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| # -*- coding: utf-8 -*- | |
| # Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (MPG) is | |
| # holder of all proprietary rights on this computer program. | |
| # You can only use this computer program if you have closed | |
| # a license agreement with MPG or you get the right to use the computer | |
| # program from someone who is authorized to grant you that right. | |
| # Any use of the computer program without a valid license is prohibited and | |
| # liable to prosecution. | |
| # | |
| # Copyright©2019 Max-Planck-Gesellschaft zur Förderung | |
| # der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute | |
| # for Intelligent Systems. All rights reserved. | |
| # | |
| # Contact: ps-license@tuebingen.mpg.de | |
| import numpy as np | |
| import pickle | |
| import torch | |
| import os | |
| class SMPLModel(): | |
| def __init__(self, model_path, age): | |
| """ | |
| SMPL model. | |
| Parameter: | |
| --------- | |
| model_path: Path to the SMPL model parameters, pre-processed by | |
| `preprocess.py`. | |
| """ | |
| with open(model_path, 'rb') as f: | |
| params = pickle.load(f, encoding='latin1') | |
| self.J_regressor = params['J_regressor'] | |
| self.weights = np.asarray(params['weights']) | |
| self.posedirs = np.asarray(params['posedirs']) | |
| self.v_template = np.asarray(params['v_template']) | |
| self.shapedirs = np.asarray(params['shapedirs']) | |
| self.faces = np.asarray(params['f']) | |
| self.kintree_table = np.asarray(params['kintree_table']) | |
| self.pose_shape = [24, 3] | |
| self.beta_shape = [10] | |
| self.trans_shape = [3] | |
| if age == 'kid': | |
| v_template_smil = np.load( | |
| os.path.join(os.path.dirname(model_path), | |
| "smpl/smpl_kid_template.npy")) | |
| v_template_smil -= np.mean(v_template_smil, axis=0) | |
| v_template_diff = np.expand_dims(v_template_smil - self.v_template, | |
| axis=2) | |
| self.shapedirs = np.concatenate( | |
| (self.shapedirs[:, :, :self.beta_shape[0]], v_template_diff), | |
| axis=2) | |
| self.beta_shape[0] += 1 | |
| id_to_col = { | |
| self.kintree_table[1, i]: i | |
| for i in range(self.kintree_table.shape[1]) | |
| } | |
| self.parent = { | |
| i: id_to_col[self.kintree_table[0, i]] | |
| for i in range(1, self.kintree_table.shape[1]) | |
| } | |
| self.pose = np.zeros(self.pose_shape) | |
| self.beta = np.zeros(self.beta_shape) | |
| self.trans = np.zeros(self.trans_shape) | |
| self.verts = None | |
| self.J = None | |
| self.R = None | |
| self.G = None | |
| self.update() | |
| def set_params(self, pose=None, beta=None, trans=None): | |
| """ | |
| Set pose, shape, and/or translation parameters of SMPL model. Verices of the | |
| model will be updated and returned. | |
| Prameters: | |
| --------- | |
| pose: Also known as 'theta', a [24,3] matrix indicating child joint rotation | |
| relative to parent joint. For root joint it's global orientation. | |
| Represented in a axis-angle format. | |
| beta: Parameter for model shape. A vector of shape [10]. Coefficients for | |
| PCA component. Only 10 components were released by MPI. | |
| trans: Global translation of shape [3]. | |
| Return: | |
| ------ | |
| Updated vertices. | |
| """ | |
| if pose is not None: | |
| self.pose = pose | |
| if beta is not None: | |
| self.beta = beta | |
| if trans is not None: | |
| self.trans = trans | |
| self.update() | |
| return self.verts | |
| def update(self): | |
| """ | |
| Called automatically when parameters are updated. | |
| """ | |
| # how beta affect body shape | |
| v_shaped = self.shapedirs.dot(self.beta) + self.v_template | |
| # joints location | |
| self.J = self.J_regressor.dot(v_shaped) | |
| pose_cube = self.pose.reshape((-1, 1, 3)) | |
