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This documentation corresponds to version 2 of iPi Motion Capture. The latest documentation for version 3 can be found at https://docs.ipisoft.com/
Biomechanical Analysis
From iPiSoft Wiki
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=== Introduction === | === Introduction === | ||
| − | Starting from version 2.6, [[iPi Mocap Studio]] includes '''iPi Biomech | + | Starting from version 2.6, [[iPi Mocap Studio]] includes '''iPi Biomech Add-on'''. |
| − | '''iPi Biomech | + | '''iPi Biomech Add-on''' is a convenient tool for in-depth biomechanical analysis of human motions. It includes visualization of tracking data and its export to various formats. It can be used for: |
* Gait analysis and rehabilitation | * Gait analysis and rehabilitation | ||
* Sports motion analysis | * Sports motion analysis | ||
| Line 9: | Line 9: | ||
Markerless tracking technology does not require clumsy suits, and work in real-life environments like regular office. | Markerless tracking technology does not require clumsy suits, and work in real-life environments like regular office. | ||
<table><tr><td style="vertical-align: top;"> | <table><tr><td style="vertical-align: top;"> | ||
| − | With '''iPi Biomech | + | With '''iPi Biomech Add-on''' you can: |
| − | * Get | + | * Get '''Linear and Angular Quantities''' for selected bones, including |
** Linear coordinate, velocity, acceleration | ** Linear coordinate, velocity, acceleration | ||
| − | ** [http://en.wikipedia.org/wiki/Euler_angles Euler angles], angular velocity and acceleration | + | ** [http://en.wikipedia.org/wiki/Euler_angles Euler angles], [http://en.wikipedia.org/wiki/Angular_velocity angular velocity] and [http://en.wikipedia.org/wiki/Angular_acceleration angular acceleration] |
| + | ** [http://en.wikipedia.org/wiki/Quaternion Quaternions] and [http://en.wikipedia.org/wiki/Rotation_matrix Rotation matrices] | ||
* Select convenient '''coordinate systems''' | * Select convenient '''coordinate systems''' | ||
** Linear: Absolute (relative to floor), Relative to parent joint, Relative to center of mass | ** Linear: Absolute (relative to floor), Relative to parent joint, Relative to center of mass | ||
** Angular: Absolute (relative to floor), Relative to parent joint | ** Angular: Absolute (relative to floor), Relative to parent joint | ||
| − | * '''Plot''' values of selected | + | * Select '''[http://en.wikipedia.org/wiki/Euler_angles#Conventions Euler angles system]''' |
| + | * '''Plot''' values of selected '''Quantities''' for selected bones | ||
* '''Export''' bones motion data to file | * '''Export''' bones motion data to file | ||
| − | ** [http://en.wikipedia.org/wiki/Tab-separated_values Tab-separated text] (for Excel) | + | ** [http://en.wikipedia.org/wiki/Tab-separated_values Tab-separated text] format (for Excel) |
| − | ** [http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] | + | ** [http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] format |
* '''Export point clouds''' obtained from depth sensors to file | * '''Export point clouds''' obtained from depth sensors to file | ||
| − | **[http://pointclouds.org/documentation/tutorials/pcd_file_format.php PCD] | + | **[http://pointclouds.org/documentation/tutorials/pcd_file_format.php PCD] format |
| − | **[http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] | + | **[http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] format |
</td> | </td> | ||
| Line 31: | Line 33: | ||
</tr></table> | </tr></table> | ||
| − | <blockquote>'''Note.''' '''iPi Biomech | + | <blockquote>'''Note.''' '''iPi Biomech Add-on''' requires separate license key, which you need to activate in addition to [[iPi Mocap Studio]] license key. 30-days free trial provided. </blockquote> |
| − | === | + | === Glossary === |
| − | + | ;Linear quantities: Quantities derived from linear coordinate of the joint which connects bone to it's parent bone, including: | |
| − | + | ::* Coordinate | |
