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Table of Contents
Exporting 6 DOF Data
Exporting 6 degree of freedom data to an ASCII format as either an
ORIGIN and QUATERNION
OR
ORIGIN and 3×3 ROTATION MATRIX
Exported File Format
Visual3D loads 6 degree of freedom from ASCII data files with the following formats.
Rotation Matrix Based
| filename | filename | filename | filename | filename | filename | filename | filename | filename | filename | filename | filename | filename | |
| TIME | ORIGIN | ORIGIN | ORIGIN | ROTATION | ROTATION | ROTATION | ROTATION | ROTATION | ROTATION | ROTATION | ROTATION | ROTATION | |
| FRAME_NUMBERS | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | |
| ORIGINAL | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | |
| ITEM | 0 | X | Y | Z | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 |
| 1 | 0.0 | 0.564162 | 0.002198 | 0.086599 | 0.648289 | -0.680243 | -0.342039 | 0.259806 | -0.224631 | 0.939171 | -0.715696 | -0.697719 | 0.031104 |
| 2 | 0.032 | 0.569361 | 0.004844 | 0.081942 | 0.712005 | -0.652892 | -0.258418 | 0.255689 | -0.101686 | 0.961396 | -0.653967 | -0.750593 | 0.094538 |
The Origin is at the Proximal End of the Segment
The Rotation matrix is represented as
| 0 | 1 | 2 | |||||
| [R]= | 3 | 4 | 5 | ||||
| 6 | 7 | 8 | |||||
Quaternion Based
| filename | filename | filename | filename | filename | filename | filename | filename | |
| TIME | ORIGIN | ORIGIN | ORIGIN | QUATERNION | QUATERNION | QUATERNION | QUATERNION | |
| FRAME_NUMBERS | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | LINK_MODEL_BASED | |
| ORIGINAL | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | BODY1 | |
| ITEM | 0 | X | Y | Z | 0 | 1 | 2 | 3 |
| 1 | 0.0 | 0.9782 | 0.5654 | -1.0257 | 0.298 | -0.6755 | 0.2496 | -0.6264 |
| 2 | 0.032 | 0.9782 | 0.5654 | -1.0257 | 0.298 | -0.6755 | 0.2496 | -0.6264 |
The file format is column based. Additional rigid bodies can be added as new columns with the same format.
Example 1
Exporting the position and orientation of segment RFT as an ORIGIN and Quaternion
Export_Data_To_Ascii_File
! /FILE_NAME=
/SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED
/SIGNAL_NAMES=TIME+ORIGIN+QUATERNION
/SIGNAL_FOLDER=ORIGINAL+RFT+RFT
! /START_LABEL=
! /END_LABEL=
! /USE_POINT_RATE=FALSE
! /NORMALIZE_DATA=FALSE
! /NORMALIZE_POINTS=101
! /EXPORT_MEAN_AND_STD_DEV=FALSE
! /USE_P2D_FORMAT=FALSE
;
Exporting the position and orientation of segment RFT as an ORIGIN and Rotation
Export_Data_To_Ascii_File ! /FILE_NAME= /SIGNAL_TYPES=FRAME_NUMBERS+LINK_MODEL_BASED+LINK_MODEL_BASED /SIGNAL_NAMES=TIME+ORIGIN+ROTATION /SIGNAL_FOLDER=ORIGINAL+RFT+RFT ! /START_LABEL= ! /END_LABEL= ! /USE_POINT_RATE=FALSE ! /NORMALIZE_DATA=FALSE ! /NORMALIZE_POINTS=101 ! /EXPORT_MEAN_AND_STD_DEV=FALSE ! /USE_P2D_FORMAT=FALSE ;
Example 2
Open the text file that was just created. Select File → Open. Select the viewer for .txt files. Select “aurora.txt”.
The file will be loaded into memory. The Aurora file contains position and rotation data for a rigid body. It will appear in Visual3D as LINKMODEL_BASED items containing the
ORIGIN (3 components) QUATERNION (4 components). MergeAuroraFiles5.gif
Visual3D typically works with motion capture markers, so to maximize your ability to work with this data, you can create a set of 3 targets per rigid body using the following command.
Create_Targets_For_LinkModelBased_Rotations /SIGNAL_FOLDERS=Port_01+Port_02+Port_03+Port_04 ; Targets for each rigid body should appear in the data tree.
It is possible to save this data to a C3D formatted file, but the LINK MODEL data (e.g. the ORIGINAL Translation and Quaternion will be lost, so it is recommended that you save this data to a cmo file.
If you need a static trial for modeling the data, you can save the first frame of data to a c3d file.
