add smpl pose_blend_shapes && update models

FishWoWater · Jun 12, 2022 · 632729d · 632729d
1 parent d435aea
commit 632729d
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Showing 7 changed files with 543 additions and 9 deletions.
diff --git a/models/female_model.json b/models/female_model.json
diff --git a/models/male_model.json b/models/male_model.json
diff --git a/v0.2.1/conf.cpp b/v0.2.1/conf.cpp
@@ -393,18 +393,24 @@ void parse_smpl_motions(vector<Motion> &motions, const Json::Value &json, bool&
             Quaternion rest = Quaternion();
             rest.s = 1.;
             rest.v = Vec3(0., 0., 0.);
+            /*
             if(pid == 0){
                 rest.s = 0.707106;
                 rest.v[0] = 0.707106;
             }
+            */
             motions[0].points[fid].x.rotations.push_back(rest * (1 - scale) + q * scale);
             // nonsense
             motions[0].points[fid].x.rotation = q;
             motions[0].points[fid].v.rotations.emplace_back(Quaternion());
         }
         // interpolation for dynamic betas
         for(int i=0;i<10;i++){
-            motions[0].points[fid].x.dynamic_betas[i] = smpl_betas[i] * scale;
+            // if(i == 1){
+            //     motions[0].points[fid].x.dynamic_betas[i] = smpl_betas[i] * scale + (1 - scale);
+            // }else{
+                motions[0].points[fid].x.dynamic_betas[i] = smpl_betas[i] * scale;
+            // }
 //            if(i == 1)  motions[0].points[fid].x.dynamic_betas[i] = 2;
         }
         motions[0].points[fid].t = (fid / fps) - 0;

diff --git a/v0.2.1/simulation.cpp b/v0.2.1/simulation.cpp
@@ -133,9 +133,13 @@ void advance_step(Simulation &sim) {
   update_obstacles(sim, sim.is_smpl);
   vector<Constraint *> cons = get_constraints(sim, true);
   physics_step(sim, cons);
+  // std::cout << "physics step finished" << std::endl; 
   plasticity_step(sim);
+  // std::cout << "plasticity step finished" << std::endl; 
   strainlimiting_step(sim, cons);
+  // std::cout << "strainlimiting step finished" << std::endl; 
   collision_step(sim);
+  // std::cout << "collision step finished" << std::endl; 
   if (sim.step % sim.frame_steps == 0) {
 //     remeshing_step(sim);
     sim.frame++;

diff --git a/v0.2.1/smpl.cpp b/v0.2.1/smpl.cpp
@@ -137,7 +137,6 @@ bool SMPL::loadPoseFromJSONFile(std::string filePath){
 }
 
 bool SMPL::loadModelFromJSONFile(std::string filePath){
-    std::cout << "begin to load smpl model" << std::endl;
     ifstream in(filePath);
     Json::Value root;
     in >> root;
@@ -148,6 +147,7 @@ bool SMPL::loadModelFromJSONFile(std::string filePath){
 
     loadEigenFromJSON(root["pose"], mPose);
     loadTensorFromJSON(root["shapedirs"], mShapedDirsTensor);
+    loadTensorFromJSON(root["posedirs"], mPoseDirsTensor);
     loadEigenFromJSON(root["f"], mF);
     loadEigenFromJSON(root["kintree_table"], mKintreeTable);
     loadEigenFromJSON(root["J"], mJ);
@@ -167,7 +167,7 @@ bool SMPL::loadModelFromJSONFile(std::string filePath){
     mWeightsT = mWeights.transpose();
 
     loadEigenFromJSON(root["vert_sym_idxs"], vertSymIdxs);
-    loadSparseFromJSON(root["J_regressor"], mJR, 24, mV.rows());
+    loadEigenFromJSON(root["J_regressor"], mJR);
 
     return true;
     }
@@ -222,13 +222,36 @@ bool SMPL::updateModel(bool jointsOnly){
             mVTemp1(i,2) = mV(i,2) + AB(i,2,0);
             mVTemp1(i,3) = 1;
         }
+        // obtain poses_flat(207-dim vector from mPoses)
+        for(int i=0; i<23; i++){
+            cv::Mat src(cv::Size(1,3),CV_32FC1,cv::Scalar(0));
+            src.at<float>(0) = mPose(i+1, 0);
+            src.at<float>(1) = mPose(i+1, 1);
+            src.at<float>(2) = mPose(i+1, 2);
+            cv::Mat dst;
+            cv::Rodrigues(src, dst);
+            for(int j=0; j<3; j++){
+                for(int k=0; k<3; k++){
+                    if(j == k)  mPose_flat(i * 9 + 3 * j + k, 0) = dst.at<float>(j, k) - 1;
+                    else mPose_flat(i * 9 + 3 * j + k, 0) = dst.at<float>(j, k);
+                }
+            }
+        }
+
 
         // Shape J
         mJTemp2.row(0) = mJ.row(0);
         mJTemp1 = mJR * mVTemp1;
-        //mJTemp1 = mJ;
 
-//        cout << mJTemp1 << endl;
+        TensorD<3> pose_blend_shapes = mPoseDirsTensor.dot(mPose_flat);
+        for(int i=0; i<mVTemp1.rows(); i++){
+            mVTemp1(i,0) = mVTemp1(i,0) + pose_blend_shapes(i,0,0);
+            mVTemp1(i,1) = mVTemp1(i,1) + pose_blend_shapes(i,1,0);
+            mVTemp1(i,2) = mVTemp1(i,2) + pose_blend_shapes(i,2,0);
+            mVTemp1(i,3) = 1;
+        }
+
+        // cout << mJTemp1 << endl;
 
         // Body pose
         Eigen::Matrix4f& bodyPose = globalTransforms[0];
@@ -289,4 +312,5 @@ bool SMPL::updateModel(bool jointsOnly){
         }
 
         return true;
-    }
+
+}
diff --git a/v0.2.1/smpl.h b/v0.2.1/smpl.h
@@ -25,18 +25,21 @@ class SMPL{
     Eigen::MatrixXf mWeightsT;
     Eigen::MatrixXf vertSymIdxs;
     Eigen::MatrixXf mBetas;
-    Eigen::SparseMatrix<float> mJR;
+    Eigen::MatrixXf mPose_flat;
+    Eigen::MatrixXf mJR;
     typedef Eigen::Matrix<float, 4, 24> BlockMatrix;
     std::vector<Eigen::MatrixXf> weightedBlockMatrix1;
     std::vector<BlockMatrix> blocks;
     TensorD<3> mShapedDirsTensor;
+    TensorD<3> mPoseDirsTensor;
 
     SMPL(){
         blocks.resize(4);
         weightedBlockMatrix1.resize(4);
         mBetas.resize(10,1);
         mPose.resize(24, 3); 
         mBetas.setZero();
+        mPose_flat.resize(207, 1);
     }
 
     enum Part