forked from royshil/KinectPuppeteering
-
Notifications
You must be signed in to change notification settings - Fork 0
/
KinectSkeletonRigger.cpp
266 lines (230 loc) · 8.55 KB
/
KinectSkeletonRigger.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
/*
* KinectSkeletonRigger.cpp
* KinectPuppeteering
*
* Created by Roy Shilkrot on 11/25/12.
* Copyright 2012 MIT. All rights reserved.
*
*/
#include "KinectSkeletonRigger.h"
void KinectSkeletonRigger::AutoRig() {
if (m_m.vertices.size() <= 0 || m_skel.get() == NULL) {
return;
}
cout << "autorigging...";
Debugging::setOutStream(cout);
KinectSkeleton tmp_skel = *m_skel;
m_po = autorig(tmp_skel, m_m);
cout << "DONE" << endl;
if(m_po.attachment != NULL) {
// m_display_mesh = m_po.attachment->deform(m_m,m_transforms);
my_weights.resize(m_m.vertices.size());
for (int i=0; i<m_m.vertices.size(); i++) {
my_weights[i] = m_po.attachment->getWeights(i);
}
}
}
void KinectSkeletonRigger::ComputeBoneTransforms(const EigT3f& globalT) {
if(my_weights.size() > 0) {
// float minpos = m_pose->jointV[extremes[1]].y();
// float foot_tras = (minpos - 0.1) * embedding_scale["lankle"];
Ts.resize(m_skel->fGraph().verts.size(),Eigen::Affine3f::Identity());
for (int v_idx = 0; v_idx < m_skel->fGraph().verts.size(); v_idx++)
{
int prev_idx = m_skel->fPrev()[v_idx];
assert(m_pose->jointIdxToName[v_idx] == m_skel->jointIdxToName[v_idx]);
string joint_name = m_skel->jointIdxToName[v_idx];
if (joint_name == "shoulders") {
prev_idx = m_skel->getJointForName("back");
}
int prev_prev_idx = m_skel->fPrev()[prev_idx];
string prev_joint_name = m_skel->jointIdxToName[prev_idx];
if (prev_joint_name == "shoulders") {
prev_prev_idx = m_skel->getJointForName("back");
}
string prev_prev_joint_name = m_skel->jointIdxToName[prev_prev_idx];
cout << prev_prev_joint_name << " -> " << prev_joint_name << " -> " << joint_name << endl;
EigV3f pose_prevprev_to_prev = (m_pose->jointV[prev_joint_name]-m_pose->jointV[prev_prev_joint_name]);
EigV3f skel_prevprev_to_prev = (m_skel->jointV[prev_joint_name]-m_skel->jointV[prev_prev_joint_name]);
EigV3f trns_skel_to_pose = (pose_prevprev_to_prev - skel_prevprev_to_prev) * embedding_scale[prev_joint_name];
EigQuat q_skel_to_pose = EigQuat::Identity().setFromTwoVectors(m_skel->referenceFrames[joint_name].row(0),
m_pose->referenceFrames[joint_name].row(0));
EigV3f embed = Pinoc2EigV3f(m_po.embedding[v_idx]);
EigV3f embed_prev = Pinoc2EigV3f(m_po.embedding[prev_idx]);
EigV3f embed_prev_prev = Pinoc2EigV3f(m_po.embedding[prev_prev_idx]);
EigQuat q_embed_to_skel = EigQuat::Identity().setFromTwoVectors((embed_prev - embed).normalized(),
m_skel->referenceFrames[joint_name].row(0));
// double embed_bone = (bone_offset-prev_bone_offset).norm();
EigV3f embed_prevprev_to_prev = embed_prev - embed_prev_prev;
EigV3f trns_embed_to_skel = (skel_prevprev_to_prev * embedding_scale[prev_joint_name] - embed_prevprev_to_prev);
Ts[v_idx] = globalT *
// Eigen::Translation3f(EigV3f(0,-foot_tras,0)) * // make sit on lowest joint
// Eigen::Translation3f(-Pinoc2EigV3f(m_po.embedding[m_pose->getJointForName("back")])) *
Eigen::Translation3f(trns_skel_to_pose) *
Eigen::Translation3f(trns_embed_to_skel) *
Eigen::Translation3f(embed_prev) *
q_skel_to_pose *
q_embed_to_skel *
Eigen::Translation3f(-embed_prev);
// cout << "transform " << joint_name << ": " << endl << Ts[v_idx].affine() << endl;
}
//apply trasforms
//TODO: parallelize / GPU
m_display_mesh = m_m;
for (int vert_i=0; vert_i < m_display_mesh.vertices.size(); vert_i++) {
EigV3f vert_pos = Pinoc2EigV3f(m_display_mesh.vertices[vert_i].pos);
EigV3f new_vert_pos = EigV3f::Zero();
Vector<double, -1> weights = my_weights[vert_i];
assert(weights.size() == Ts.size() - 1);
float w_sum = 0.0f;
for (int bone_i=1; bone_i < Ts.size(); bone_i++) {
float weight = weights[bone_i-1];
if (weight > 1.) weight = 1.0;
// if(weight < 1e-8) continue;
new_vert_pos += (Ts[bone_i] * vert_pos) * weight; //Linear blend skinning
}
m_display_mesh.vertices[vert_i].pos = Eig2PinocV3f(new_vert_pos);
}
}
}
void KinectSkeletonRigger::drawSkeleton(const KinectSkeleton::Ptr& _skel, bool draw_frames) {
if (_skel.get() != NULL) {
_skel->glDraw(/*globalTransform*/EigT3f::Identity(),draw_frames);