| − | + | ::* Velocity | |
| − | + | ::* Acceleration | |
| − | + | ||
| − | + | ;Angular quantities: Quantities derived from bones's Euler angle, including: | |
| + | ::* [http://en.wikipedia.org/wiki/Euler_angles Euler angle] | ||
| + | ::* [http://en.wikipedia.org/wiki/Angular_velocity Angular velocity] | ||
| + | ::* [http://en.wikipedia.org/wiki/Angular_acceleration Angular acceleration] | ||
| + | ::* [http://en.wikipedia.org/wiki/Quaternion Quaternions] | ||
| + | ::* [http://en.wikipedia.org/wiki/Rotation_matrix Rotation matrices] | ||
| + | ;Linear coordinate system: Coordinate system used for '''linear quantities''', can be: | ||
| + | ::* Absolute (relative to ground) — axes are shown by selecting Move tool; center is automatically set during calibration (it's z-coordinate is always 0) | ||
| + | ::* Relative to center of mass — axes are shown by selecting Move tool; center is in the actor model's center of mass | ||
| + | ::* Relative to parent joint — axes are shown by selecting Move tool; center coincides with the coordinates of the parent bone | ||
| + | ;Angular coordinate system: Coordinate system used for '''angular quantities''', can be: | ||
| + | ::* Absolute (relative to ground) — in this system rotations are defined relative to ground | ||
| + | ::* Local (Relative to parent bone) — in this system rotations are defined relative to the parent bone | ||
| − | + | ;Euler angles system: Set of rotations which defines Euler angles, see [http://en.wikipedia.org/wiki/Euler_angles#Conventions here] | |
| + | ;Unit: Measurement unit of physical quantity | ||
| + | === License and Trial === | ||
| + | '''iPi Biomech Add-on''' requires separate license key, which you need to activate in addition to [[iPi Mocap Studio]] license key. You can order your license [https://ipisoft.com/software/biomech-add-on/ here], or activate 30-days free trial. As soon as you install (or auto-update to) version 2.6 or higher, '''Biomech''' tab will appear in [[iPi Mocap Studio]] control panel. Follow the steps below to start working with '''iPi Biomech Add-on''' | ||
| + | # Switch to '''Biomech''' tab. | ||
| + | # Press '''Activate''' button | ||
| + | # Press '''Start 30-days Free Trial Period''' or '''Enter Biomech License Key''' and follow further on-screen instructions | ||
| + | #: [[Image:iPi-Biomech-2-1.png|600px]] | ||
| + | <blockquote>'''Note.''' If you do not have [[iPi Mocap Studio]] license key, you can order it [https://ipisoft.com/store here] or activate 30-days free trial. If your Studio trial has expired, you will not be able to export biomech data as well as animation. But you can still plot biomech data.</blockquote> | ||
| + | |||
| + | === Select Data for Analysis === | ||
| + | First you need to select data that you will analyze | ||
| + | # Select bones | ||
| + | #* (1) Check corresponding bones to include them in analysis | ||
| + | #* (2) On the top of the list you can see "special" bones — ''Center of mass'', ''Center of mass projection to the ground''. The rest of the list are the bones from the internal iPi rig. | ||
| + | #* (3) You can include finger bones into analysis by expanding hand bone (RHand and / or LHand). However, fingers are not tracked due to insufficient resolution of off-the-shelf cameras, so they just keep attached to hand joint (RHand or LHand), remaining in default position related to hand | ||
| + | #* (4) You can select all bones by clicking to the checkbox in the header. Fingers will be included only if the hand bone is expanded. | ||
| + | #* (5) You can change bones listbox height using splitter at the bottom. | ||
| + | #: [[Image:iPi-Biomech-2-2.png|400px]] | ||
| + | # Select '''linear quantities''' for analysis | ||
| + | # Select output '''units''' for each quantity | ||
| + | # Select '''linear coordinate system''' | ||
| + | # Select '''angular quantities''' for analysis | ||
| + | # Select output '''units''' for each quantity | ||
| + | # Select '''angular coordinate system''' | ||