| # rotation matrix for each joint | |
| self.R = self.rodrigues(pose_cube) | |
| I_cube = np.broadcast_to(np.expand_dims(np.eye(3), axis=0), | |
| (self.R.shape[0] - 1, 3, 3)) | |
| lrotmin = (self.R[1:] - I_cube).ravel() | |
| # how pose affect body shape in zero pose | |
| v_posed = v_shaped + self.posedirs.dot(lrotmin) | |
| # world transformation of each joint | |
| G = np.empty((self.kintree_table.shape[1], 4, 4)) | |
| G[0] = self.with_zeros( | |
| np.hstack((self.R[0], self.J[0, :].reshape([3, 1])))) | |
| for i in range(1, self.kintree_table.shape[1]): | |
| G[i] = G[self.parent[i]].dot( | |
| self.with_zeros( | |
| np.hstack([ | |
| self.R[i], | |
| ((self.J[i, :] - self.J[self.parent[i], :]).reshape( | |
| [3, 1])) | |
| ]))) | |
| # remove the transformation due to the rest pose | |
| G = G - self.pack( | |
| np.matmul( | |
| G, | |
| np.hstack([self.J, np.zeros([24, 1])]).reshape([24, 4, 1]))) | |
| # transformation of each vertex | |
| T = np.tensordot(self.weights, G, axes=[[1], [0]]) | |
| rest_shape_h = np.hstack((v_posed, np.ones([v_posed.shape[0], 1]))) | |
| v = np.matmul(T, rest_shape_h.reshape([-1, 4, 1])).reshape([-1, | |
| 4])[:, :3] | |
| self.verts = v + self.trans.reshape([1, 3]) | |
| self.G = G | |
| def rodrigues(self, r): | |
| """ | |
| Rodrigues' rotation formula that turns axis-angle vector into rotation | |
| matrix in a batch-ed manner. | |
| Parameter: | |
| ---------- | |
| r: Axis-angle rotation vector of shape [batch_size, 1, 3]. | |
| Return: | |
| ------- | |
| Rotation matrix of shape [batch_size, 3, 3]. | |
| """ | |
| theta = np.linalg.norm(r, axis=(1, 2), keepdims=True) | |
| # avoid zero divide | |
| theta = np.maximum(theta, np.finfo(np.float64).tiny) | |
| r_hat = r / theta | |
| cos = np.cos(theta) | |
| z_stick = np.zeros(theta.shape[0]) | |
| m = np.dstack([ | |
| z_stick, -r_hat[:, 0, 2], r_hat[:, 0, 1], r_hat[:, 0, 2], z_stick, | |
| -r_hat[:, 0, 0], -r_hat[:, 0, 1], r_hat[:, 0, 0], z_stick | |
| ]).reshape([-1, 3, 3]) | |
| i_cube = np.broadcast_to(np.expand_dims(np.eye(3), axis=0), | |
| [theta.shape[0], 3, 3]) | |
| A = np.transpose(r_hat, axes=[0, 2, 1]) | |
| B = r_hat | |
| dot = np.matmul(A, B) | |
| R = cos * i_cube + (1 - cos) * dot + np.sin(theta) * m | |
| return R | |
| def with_zeros(self, x): | |
| """ | |
| Append a [0, 0, 0, 1] vector to a [3, 4] matrix. | |
| Parameter: | |
| --------- | |
| x: Matrix to be appended. | |
| Return: | |
| ------ | |
| Matrix after appending of shape [4,4] | |
| """ | |
| return np.vstack((x, np.array([[0.0, 0.0, 0.0, 1.0]]))) | |
| def pack(self, x): | |
| """ | |
| Append zero matrices of shape [4, 3] to vectors of [4, 1] shape in a batched | |
| manner. | |
| Parameter: | |
| ---------- | |
| x: Matrices to be appended of shape [batch_size, 4, 1] | |
| Return: | |
| ------ | |
| Matrix of shape [batch_size, 4, 4] after appending. | |
| """ | |
| return np.dstack((np.zeros((x.shape[0], 4, 3)), x)) | |
| def save_to_obj(self, path): | |
| """ | |
| Save the SMPL model into .obj file. | |
| Parameter: | |
| --------- | |
| path: Path to save. | |
| """ | |
| with open(path, 'w') as fp: | |
| for v in self.verts: | |
| fp.write('v %f %f %f\n' % (v[0], v[1], v[2])) | |
| for f in self.faces + 1: | |
| fp.write('f %d %d %d\n' % (f[0], f[1], f[2])) | |
| class TetraSMPLModel(): | |
| def __init__(self, | |
| model_path, | |
| model_addition_path, | |
| age='adult', | |
| v_template=None): | |
| """ | |
| SMPL model. | |
| Parameter: | |
| --------- | |
| model_path: Path to the SMPL model parameters, pre-processed by | |
| `preprocess.py`. | |
| """ | |
| with open(model_path, 'rb') as f: | |
| params = pickle.load(f, encoding='latin1') | |
| self.J_regressor = params['J_regressor'] | |
| self.weights = np.asarray(params['weights']) | |
