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| ''' | |
| Copyright 2015 Matthew Loper, Naureen Mahmood and the Max Planck Gesellschaft. All rights reserved. | |
| This software is provided for research purposes only. | |
| By using this software you agree to the terms of the SMPL Model license here http://smpl.is.tue.mpg.de/license | |
| More information about SMPL is available here http://smpl.is.tue.mpg. | |
| For comments or questions, please email us at: smpl@tuebingen.mpg.de | |
| About this file: | |
| ================ | |
| This module defines the mapping of joint-angles to pose-blendshapes. | |
| Modules included: | |
| - posemap: | |
| computes the joint-to-pose blend shape mapping given a mapping type as input | |
| ''' | |
| import chumpy as ch | |
| import numpy as np | |
| import cv2 | |
| class Rodrigues(ch.Ch): | |
| dterms = 'rt' | |
| def compute_r(self): | |
| return cv2.Rodrigues(self.rt.r)[0] | |
| def compute_dr_wrt(self, wrt): | |
| if wrt is self.rt: | |
| return cv2.Rodrigues(self.rt.r)[1].T | |
| def lrotmin(p): | |
| if isinstance(p, np.ndarray): | |
| p = p.ravel()[3:] | |
| return np.concatenate([(cv2.Rodrigues(np.array(pp))[0]-np.eye(3)).ravel() for pp in p.reshape((-1,3))]).ravel() | |
| if p.ndim != 2 or p.shape[1] != 3: | |
| p = p.reshape((-1,3)) | |
| p = p[1:] | |
| return ch.concatenate([(Rodrigues(pp)-ch.eye(3)).ravel() for pp in p]).ravel() | |
| def posemap(s): | |
| if s == 'lrotmin': | |
| return lrotmin | |
| else: | |
| raise Exception('Unknown posemapping: %s' % (str(s),)) | |