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smpl-viewer.cpp
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smpl-viewer.cpp
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#include "meshview/meshview.hpp"
#include "meshview/meshview_imgui.hpp"
#include "Avatar.h"
#include "Util.h"
int main(int argc, char** argv) {
ark::AvatarModel model;
ark::Avatar ava(model);
ava.update();
meshview::Viewer viewer;
meshview::Triangles faces = model.mesh.transpose().cast<meshview::Index>();
// Main body model
auto& smpl_mesh = viewer.add_mesh(ava.cloud.transpose().cast<float>(),
faces, 0.8f, 0.5f, 0.6f);
// LBS weights color visualization
auto& smpl_mesh_lbs =
viewer
.add_mesh(ava.cloud.transpose().cast<float>(), faces,
/* use vertex-based colorization, by passing n-by-3
matrix as 3rd argument */
(ark::util::paletteColorTable(model.numJoints()) *
model.weights.cast<float>())
.transpose())
.translate(Eigen::Vector3f(2.0f, 0.f, 0.f));
// Joints
std::vector<meshview::Mesh*> joint_spheres;
// Lines are 'point clouds' with lines=true, sorry for weirdness
std::vector<meshview::PointCloud*> joint_lines;
const Eigen::Vector3f joint_offset(-2.f, 0.f, 0.f);
for (size_t i = 0; i < model.numJoints(); ++i) {
auto joint_pos = ava.jointPos.col(i).cast<float>();
joint_spheres.push_back(
&viewer
.add_sphere(Eigen::Vector3f::Zero(), 0.01f,
Eigen::Vector3f(1.f, 0.5f, 0.0f))
.translate(joint_pos + joint_offset));
if (i) {
auto parent_pos = ava.jointPos.col(model.parent(i)).cast<float>();
joint_lines.push_back(
&viewer
.add_line(joint_pos, parent_pos,
Eigen::Vector3f(0.4f, 0.5f, 0.8f))
.translate(joint_offset));
}
}
bool updated = false;
auto update = [&]() {
ava.update();
// Update the mesh on-the-fly (send to GPU)
smpl_mesh.verts_pos().noalias() = ava.cloud.transpose().cast<float>();
smpl_mesh_lbs.verts_pos().noalias() =
ava.cloud.transpose().cast<float>();
for (size_t i = 0; i < model.numJoints(); ++i) {
auto joint_pos = ava.jointPos.col(i).cast<float>();
joint_spheres[i]->set_translation(joint_pos + joint_offset);
if (i) {
auto parent_pos =
ava.jointPos.col(model.parent(i)).cast<float>();
joint_lines[i - 1]->verts_pos().row(0).noalias() =
joint_pos.transpose();
joint_lines[i - 1]->verts_pos().row(1).noalias() =
parent_pos.transpose();
}
}
updated = true;
};
Eigen::Vector3f p;
p.setZero();
Eigen::VectorXf r(3 * ava.r.size());
r.setZero();
Eigen::VectorXf w(ava.w.rows());
w.setZero();
viewer.on_open = []() { ImGui::GetIO().IniFilename = nullptr; };
viewer.on_gui = [&]() {
updated = false;
// * GUI code
ImGui::SetNextWindowPos(ImVec2(10, 10), ImGuiCond_Once);
ImGui::SetNextWindowSize(ImVec2(500, 360), ImGuiCond_Once);
ImGui::Begin("Model Parameters", NULL);
ImGui::Text("Model: %s", model.MODEL_DIR.c_str());
ImGui::TextUnformatted("Press h for help");
ImGui::TextUnformatted("Reset: ");
ImGui::SameLine();
if (ImGui::Button("Trans##ResetTrans")) {
ava.p.setZero();
update();
}
ImGui::SameLine();
if (ImGui::Button("Pose##ResetPose")) {
for (auto& q : ava.r) q.setIdentity();