| + | # Select '''Euler angles system''' | ||
| + | #: [[Image:iPi-Biomech-2-3.png|400px]] | ||
=== Plot Data === | === Plot Data === | ||
| − | + | You can plot values of the selected '''quantities''' for the selected bones within the ''Region-of-Interest'' (except Quaternions and Rotation matrices, as it makes no sense to see them on plots due to their physical meaning). | |
| − | + | # Select the ''Region-of-Interest'' | |
| − | + | # Press '''Plot Selected Data''' button | |
| + | #: Plot window will be opened. If it is already opened it's contents will be updated. In the Plot window you see bones in rows and '''quantities''' in columns. Plot controls: | ||
| + | # '''Plot controls''' button shows plot control keys (focus should be set to '''Plot''' window). | ||
| + | #:'''Mouse wheel''' — zoom in / out for the horizontal axis | ||
| + | #:''''Page Up' key''' — zoom in for the horizontal axis | ||
| + | #:''''Page Down' key''' — zoom out for the horizontal axis | ||
| + | #:'''Right mouse button drag over plots''' — horizontal shift of all plots | ||
| + | #:'''Left mouse button drag over table header title''' — change columns order | ||
| + | #:''''Right arrow' key''' — shift all plots to the left | ||
| + | #:''''Left arrow' key''' — shift all plots to the right | ||
| + | #:'''Left mouse key click''' — show plot values for particular frame | ||
| + | #:''''A' key''' — cancel zoom and shift, restore initial state of all plots | ||
| + | # '''Reload plot data''' reloads plot's data. Useful when selection of bones, '''quantities''', ''Region-of-Interest'' changed or any tracking / refined / filtering applied to motion data. You will get the same effect if you press '''Plot''' button. | ||
| + | # '''Scroll to current frame''' button shifts all plots along horizontal axis, in order to make current frame visible in the plot area. Nothing happens, if current frame is already visible on plots. | ||
| + | # '''Show / hide series''' button allows to select particular components of the corresponding '''quantity''' that will be shown on graph. | ||
| + | #: [[Image:iPi-Biomech-2-4.png|700px]] | ||
=== Export Motion Data === | === Export Motion Data === | ||
| + | To export values of the selected '''quantities''' for the selected bones within the ''Region-of-Interest'': | ||
| + | # Select the ''Region-of-Interest'' | ||
| + | # Press '''Export Selected Data''' button | ||
| + | # Select export option: | ||
| + | #* ''Tab-separated text file'': text format easily importable to Excel. Header will contain information on parameters such as '''coordinate systems''' and '''units''' | ||
| + | #* ''Copy to clipboard / paste to Excel'': text data will be copied to clipboard. You just need to open empty Excel sheet and paste data to it. Information on parameters such as '''coordinate systems''' and '''units''' will be in the top rows. | ||
| + | #* ''MATLAB file'': binary file in [http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] format. | ||
| + | #: [[Image:iPi-Biomech-2-5.png|400px]] | ||
| + | === Export Point Cloud === | ||
| + | To export point cloud captured with depth sensors within the ''Region-of-Interest'': | ||
| + | # Select the ''Region-of-Interest'' | ||
| + | # Select the cameras you want to export point cloud from (if you select several cameras, you will get one aggregate point cloud) | ||
| + | # Turn on / off background subtraction (if checked, background will not be included in point cloud) | ||
| + | # Turn on / off RGB export (if checked, color information will be added to points) | ||
| + | # Press '''Export Selected Data''' button | ||
| + | # Select export option: | ||
| + | #* ''One point cloud from current frame (PCD)'': export single point cloud from the current frame to a file in [http://pointclouds.org/documentation/tutorials/pcd_file_format.php PCD] format | ||
| + | #* ''All frames of ROI (multiple PCD files)'': export multiple point clouds (one point cloud from each frame of the ''Region-of-Interest'') to [http://pointclouds.org/documentation/tutorials/pcd_file_format.php PCD] format, each point cloud is saved to a separate file | ||