| self.posedirs = np.asarray(params['posedirs']) | |
| if v_template is not None: | |
| self.v_template = v_template | |
| else: | |
| self.v_template = np.asarray(params['v_template']) | |
| self.shapedirs = np.asarray(params['shapedirs']) | |
| self.faces = np.asarray(params['f']) | |
| self.kintree_table = np.asarray(params['kintree_table']) | |
| params_added = np.load(model_addition_path) | |
| self.v_template_added = params_added['v_template_added'] | |
| self.weights_added = params_added['weights_added'] | |
| self.shapedirs_added = params_added['shapedirs_added'] | |
| self.posedirs_added = params_added['posedirs_added'] | |
| self.tetrahedrons = params_added['tetrahedrons'] | |
| id_to_col = { | |
| self.kintree_table[1, i]: i | |
| for i in range(self.kintree_table.shape[1]) | |
| } | |
| self.parent = { | |
| i: id_to_col[self.kintree_table[0, i]] | |
| for i in range(1, self.kintree_table.shape[1]) | |
| } | |
| self.pose_shape = [24, 3] | |
| self.beta_shape = [10] | |
| self.trans_shape = [3] | |
| if age == 'kid': | |
| v_template_smil = np.load( | |
| os.path.join(os.path.dirname(model_path), | |
| "smpl/smpl_kid_template.npy")) | |
| v_template_smil -= np.mean(v_template_smil, axis=0) | |
| v_template_diff = np.expand_dims(v_template_smil - self.v_template, | |
| axis=2) | |
| self.shapedirs = np.concatenate( | |
| (self.shapedirs[:, :, :self.beta_shape[0]], v_template_diff), | |
| axis=2) | |
| self.beta_shape[0] += 1 | |
| self.pose = np.zeros(self.pose_shape) | |
| self.beta = np.zeros(self.beta_shape) | |
| self.trans = np.zeros(self.trans_shape) | |
| self.verts = None | |
| self.verts_added = None | |
| self.J = None | |
| self.R = None | |
| self.G = None | |
| self.update() | |
| def set_params(self, pose=None, beta=None, trans=None): | |
| """ | |
| Set pose, shape, and/or translation parameters of SMPL model. Verices of the | |
| model will be updated and returned. | |
| Prameters: | |
| --------- | |
| pose: Also known as 'theta', a [24,3] matrix indicating child joint rotation | |
| relative to parent joint. For root joint it's global orientation. | |
| Represented in a axis-angle format. | |
| beta: Parameter for model shape. A vector of shape [10]. Coefficients for | |
| PCA component. Only 10 components were released by MPI. | |
| trans: Global translation of shape [3]. | |
| Return: | |
| ------ | |
| Updated vertices. | |
| """ | |
| if torch.is_tensor(pose): | |
| pose = pose.detach().cpu().numpy() | |
| if torch.is_tensor(beta): | |
| beta = beta.detach().cpu().numpy() | |
| if pose is not None: | |
| self.pose = pose | |
| if beta is not None: | |
| self.beta = beta | |
| if trans is not None: | |
| self.trans = trans | |
| self.update() | |
| return self.verts | |
| def update(self): | |
| """ | |
| Called automatically when parameters are updated. | |
| """ | |
| # how beta affect body shape | |
| v_shaped = self.shapedirs.dot(self.beta) + self.v_template | |
| v_shaped_added = self.shapedirs_added.dot( | |
| self.beta) + self.v_template_added | |
| # joints location | |
| self.J = self.J_regressor.dot(v_shaped) | |
| pose_cube = self.pose.reshape((-1, 1, 3)) | |
| # rotation matrix for each joint | |
| self.R = self.rodrigues(pose_cube) | |
| I_cube = np.broadcast_to(np.expand_dims(np.eye(3), axis=0), | |
| (self.R.shape[0] - 1, 3, 3)) | |
| lrotmin = (self.R[1:] - I_cube).ravel() | |
| # how pose affect body shape in zero pose | |
| v_posed = v_shaped + self.posedirs.dot(lrotmin) | |
| v_posed_added = v_shaped_added + self.posedirs_added.dot(lrotmin) | |
| # world transformation of each joint | |
| G = np.empty((self.kintree_table.shape[1], 4, 4)) | |
| G[0] = self.with_zeros( | |
| np.hstack((self.R[0], self.J[0, :].reshape([3, 1])))) | |