update();
}
ImGui::SameLine();
if (ImGui::Button("Shape##ResetShape")) {
ava.w.setZero();
update();
}
if (ImGui::SliderFloat3("translation", p.data(), -5.f, 5.f)) {
ava.p = p.cast<double>();
update();
}
if (ImGui::TreeNode("Pose")) {
const int STEP = 10;
for (int j = 0; j < model.numJoints(); j += STEP) {
int end_idx = std::min(j + STEP, model.numJoints());
if (ImGui::TreeNode(("Angle axis " + std::to_string(j) + " - " +
std::to_string(end_idx - 1))
.c_str())) {
for (int i = j; i < end_idx; ++i) {
if (ImGui::SliderFloat3(
(std::string(std::to_string(i) + "##joint") +
std::to_string(i))
.c_str(),
r.data() + i * 3, -1.6f, 1.6f)) {
ava.r[i] = ark::util::rodrigues<float>(
Eigen::Map<Eigen::Vector3f>(
r.data() + i * 3))
.cast<double>();
update();
}
}
ImGui::TreePop();
}
}
ImGui::TreePop();
}
if (ImGui::TreeNode("Shape")) {
for (size_t i = 0; i < model.numShapeKeys(); ++i) {
if (ImGui::SliderFloat(
(std::string("shape") + std::to_string(i)).c_str(),
w.data() + i, -5.f, 5.f)) {
ava.w[i] = (double)w[i];
update();
}
}
ImGui::TreePop();
}
ImGui::End(); // Model Parameters
ImGui::SetNextWindowPos(ImVec2(10, 395), ImGuiCond_Once);
ImGui::SetNextWindowSize(ImVec2(500, 100), ImGuiCond_Once);
ImGui::Begin("Camera and Rendering", NULL);
if (ImGui::Button("Reset view")) {
viewer.camera.reset_view();
}
ImGui::SameLine();
if (ImGui::Button("Reset projection")) {
viewer.camera.reset_proj();
}
ImGui::SameLine();
ImGui::Checkbox("wireframe", &viewer.wireframe);
if (ImGui::TreeNode("View")) {
if (ImGui::SliderFloat3("cen_of_rot",
viewer.camera.center_of_rot.data(), -5.f,
5.f))
viewer.camera.update_view();
if (ImGui::SliderFloat("radius", &viewer.camera.dist_to_center,
0.01f, 10.f))
viewer.camera.update_view();
if (ImGui::DragFloat("yaw", &viewer.camera.yaw))
viewer.camera.update_view();
if (ImGui::DragFloat("pitch", &viewer.camera.pitch))
viewer.camera.update_view();
if (ImGui::DragFloat("roll", &viewer.camera.roll))
viewer.camera.update_view();
if (ImGui::SliderFloat3("world_up", viewer.camera.world_up.data(),
-5.f, 5.f))
viewer.camera.update_view();
ImGui::TreePop();
}
if (ImGui::TreeNode("Projection")) {
if (ImGui::SliderFloat("fovy", &viewer.camera.fovy, 0.01f, 1.5f))
viewer.camera.update_proj();
if (ImGui::SliderFloat("z_close", &viewer.camera.z_close, 0.01f,
10.f))
viewer.camera.update_proj();
if (ImGui::SliderFloat("z_far", &viewer.camera.z_far, 11.f, 5000.f))
viewer.camera.update_proj();
ImGui::TreePop();
}
if (ImGui::TreeNode("Lighting")) {
if (ImGui::SliderFloat3("pos", viewer.light_pos.data(), -4.f, 4.f))
if (ImGui::SliderFloat3(
"ambient", viewer.light_color_ambient.data(), 0.f, 1.f))
if (ImGui::SliderFloat3("diffuse",
viewer.light_color_diffuse.data(),
0.f, 1.f))
if (ImGui::SliderFloat3(
"specular", viewer.light_color_specular.data(),
0.f, 1.f))
ImGui::TreePop();
}
ImGui::End(); // Camera and Rendering
// Return true if updated to indicate mesh data has been changed
// the viewer will update the GPU buffers automatically
return updated;
};
viewer.show();
}