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| ''' | |
| Copyright 2015 Matthew Loper, Naureen Mahmood and the Max Planck Gesellschaft. All rights reserved. | |
| This software is provided for research purposes only. | |
| By using this software you agree to the terms of the SMPL Model license here http://smpl.is.tue.mpg.de/license | |
| More information about SMPL is available here http://smpl.is.tue.mpg. | |
| For comments or questions, please email us at: [email protected] | |
| About this file: | |
| ================ | |
| This file defines linear blend skinning for the SMPL loader which | |
| defines the effect of bones and blendshapes on the vertices of the template mesh. | |
| Modules included: | |
| - global_rigid_transformation: | |
| computes global rotation & translation of the model | |
| - verts_core: [overloaded function inherited from verts.verts_core] | |
| computes the blending of joint-influences for each vertex based on type of skinning | |
| ''' | |
| from .posemapper import posemap | |
| import chumpy | |
| import numpy as np | |
| def global_rigid_transformation(pose, J, kintree_table, xp): | |
| results = {} | |
| pose = pose.reshape((-1,3)) | |
| id_to_col = {kintree_table[1,i] : i for i in range(kintree_table.shape[1])} | |
| parent = {i : id_to_col[kintree_table[0,i]] for i in range(1, kintree_table.shape[1])} | |
| if xp == chumpy: | |
| from posemapper import Rodrigues | |
| rodrigues = lambda x : Rodrigues(x) | |
| else: | |
| import cv2 | |
| rodrigues = lambda x : cv2.Rodrigues(x)[0] | |
| with_zeros = lambda x : xp.vstack((x, xp.array([[0.0, 0.0, 0.0, 1.0]]))) | |
| results[0] = with_zeros(xp.hstack((rodrigues(pose[0,:]), J[0,:].reshape((3,1))))) | |
| for i in range(1, kintree_table.shape[1]): | |
| results[i] = results[parent[i]].dot(with_zeros(xp.hstack(( | |
| rodrigues(pose[i,:]), | |
| ((J[i,:] - J[parent[i],:]).reshape((3,1))) | |
| )))) | |
| pack = lambda x : xp.hstack([np.zeros((4, 3)), x.reshape((4,1))]) | |
| results = [results[i] for i in sorted(results.keys())] | |
| results_global = results | |
| if True: | |
| results2 = [results[i] - (pack( | |
| results[i].dot(xp.concatenate( ( (J[i,:]), 0 ) ))) | |
| ) for i in range(len(results))] | |
| results = results2 | |
| result = xp.dstack(results) | |
| return result, results_global | |
| def verts_core(pose, v, J, weights, kintree_table, want_Jtr=False, xp=chumpy): | |
| A, A_global = global_rigid_transformation(pose, J, kintree_table, xp) | |
| T = A.dot(weights.T) | |
| rest_shape_h = xp.vstack((v.T, np.ones((1, v.shape[0])))) | |
| v =(T[:,0,:] * rest_shape_h[0, :].reshape((1, -1)) + | |
| T[:,1,:] * rest_shape_h[1, :].reshape((1, -1)) + | |
| T[:,2,:] * rest_shape_h[2, :].reshape((1, -1)) + | |
| T[:,3,:] * rest_shape_h[3, :].reshape((1, -1))).T | |
| v = v[:,:3] | |
| if not want_Jtr: | |
| return v | |
| Jtr = xp.vstack([g[:3,3] for g in A_global]) | |
| return (v, Jtr) | |