| for i in range(1, self.kintree_table.shape[1]): | |
| G[i] = G[self.parent[i]].dot( | |
| self.with_zeros( | |
| np.hstack([ | |
| self.R[i], | |
| ((self.J[i, :] - self.J[self.parent[i], :]).reshape( | |
| [3, 1])) | |
| ]))) | |
| # remove the transformation due to the rest pose | |
| G = G - self.pack( | |
| np.matmul( | |
| G, | |
| np.hstack([self.J, np.zeros([24, 1])]).reshape([24, 4, 1]))) | |
| self.G = G | |
| # transformation of each vertex | |
| T = np.tensordot(self.weights, G, axes=[[1], [0]]) | |
| rest_shape_h = np.hstack((v_posed, np.ones([v_posed.shape[0], 1]))) | |
| v = np.matmul(T, rest_shape_h.reshape([-1, 4, 1])).reshape([-1, | |
| 4])[:, :3] | |
| self.verts = v + self.trans.reshape([1, 3]) | |
| T_added = np.tensordot(self.weights_added, G, axes=[[1], [0]]) | |
| rest_shape_added_h = np.hstack( | |
| (v_posed_added, np.ones([v_posed_added.shape[0], 1]))) | |
| v_added = np.matmul(T_added, | |
| rest_shape_added_h.reshape([-1, 4, | |
| 1])).reshape([-1, 4 | |
| ])[:, :3] | |
| self.verts_added = v_added + self.trans.reshape([1, 3]) | |
| def rodrigues(self, r): | |
| """ | |
| Rodrigues' rotation formula that turns axis-angle vector into rotation | |
| matrix in a batch-ed manner. | |
| Parameter: | |
| ---------- | |
| r: Axis-angle rotation vector of shape [batch_size, 1, 3]. | |
| Return: | |
| ------- | |
| Rotation matrix of shape [batch_size, 3, 3]. | |
| """ | |
| theta = np.linalg.norm(r, axis=(1, 2), keepdims=True) | |
| # avoid zero divide | |
| theta = np.maximum(theta, np.finfo(np.float64).tiny) | |
| r_hat = r / theta | |
| cos = np.cos(theta) | |
| z_stick = np.zeros(theta.shape[0]) | |
| m = np.dstack([ | |
| z_stick, -r_hat[:, 0, 2], r_hat[:, 0, 1], r_hat[:, 0, 2], z_stick, | |
| -r_hat[:, 0, 0], -r_hat[:, 0, 1], r_hat[:, 0, 0], z_stick | |
| ]).reshape([-1, 3, 3]) | |
| i_cube = np.broadcast_to(np.expand_dims(np.eye(3), axis=0), | |
| [theta.shape[0], 3, 3]) | |
| A = np.transpose(r_hat, axes=[0, 2, 1]) | |
| B = r_hat | |
| dot = np.matmul(A, B) | |
| R = cos * i_cube + (1 - cos) * dot + np.sin(theta) * m | |
| return R | |
| def with_zeros(self, x): | |
| """ | |
| Append a [0, 0, 0, 1] vector to a [3, 4] matrix. | |
| Parameter: | |
| --------- | |
| x: Matrix to be appended. | |
| Return: | |
| ------ | |
| Matrix after appending of shape [4,4] | |
| """ | |
| return np.vstack((x, np.array([[0.0, 0.0, 0.0, 1.0]]))) | |
| def pack(self, x): | |
| """ | |
| Append zero matrices of shape [4, 3] to vectors of [4, 1] shape in a batched | |
| manner. | |
| Parameter: | |
| ---------- | |
| x: Matrices to be appended of shape [batch_size, 4, 1] | |
| Return: | |
| ------ | |
| Matrix of shape [batch_size, 4, 4] after appending. | |
| """ | |
| return np.dstack((np.zeros((x.shape[0], 4, 3)), x)) | |
| def save_mesh_to_obj(self, path): | |
| """ | |
| Save the SMPL model into .obj file. | |
| Parameter: | |
| --------- | |
| path: Path to save. | |
| """ | |
| with open(path, 'w') as fp: | |
| for v in self.verts: | |
| fp.write('v %f %f %f\n' % (v[0], v[1], v[2])) | |
| for f in self.faces + 1: | |
| fp.write('f %d %d %d\n' % (f[0], f[1], f[2])) | |
| def save_tetrahedron_to_obj(self, path): | |
| """ | |
| Save the tetrahedron SMPL model into .obj file. | |
| Parameter: | |
| --------- | |
| path: Path to save. | |
| """ | |
| with open(path, 'w') as fp: | |
| for v in self.verts: | |
| fp.write('v %f %f %f 1 0 0\n' % (v[0], v[1], v[2])) | |
| for va in self.verts_added: | |
| fp.write('v %f %f %f 0 0 1\n' % (va[0], va[1], va[2])) | |
| for t in self.tetrahedrons + 1: | |
| fp.write('f %d %d %d\n' % (t[0], t[2], t[1])) | |
| fp.write('f %d %d %d\n' % (t[0], t[3], t[2])) | |
| fp.write('f %d %d %d\n' % (t[0], t[1], t[3])) | |
| fp.write('f %d %d %d\n' % (t[1], t[2], t[3])) | |