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""" |
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Copyright 2016 Max Planck Society, Federica Bogo, Angjoo Kanazawa. All rights reserved. |
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This software is provided for research purposes only. |
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By using this software you agree to the terms of the SMPLify license here: |
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http://smplify.is.tue.mpg.de/license |
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This script implements the interpenetration error term. It uses the capsule |
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approximation provided in capsule_body.py, and is differentiable with respect |
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to body shape and pose. |
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""" |
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import numpy as np |
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import chumpy as ch |
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from vendor.smpl.lbs import verts_core |
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from capsule_body import get_capsules, set_sphere_centers,\ |
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get_sphere_bweights, collisions,\ |
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capsule_dist |
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class SphereCollisions(ch.Ch): |
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dterms = ('pose', 'betas') |
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terms = ('regs', 'model') |
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def update_capsules_and_centers(self): |
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centers = [set_sphere_centers(capsule) for capsule in self.capsules] |
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count = 0 |
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for capsule in self.capsules: |
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capsule.center_id = count |
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count += len(capsule.centers) |
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self.sph_vs = ch.vstack(centers) |
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self.sph_weights = get_sphere_bweights(self.sph_vs, self.capsules) |
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self.ids0 = [] |
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self.ids1 = [] |
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self.radiuss = [] |
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self.caps_pairs = [] |
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for collision in collisions: |
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if hasattr(self, 'no_hands'): |
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(id0, id1, rd) = capsule_dist( |
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self.capsules[collision[0]], |
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self.capsules[collision[1]], |
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increase_hand=False) |
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else: |
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(id0, id1, rd) = capsule_dist(self.capsules[collision[0]], |
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self.capsules[collision[1]]) |
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self.ids0.append(id0.r) |
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self.ids1.append(id1.r) |
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self.radiuss.append(rd) |
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self.caps_pairs.append(['%02d_%02d' % (collision[0], collision[1])] |
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* len(id0)) |
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self.ids0 = np.concatenate(self.ids0).astype(int) |
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self.ids1 = np.concatenate(self.ids1).astype(int) |
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self.radiuss = np.concatenate(self.radiuss) |
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self.caps_pairs = np.concatenate(self.caps_pairs) |
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assert (self.caps_pairs.size == self.ids0.size) |
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assert (self.radiuss.size == self.ids0.size) |
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def update_pose(self): |
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self.sph_v = verts_core( |
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self.pose, |
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self.sph_vs, |
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self.model.J, |
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self.sph_weights, |
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self.model.kintree_table, |
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want_Jtr=False) |
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def get_objective(self): |
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return ch.sum((ch.exp( |
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-((ch.sum((self.sph_v[self.ids0] - self.sph_v[self.ids1])**2, |
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axis=1)) / (self.radiuss)) / 2.))**2)**.5 |
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def compute_r(self): |
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return self.get_objective().r |
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def compute_dr_wrt(self, wrt): |
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if wrt is self.pose: |
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return self.get_objective().dr_wrt(wrt) |
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def on_changed(self, which): |
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if 'regs' in which: |
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self.length_regs = self.regs['betas2lens'] |
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self.rad_regs = self.regs['betas2rads'] |
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if 'betas' in which: |
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if not hasattr(self, 'capsules'): |
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self.capsules = get_capsules( |
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self.model, |
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wrt_betas=self.betas, |
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length_regs=self.length_regs, |
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rad_regs=self.rad_regs) |
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self.update_capsules_and_centers() |
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if 'pose' in which: |
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self.update_pose() |
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