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FbxReadWriter.py
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import sys
from typing import Dict
from SmplObject import SmplObjects
import os
import cv2
from scipy.spatial.transform import Rotation as R
import numpy as np
try:
from FbxCommon import *
from fbx import *
except ImportError:
print("Error: module FbxCommon failed to import.\n")
print("Copy the files located in the compatible sub-folder lib/python<version> into your python interpreter site-packages folder.")
import platform
if platform.system() == 'Windows' or platform.system() == 'Microsoft':
print('For example: copy ..\\..\\lib\\Python27_x64\\* C:\\Python27\\Lib\\site-packages')
elif platform.system() == 'Linux':
print('For example: cp ../../lib/Python27_x64/* /usr/local/lib/python2.7/site-packages')
elif platform.system() == 'Darwin':
print('For example: cp ../../lib/Python27_x64/* /Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages')
class FbxReadWrite(object):
def __init__(self, fbx_source_path):
# Prepare the FBX SDK.
lSdkManager, lScene = InitializeSdkObjects()
self.lSdkManager = lSdkManager
self.lScene = lScene
# Load the scene.
# The example can take a FBX file as an argument.
print("\nLoading File: {}".format(fbx_source_path))
lResult = LoadScene(self.lSdkManager, self.lScene, fbx_source_path)
if not lResult:
raise Exception("An error occured while loading the scene :(")
def _write_curve(self, lCurve, data):
"""
data: np.ndarray of (N, )
"""
lKeyIndex = 0
lTime = FbxTime()
lTime.SetGlobalTimeMode(FbxTime.eFrames30) # Set to fps=30
data = np.squeeze(data)
lCurve.KeyModifyBegin()
for i in range(data.shape[0]):
lTime.SetFrame(i, FbxTime.eFrames30)
lKeyIndex = lCurve.KeyAdd(lTime)[0]
lCurve.KeySetValue(lKeyIndex, data[i])
lCurve.KeySetInterpolation(lKeyIndex, FbxAnimCurveDef.eInterpolationCubic)
lCurve.KeyModifyEnd()
def addAnimation(self, pkl_filename, smpl_params,model_type, verbose = False):
lScene = self.lScene
# 0. Set fps to 30
lGlobalSettings = lScene.GetGlobalSettings()
if verbose==True:
print ("Before time mode:{}".format(lGlobalSettings.GetTimeMode()))
lGlobalSettings.SetTimeMode(FbxTime.eFrames30)
if verbose==True:
print ("After time mode:{}".format(lScene.GetGlobalSettings().GetTimeMode()))
self.destroyAllAnimation()
lAnimStackName = pkl_filename
lAnimStack = FbxAnimStack.Create(lScene, lAnimStackName)
lAnimLayer = FbxAnimLayer.Create(lScene, "Base Layer")
lAnimStack.AddMember(lAnimLayer)
lRootNode = lScene.GetRootNode()
# 1. Write smpl_poses
smpl_poses = np.array(smpl_params["smpl_poses"])
# tfj 翻转朝向
if 'smplh' in model_type: #TODO: smplh不做旋转
names = SmplObjects.smplh_joints
elif 'smpl' in model_type: # smpl旋转90，人物转正
names = SmplObjects.joints
for idx,pose in enumerate(smpl_poses):
R_mod = cv2.Rodrigues(np.array([np.pi, 0, 0]))[0]
R_root = cv2.Rodrigues(pose[:3])[0]
new_root = R_root.dot(R_mod)
tmp = cv2.Rodrigues(new_root)[0].reshape(3)
smpl_poses[idx,:3] = tmp
for idx, name in enumerate(names):
node = lRootNode.FindChild(name)
rotvec = smpl_poses[:, idx*3:idx*3+3]
_euler = []
for _f in range(rotvec.shape[0]):
r = R.from_rotvec([rotvec[_f, 0], rotvec[_f, 1], rotvec[_f, 2]])
euler = r.as_euler('xyz', degrees=True)
_euler.append([euler[0], euler[1], euler[2]])
euler = np.vstack(_euler)
lCurve = node.LclRotation.GetCurve(lAnimLayer, "X", True)
if lCurve:
self._write_curve(lCurve, euler[:, 0])
else:
print ("Failed to write {}, {}".format(name, "x"))
lCurve = node.LclRotation.GetCurve(lAnimLayer, "Y", True)
if lCurve:
self._write_curve(lCurve, euler[:, 1])
else:
print ("Failed to write {}, {}".format(name, "y"))
lCurve = node.LclRotation.GetCurve(lAnimLayer, "Z", True)
if lCurve:
self._write_curve(lCurve, euler[:, 2])
else:
print ("Failed to write {}, {}".format(name, "z"))
# 3. Write smpl_trans to f_avg_root
smpl_trans = np.array(smpl_params["smpl_trans"]) # *100
name = "m_avg_root"
node = lRootNode.FindChild(name)
lCurve = node.LclTranslation.GetCurve(lAnimLayer, "X", True)
if lCurve:
self._write_curve(lCurve, smpl_trans[:, 0])
else:
print ("Failed to write {}, {}".format(name, "x"))
lCurve = node.LclTranslation.GetCurve(lAnimLayer, "Y", True)
if lCurve:
self._write_curve(lCurve, smpl_trans[:, 1])
else:
print ("Failed to write {}, {}".format(name, "y"))
lCurve = node.LclTranslation.GetCurve(lAnimLayer, "Z", True)
if lCurve:
self._write_curve(lCurve, smpl_trans[:, 2])
else:
print ("Failed to write {}, {}".format(name, "z"))
# add by tfj, 修改节点名字
kll_names = SmplObjects.kll_joints
for idx, name in enumerate(names):
node = lRootNode.FindChild(name)
node.SetName(kll_names[idx])
node = lRootNode.FindChild('m_avg_Pelvis')
node.SetName('Hips')
def writeFbx(self, write_base:str, filename:str):
if os.path.isdir(write_base) == False:
os.makedirs(write_base, exist_ok=True)
write_path = os.path.join(write_base, filename.replace(".pkl", ""))
print ("Writing to {}".format(write_path))
lResult = SaveScene(self.lSdkManager, self.lScene, write_path)
if lResult == False:
raise Exception("Failed to write to {}".format(write_path))
def destroy(self):
self.lSdkManager.Destroy()
def destroyAllAnimation(self):
lScene = self.lScene
animStackCount = lScene.GetSrcObjectCount(FbxCriteria.ObjectType(FbxAnimStack.ClassId))
for i in range(animStackCount):
lAnimStack = lScene.GetSrcObject(FbxCriteria.ObjectType(FbxAnimStack.ClassId), i)
lAnimStack.Destroy()