clean code & add demofile

FishWoWater · Apr 26, 2022 · 8ee8ab0 · 8ee8ab0
1 parent 2bb0ba3
commit 8ee8ab0
Show file tree

Hide file tree

Showing 9 changed files with 52 additions and 24 deletions.
diff --git a/README.md b/README.md
@@ -6,13 +6,42 @@ addons
 
 * SMPL forward kinematics (based on [SMPL_cpp](https://github.com/soulslicer/smpl_cpp)) 
 * SMPL integration with ARCSim (forwarded SMPL model as the obstacle)
-* SMPL shape interpolation and pose interpolation to simulate any SMPL pose
+* SMPL shape interpolation and pose interpolation to simulate any SMPL pose (for the details of interpolation, refer to [Discussion](https://github.com/isantesteban/vto-dataset/issues/1))
 * a `play` option like original `replay`, for checkout the SMPL motion and don't care the cloth
 
-flags:
+fields:
 * `is_smpl`
-* `motions`->`'smpl_fps`  how fast smpl model act 
+* `motions`->`smpl_fps`  how fast smpl model act 
 * `motions`->`smpl_motfile`
 * `motions`->`smpl_initialization_steps` (for shape and pose interpolation)
 
+
+
+Usage
+
+* Simulate a simple motion `hands raise up` with shape / pose interpolation 
+
+  * `./build-Release/bin/arcsim_0.2.1 simulate smpl_demo/pbns_sbs_male.json`
+
+* Just checkout the motion and save each screen shot to some directory(optional)
+
+  * `./build-Release/bin/arcsim_0.2.1 play smpl_demo/pbns_sbs_male.json vis`
+
+  * the visualization will be saved to `vis` directory, this is a useful tool for the visualization of MoCap sequences
+
+
+
+Demo 
+
+![](imgs/demo_handsup.gif)
+
+
+
+TODOs
+
+- [ ] Support SMPL female model (now only male model is supported)
+- [ ] Support CMU MoCap sequence reading from npz or json file (now read from txt motion file)
+
+
+
 Thanks for @[isantesteban](https://github.com/isantesteban) for valuable discussions
diff --git a/imgs/demo_handsup.gif b/imgs/demo_handsup.gif
diff --git a/smpldemo → smpl_demo/pbns_sbs_male.json b/smpldemo → smpl_demo/pbns_sbs_male.json
diff --git a/v0.2.1/conf.cpp b/v0.2.1/conf.cpp
@@ -155,7 +155,6 @@ void load_json(const string &configFilename, Simulation &sim) {
     sim.enabled[Simulation::StrainLimiting] = false;
   if (!has_plasticity)
     sim.enabled[Simulation::Plasticity] = false;
-  std::cout << "obstacled parsed" << std::endl; 
 }
 
 // Basic data types

diff --git a/v0.2.1/displayreplay.cpp b/v0.2.1/displayreplay.cpp
@@ -49,7 +49,7 @@ static bool running = true;
 static void reload () {
     int fullframe = ::frame*::frameskip;
     sim.time = fullframe * sim.frame_time;
-    std::cout << "cloth file" << stringf("%s/%04d_00.obj",inprefix.c_str(), fullframe) << std::endl;
+    // std::cout << "cloth file" << stringf("%s/%04d_00.obj",inprefix.c_str(), fullframe) << std::endl;
     if(!boost::filesystem::exists(stringf("%s/%04d_00.obj",inprefix.c_str(), fullframe))){
         std::cout << "can not find cloth file" << std::endl;
         if (::frame == 0)

diff --git a/v0.2.1/io.cpp b/v0.2.1/io.cpp
@@ -214,7 +214,7 @@ vector<Face*> triangulate (const vector<Vert*> &verts) {
 }
 
 void save_obj (const Mesh &mesh, const string &filename) {
-    std::cout << "start saving obj" << filename << std::endl; 
+    // std::cout << "start saving obj" << filename << std::endl; 
     fstream file(filename.c_str(), ios::out);
     for (int v = 0; v < mesh.verts.size(); v++) {
         const Vert *vert = mesh.verts[v];
@@ -264,11 +264,11 @@ void save_obj (const Mesh &mesh, const string &filename) {
         if (face->damage)
             file << "td " << face->damage << endl;
     }
-    std::cout << "end saving obj" << filename << std::endl; 
+    // std::cout << "end saving obj" << filename << std::endl; 
 }
 
 void save_objs (const vector<Mesh*> &meshes, const string &prefix) {
-    std::cout << "insidebefore saving cloth mesh" <<std::endl; 
+    // std::cout << "insidebefore saving cloth mesh" <<std::endl; 
     for (int m = 0; m < meshes.size(); m++)
         save_obj(*meshes[m], stringf("%s_%02d.obj", prefix.c_str(), m));
 }

diff --git a/v0.2.1/obstacle.cpp b/v0.2.1/obstacle.cpp
@@ -65,7 +65,7 @@ Mesh& Obstacle::get_smpl_mesh(double time) {
     // 1. interpolate the quaternion in transformation 
     // 2. convert quaternion to axis-angle 
     // 3. parse axis-angle poses and betas to smpl model;
-    std::cout << "entering get smpl mesh" << std::endl;
+    // std::cout << "entering get smpl mesh" << std::endl;
     Quaternion x; 
     // x.to_axisangle; 
     if (time > end_time)
@@ -81,7 +81,7 @@ Mesh& Obstacle::get_smpl_mesh(double time) {
         Vec3 smpl_translation = smpl_transformation.translation;
         // used for interpolation
         std::vector<double> dynamic_betas = smpl_transformation.dynamic_betas;
-        std::cout << "smpl translation:" << smpl_translation << std::endl;
+        // std::cout << "smpl translation:" << smpl_translation << std::endl;
         Eigen::VectorXf thetas, dyna_betas;
         thetas.resize(72);
         dyna_betas.resize(10);
@@ -102,7 +102,7 @@ Mesh& Obstacle::get_smpl_mesh(double time) {
 
         smpl->setAllShapes(dyna_betas);
         smpl->updateModel();
-        std::cout << "smpl model updated" << std::endl;
+        // std::cout << "smpl model updated" << std::endl;
 //        smpl->saveToOBJ("rest_smpl.obj");
 //        exit(0);
 