}
}
void KinectSkeletonRigger::drawEmbeddingSkel() {
if (m_skel.get() != NULL) {
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
for (int i=0; i<m_skel->fGraph().verts.size(); i++) {
string jointName = m_skel->jointIdxToName[i];
string prevJointName = m_skel->jointIdxToName[m_skel->fPrev()[i]];
EigV3f v = Pinoc2EigV3f(m_po.embedding[i]);
glPushMatrix();
glTranslated(v[0], v[1], v[2]);
glColor4f(1.0, 0, 1.0, 1.0);
glutSolidSphere(0.01, 10, 10);
glPopMatrix();
//bone
if (jointName != "shoulders") {
EigV3f prev_v = Pinoc2EigV3f(m_po.embedding[m_skel->fPrev()[i]]);
glBegin(GL_LINES);
glColor4f(1.0, 1.0, 0.0, 1.0);
glVertex3fv(&(v[0]));
glVertex3fv(&(prev_v[0]));
glEnd();
}
}
glEnable(GL_LIGHTING);
glEnable(GL_DEPTH_TEST);
}
}
void KinectSkeletonRigger::drawMesh(bool show_original) {
if (m_display_mesh.vertices.size() > 0) {
glColor4f(0.55, 0.25, 0.25, 1.0);
drawMesh(m_display_mesh, true, Vector3(0,0,0));
}
if(show_original && m_m.vertices.size() > 0) {
glColor4f(0.55, 0.55, 0.55, 0.25);
drawMesh(m_m, true, Vector3(0,0,0));
}
}
void KinectSkeletonRigger::drawMesh(const Mesh &m, bool flatShading, Vector3 trans)
{
int i;
Vector3 normal;
glBegin(GL_TRIANGLES);
for(i = 0; i < (int)m.edges.size(); ++i) {
int v = m.edges[i].vertex;
const Vector3 &p = m.vertices[v].pos;
if(!flatShading) {
normal = m.vertices[v].normal;
glNormal3d(normal[0], normal[1], normal[2]);
}
else if(i % 3 == 0) {
const Vector3 &p2 = m.vertices[m.edges[i + 1].vertex].pos;
const Vector3 &p3 = m.vertices[m.edges[i + 2].vertex].pos;
normal = ((p2 - p) % (p3 - p)).normalize();
glNormal3d(normal[0], normal[1], normal[2]);
}
glVertex3d(p[0] + trans[0], p[1] + trans[1], p[2] + trans[2]);
}
glEnd();
}
void KinectSkeletonRigger::LoadRig(const std::string& f) {
if(f=="") return;
ifstream ifs(f.c_str());
string s_;
ifs >> m_meshfile;
LoadMesh(m_meshfile);
if(m_m.vertices.size() == 0) {
cerr << "can't load mesh"<<endl; return;
}
ifs >> m_skeletonfile;
LoadSkeletonFromText(m_skeletonfile);
if(m_skel.get() == NULL || m_skel->fGraph().verts.size() == 0) {
cerr << "can't load skeleton"<<endl; return;
}
int embedding_size,tmp;
ifs >> embedding_size;
m_po.embedding.resize(embedding_size);
for (int i=0; i<embedding_size; i++) {
ifs >> tmp >> m_po.embedding[i][0] >> m_po.embedding[i][1] >> m_po.embedding[i][2] >> tmp;
}
int attachment_size;
ifs >> attachment_size;
if(m_po.attachment == NULL) m_po.attachment = new Attachment;
my_weights.resize(attachment_size);
for (int i=0; i<attachment_size; i++) {
// my_weights[i].resize(embedding_size-1);
for (int v=0; v<embedding_size-1; v++) {
ifs >> my_weights[i][v];
}
// cout << my_weights[i];
}
for (int v_idx = 0; v_idx < m_skel->fGraph().verts.size(); v_idx++)
{
int prev_idx = m_skel->fPrev()[v_idx];
string joint_name = m_skel->jointIdxToName[v_idx];
string prev_joint_name = m_skel->jointIdxToName[prev_idx];
if (joint_name == "shoulders") {
prev_joint_name = "back";
prev_idx = m_skel->getJointForName("back");
}
EigV3f skel_offset = m_skel->jointV[joint_name] - m_skel->jointV[prev_joint_name];
EigV3f embed_offest = Pinoc2EigV3f(m_po.embedding[v_idx]) - Pinoc2EigV3f(m_po.embedding[prev_idx]);
embedding_scale[joint_name] = embed_offest.norm() / skel_offset.norm(); // / ;
cout << "embedding_scale " << joint_name << ": " << embedding_scale[joint_name] << endl;
}
}
void KinectSkeletonRigger::SaveRig(const std::string& f) {
if (f == "") {
return;
}
if (m_meshfile == "" || m_skeletonfile == "") {
cerr << "no mesh or skeleton loaded" << endl;
return;
}
if (m_po.attachment == NULL) {
cerr << "no rigging" << endl;
return;
}
ofstream ofs(f.c_str());
ofs << m_meshfile << endl << m_skeletonfile << endl;
//output embedding
ofs << m_po.embedding.size() << endl;
for(int i = 0; i < (int)m_po.embedding.size(); ++i) {
ofs << i << " " << m_po.embedding[i][0] << " " << m_po.embedding[i][1] <<
" " << m_po.embedding[i][2] << " " << m_skel->fPrev()[i] << endl;
}
//output attachment
ofs << m_m.vertices.size() << endl;
for(int i = 0; i < (int)m_m.vertices.size(); ++i) {
Vector<double, -1> v = my_weights[i];
for(int j = 0; j < v.size(); ++j) {
double d = floor(0.5 + v[j] * 10000.) / 10000.;
ofs << d << " ";
}
}
ofs.close();
}