getName(), reference));
            }
            else{ // assume it should be held at its current/default value
                double value = aModel->getCoordinateSet().get(coordTask->getName()).getValue(s);
                Constant reference = Constant(value);
                coordRef.reset(new CoordinateReference(coordTask->getName(), reference));
            }

            if(coordRef == NULL)
                throw Exception("MarkerPlacer: value for coordinate "+coordTask->getName()+" not found.");

            // We have a valid coordinate reference so now set its weight according to the task
            coordRef->setWeight(coordTask->getWeight());
            coordinateReferences.push_back(*coordRef);      
        }           
    }
    double constraintWeight = std::numeric_limits<SimTK::Real>::infinity();

    InverseKinematicsSolver ikSol(*aModel, markersReference,
                                  coordinateReferences, constraintWeight);
    ikSol.assemble(s);

    // Call realize Position so that the transforms are updated and  markers can be moved correctly
    aModel->getMultibodySystem().realize(s, SimTK::Stage::Position);
    // Report marker errors to assess the quality 
    int nm = markerWeightSet.getSize();
    SimTK::Array_<double> squaredMarkerErrors(nm, 0.0);
    SimTK::Array_<Vec3> markerLocations(nm, Vec3(0));
    double totalSquaredMarkerError = 0.0;
    double maxSquaredMarkerError = 0.0;
    int worst = -1;
    // Report in the same order as the marker tasks/weights
    ikSol.computeCurrentSquaredMarkerErrors(squaredMarkerErrors);
    for(int j=0; j<nm; ++j){
        totalSquaredMarkerError += squaredMarkerErrors[j];
        if(squaredMarkerErrors[j] > maxSquaredMarkerError){
            maxSquaredMarkerError = squaredMarkerErrors[j];
            worst = j;
        }
    }
    cout << "Frame at (t=" << s.getTime() << "):\t";
    cout << "total squared error = " << totalSquaredMarkerError;
    cout << ", marker error: RMS=" << sqrt(totalSquaredMarkerError/nm);
    cout << ", max=" << sqrt(maxSquaredMarkerError) << " (" << ikSol.getMarkerNameForIndex(worst) << ")" << endl;
    /* Now move the non-fixed markers on the model so that they are coincident
     * with the measured markers in the static pose. The model is already in
     * the proper configuration so the coordinates do not need to be changed.
     */
    if(_moveModelMarkers) moveModelMarkersToPose(s, *aModel, *staticPose);

    _outputStorage.reset();
    // Make a storage file containing the solved states and markers for display in GUI.
    Storage motionData;
    StatesReporter statesReporter(aModel);
    statesReporter.begin(s);
    
    _outputStorage.reset(new Storage(statesReporter.updStatesStorage()));
    _outputStorage->setName("static pose");
    _outputStorage->getStateVector(0)->setTime(s.getTime());

    if(_printResultFiles) {
        std::string savedCwd = IO::getCwd();
        IO::chDir(aPathToSubject);

        try { // writing can throw an exception
            if (_outputModelFileNameProp.isValidFileName()) {
                aModel->print(aPathToSubject + _outputModelFileName);
                cout << "Wrote model file " << _outputModelFileName <<
                    " from model " << aModel->getName() << endl;
            }

            if (_outputMarkerFileNameProp.isValidFileName()) {
                aModel->writeMarkerFile(aPathToSubject + _outputMarkerFileName);
                cout << "Wrote marker file " << _outputMarkerFileName <<
                    " from model " << aModel->getName() << endl;
            }

            if (_outputMotionFileNameProp.isValidFileName()) {
                _outputStorage->print(aPathToSubject + _outputMotionFileName,
                    "w", "File generated from solving marker data for model "
                    + aModel->getName());
            }
        } // catch the exception so we can reset the working directory
        catch (std::exception& ex) {
            IO::chDir(savedCwd);
            OPENSIM_THROW_FRMOBJ(Exception, ex.what());
        }
        IO::chDir(savedCwd);
    }

    return true;
}