@@ -118,13 +118,13 @@ Mesh& Obstacle::get_smpl_mesh(double time) {
             mesh.nodes[n]->x[1] = vertices(n, 1) + smpl_translation[1];
             mesh.nodes[n]->x[2] = vertices(n, 2) + smpl_translation[2];
         }
-        std::cout << "smpl mesh assigned to arcsim mesh" << std::endl; 
+        // std::cout << "smpl mesh assigned to arcsim mesh" << std::endl; 
         compute_ws_data(mesh);
     }
     if (!activated)
         update_x0(curr_state_mesh);
     activated = true;
-    std::cout << "smpl mesh updated" << std::endl; 
+    // std::cout << "smpl mesh updated" << std::endl; 
     return curr_state_mesh;
 }
 

diff --git a/v0.2.1/runphysics.cpp b/v0.2.1/runphysics.cpp
@@ -72,10 +72,10 @@ void init_physics (const string &json_file, string outprefix,
 
 static void save (const vector<Mesh*> &meshes, int frame, bool is_obs=false) {
     if (!outprefix.empty() && frame < 10000)
-        std::cout << "before saving cloth mesh" <<std::endl; 
+        // std::cout << "before saving cloth mesh" <<std::endl; 
         if(is_obs)  save_objs(meshes, stringf("%s/obs_%04d", outprefix.c_str(), frame));
         else    save_objs(meshes, stringf("%s/%04d", outprefix.c_str(), frame));
-        std::cout << "end saving cloth mesh" <<std::endl; 
+        // std::cout << "end saving cloth mesh" <<std::endl; 
 }
 
 static void save_obstacle_transforms (const vector<Obstacle> &obs, int frame,
@@ -85,12 +85,12 @@ static void save_obstacle_transforms (const vector<Obstacle> &obs, int frame,
             Transformation trans = identity_();
             if (obs[o].transform_spline) {
                 trans = get_dtrans(*obs[o].transform_spline, time).first;
-                std::cout << "get dtrans finished, to save transformation" << std::endl;
+                // std::cout << "get dtrans finished, to save transformation" << std::endl;
                 save_transformation(trans, stringf("%s/%04dobs%02d.txt",
                                                    outprefix.c_str(), frame, o));
             }else if(obs[o].smpl_motion){
                 trans = get_smpl_transformation(*obs[0].smpl_motion, time);
-                std::cout << "get smpl transform finished, to save transformation" << std::endl;
+                // std::cout << "get smpl transform finished, to save transformation" << std::endl;
                 // logic for saving smpl transform
                 save_smpl_transformation(trans, stringf("%s/%04dobs%02d.txt",
                                                    outprefix.c_str(), frame, o));
@@ -116,7 +116,7 @@ void save (const Simulation &sim, int frame) {
     // also to save the obstacles
     // save(sim.obstacle_meshes, frame, true);
     save_obstacle_transforms(sim.obstacles, frame, sim.time);
-    std::cout << "end saving obs transform" <<std::endl; 
+    // std::cout << "end saving obs transform" <<std::endl; 
 }
 
 void sim_step() {

diff --git a/v0.2.1/transformation.cpp b/v0.2.1/transformation.cpp
@@ -257,8 +257,8 @@ DTransformation get_dtrans (const Motion &motion, double t) {
 
 std::vector<Quaternion> get_smpl_quaternions(const Motion &motion, double t){
     // input transform_spline: spline<transformation> where
-    std::cout << "entering get smpl quaternions" << std::endl;
-    std::cout << "T.rotations" << motion.points[0].x.rotations.size() << std::endl;
+    // std::cout << "entering get smpl quaternions" << std::endl;
+    // std::cout << "T.rotations" << motion.points[0].x.rotations.size() << std::endl;
 //    for(int i=0;i<motion.points.size();i++) {
 //        std::cout << motion.points[i].x.rotations[0] << std::endl;
 //    }
@@ -267,20 +267,20 @@ std::vector<Quaternion> get_smpl_quaternions(const Motion &motion, double t){
     for(int i=0;i<T.rotations.size();i++){
         T.rotations[i] = normalize(T.rotations[i]);
     }
-    std::cout << "T.rotations" << T.rotations.size() << std::endl;
+    // std::cout << "T.rotations" << T.rotations.size() << std::endl;
     return T.rotations;
 }
 
 Transformation get_smpl_transformation(const Motion &motion, double t){
     // input transform_spline: spline<transformation> where
-    std::cout << "entering get smpl transformation" << std::endl;
-    std::cout << "T.rotations" << motion.points[0].x.rotations.size() << std::endl;
+    // std::cout << "entering get smpl transformation" << std::endl;
+    // std::cout << "T.rotations" << motion.points[0].x.rotations.size() << std::endl;
 
     Transformation T = motion.pos(t);
     for(int i=0;i<T.rotations.size();i++){
         T.rotations[i] = normalize(T.rotations[i]);
     }
-    std::cout << "T.rotations" << T.rotations.size() << std::endl;
+    // std::cout << "T.rotations" << T.rotations.size() << std::endl;
     return T;
 }