| + | #* ''One point cloud from current frame (MAT)'': export single point cloud from the current frame to a file in [http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] format | ||
| + | #* ''All frames of ROI (MAT)'': export multiple point clouds (one point cloud from each frame of the ''Region-of-Interest'') to a file in [http://www.mathworks.com/help/pdf_doc/matlab/matfile_format.pdf MATLAB] format | ||
| + | #: [[Image:iPi-Biomech-2-6.png|400px]] | ||
| − | + | === Biomech Export Profile === | |
| − | + | You can save all interface settings '''<span style="color: red">(1)</span>''' to an XML file, and later load them from the file '''<span style="color: red">(2)</span>'''. It is useful if you work with several projects that require to analyze different bones and / or '''quantities'''. The following settings are stored: | |
| − | === Export | + | * Selected bones, bones list view height |
| + | * Selected '''quantities''', '''coordinate systems''', '''euler angles system''', '''units''' | ||
| + | * Settings of point cloud export | ||
| + | * Plot window settings (order on columns, visible series, window size and position) | ||
| + | : [[Image:iPi-Biomech-2-7.png|400px]] | ||
Latest revision as of 10:26, 4 March 2021
Contents |
Introduction
Starting from version 2.6, iPi Mocap Studio includes iPi Biomech Add-on.
iPi Biomech Add-on is a convenient tool for in-depth biomechanical analysis of human motions. It includes visualization of tracking data and its export to various formats. It can be used for:
- Gait analysis and rehabilitation
- Sports motion analysis
- Research in 3D human kinematics
Markerless tracking technology does not require clumsy suits, and work in real-life environments like regular office.
|
With iPi Biomech Add-on you can:
|
 |
Note. iPi Biomech Add-on requires separate license key, which you need to activate in addition to iPi Mocap Studio license key. 30-days free trial provided.
Glossary
- Linear quantities
- Quantities derived from linear coordinate of the joint which connects bone to it's parent bone, including:
- Coordinate
- Velocity
- Acceleration
- Angular quantities
- Quantities derived from bones's Euler angle, including:
- Linear coordinate system
- Coordinate system used for linear quantities, can be:
- Absolute (relative to ground) — axes are shown by selecting Move tool; center is automatically set during calibration (it's z-coordinate is always 0)
- Relative to center of mass — axes are shown by selecting Move tool; center is in the actor model's center of mass
- Relative to parent joint — axes are shown by selecting Move tool; center coincides with the coordinates of the parent bone
- Angular coordinate system
- Coordinate system used for angular quantities, can be:
- Absolute (relative to ground) — in this system rotations are defined relative to ground
- Local (Relative to parent bone) — in this system rotations are defined relative to the parent bone
- Euler angles system
- Set of rotations which defines Euler angles, see here
- Unit
- Measurement unit of physical quantity
License and Trial
iPi Biomech Add-on requires separate license key, which you need to activate in addition to iPi Mocap Studio license key. You can order your license here, or activate 30-days free trial. As soon as you install (or auto-update to) version 2.6 or higher, Biomech tab will appear in iPi Mocap Studio control panel. Follow the steps below to start working with iPi Biomech Add-on
- Switch to Biomech tab.
- Press Activate button
- Press Start 30-days Free Trial Period or Enter Biomech License Key and follow further on-screen instructions
-
Note. If you do not have iPi Mocap Studio license key, you can order it here or activate 30-days free trial. If your Studio trial has expired, you will not be able to export biomech data as well as animation. But you can still plot biomech data.
Select Data for Analysis
First you need to select data that you will analyze
- Select bones
- (1) Check corresponding bones to include them in analysis
- (2) On the top of the list you can see "special" bones — Center of mass, Center of mass projection to the ground. The rest of the list are the bones from the internal iPi rig.
- (3) You can include finger bones into analysis by expanding hand bone (RHand and / or LHand). However, fingers are not tracked due to insufficient resolution of off-the-shelf cameras, so they just keep attached to hand joint (RHand or LHand), remaining in default position related to hand
- (4) You can select all bones by clicking to the checkbox in the header. Fingers will be included only if the hand bone is expanded.
- (5) You can change bones listbox height using splitter at the bottom.
- Select linear quantities for analysis
- Select output units for each quantity
- Select linear coordinate system
- Select angular quantities for analysis
- Select output units for each quantity
- Select angular coordinate system
- Select Euler angles system
-
Plot Data
You can plot values of the selected quantities for the selected bones within the Region-of-Interest (except Quaternions and Rotation matrices, as it makes no sense to see them on plots due to their physical meaning).
- Select the Region-of-Interest
- Press Plot Selected Data button
- Plot window will be opened. If it is already opened it's contents will be updated. In the Plot window you see bones in rows and quantities in columns. Plot controls:
- Plot controls button shows plot control keys (focus should be set to Plot window).
- Mouse wheel — zoom in / out for the horizontal axis
- 'Page Up' key — zoom in for the horizontal axis
- 'Page Down' key — zoom out for the horizontal axis
- Right mouse button drag over plots — horizontal shift of all plots
- Left mouse button drag over table header title — change columns order
- 'Right arrow' key — shift all plots to the left
- 'Left arrow' key — shift all plots to the right
- Left mouse key click — show plot values for particular frame
- 'A' key — cancel zoom and shift, restore initial state of all plots
- Reload plot data reloads plot's data. Useful when selection of bones, quantities, Region-of-Interest changed or any tracking / refined / filtering applied to motion data. You will get the same effect if you press Plot button.
- Scroll to current frame button shifts all plots along horizontal axis, in order to make current frame visible in the plot area. Nothing happens, if current frame is already visible on plots.
- Show / hide series button allows to select particular components of the corresponding quantity that will be shown on graph.
-
Export Motion Data
To export values of the selected quantities for the selected bones within the Region-of-Interest:
- Select the Region-of-Interest
- Press Export Selected Data button
- Select export option:
- Tab-separated text file: text format easily importable to Excel. Header will contain information on parameters such as coordinate systems and units
- Copy to clipboard / paste to Excel: text data will be copied to clipboard. You just need to open empty Excel sheet and paste data to it. Information on parameters such as coordinate systems and units will be in the top rows.
- MATLAB file: binary file in MATLAB format.
Export Point Cloud
To export point cloud captured with depth sensors within the Region-of-Interest:
- Select the Region-of-Interest
- Select the cameras you want to export point cloud from (if you select several cameras, you will get one aggregate point cloud)
- Turn on / off background subtraction (if checked, background will not be included in point cloud)
- Turn on / off RGB export (if checked, color information will be added to points)
- Press Export Selected Data button
- Select export option:
- One point cloud from current frame (PCD): export single point cloud from the current frame to a file in PCD format
- All frames of ROI (multiple PCD files): export multiple point clouds (one point cloud from each frame of the Region-of-Interest) to PCD format, each point cloud is saved to a separate file
- One point cloud from current frame (MAT): export single point cloud from the current frame to a file in MATLAB format
- All frames of ROI (MAT): export multiple point clouds (one point cloud from each frame of the Region-of-Interest) to a file in MATLAB format
Biomech Export Profile
You can save all interface settings (1) to an XML file, and later load them from the file (2). It is useful if you work with several projects that require to analyze different bones and / or quantities. The following settings are stored:
- Selected bones, bones list view height
- Selected quantities, coordinate systems, euler angles system, units
- Settings of point cloud export
- Plot window settings (order on columns, visible series, window size and position)
