Smooth skinning decomposition with rigid bones and sparse, convex weights. More...

#include "DemBones/DemBones.h"

Inheritance diagram for Dem::DemBones< _Scalar, _AniMeshScalar >:

Public Types
using	MatrixX = Eigen::Matrix< _Scalar, Eigen::Dynamic, Eigen::Dynamic >

using	Matrix4 = Eigen::Matrix< _Scalar, 4, 4 >

using	Matrix3 = Eigen::Matrix< _Scalar, 3, 3 >

using	VectorX = Eigen::Matrix< _Scalar, Eigen::Dynamic, 1 >

using	Vector4 = Eigen::Matrix< _Scalar, 4, 1 >

using	Vector3 = Eigen::Matrix< _Scalar, 3, 1 >

using	SparseMatrix = Eigen::SparseMatrix< _Scalar >

using	Triplet = Eigen::Triplet< _Scalar >

Public Member Functions
	DemBones ()
	Constructor and setting default parameters. More...

void	clear ()
	Clear all data. More...

void	init ()
	Initialize missing skinning weights and/or bone transformations. More...

void	computeTranformations ()
	Update bone transformations by running nTransIters iterations with transAffine and transAffineNorm regularizers. More...

void	computeWeights ()
	Update skinning weights by running nWeightsIters iterations with weightsSmooth and weightsSmoothStep regularizers. More...

void	compute ()
	Skinning decomposition by nIters iterations of alternative updating weights and bone transformations. More...

_Scalar	rmse ()

virtual void	cbInitSplitBegin ()
	Callback function invoked before each spliting of bone clusters in initialization. More...

virtual void	cbInitSplitEnd ()
	Callback function invoked after each spliting of bone clusters in initialization. More...

virtual void	cbIterBegin ()
	Callback function invoked before each global iteration update. More...

virtual bool	cbIterEnd ()
	Callback function invoked after each global iteration update, stop iteration if return true. More...

virtual void	cbWeightsBegin ()
	Callback function invoked before each skinning weights update. More...

virtual void	cbWeightsEnd ()
	Callback function invoked after each skinning weights update. More...

virtual void	cbTranformationsBegin ()
	Callback function invoked before each bone transformations update. More...

virtual void	cbTransformationsEnd ()
	Callback function invoked after each bone transformations update. More...

virtual void	cbTransformationsIterBegin ()
	Callback function invoked before each local bone transformations update iteration. More...

virtual bool	cbTransformationsIterEnd ()
	Callback function invoked after each local bone transformations update iteration, stop iteration if return true. More...

virtual void	cbWeightsIterBegin ()
	Callback function invoked before each local weights update iteration. More...

virtual bool	cbWeightsIterEnd ()
	Callback function invoked after each local weights update iteration, stop iteration if return true. More...

Public Attributes
int	nIters
	[`parameter`] Number of global iterations, `default` = 30 More...

int	nInitIters
	[`parameter`] Number of clustering update iterations in the initalization, `default` = 10 More...

int	nTransIters
	[`parameter`] Number of bone transformations update iterations per global iteration, `default` = 5 More...

_Scalar	transAffine
	[`parameter`] Translations affinity soft constraint, `default` = 10.0 More...

_Scalar	transAffineNorm
	[`parameter`] p-norm for bone translations affinity soft constraint, `default` = 4.0 More...

int	nWeightsIters
	[`parameter`] Number of weights update iterations per global iteration, `default` = 3 More...

int	nnz
	[`parameter`] Number of non-zero weights per vertex, `default` = 8 More...

_Scalar	weightsSmooth
	[`parameter`] Weights smoothness soft constraint, `default` = 1e-4 More...

_Scalar	weightsSmoothStep
	[`parameter`] Step size for the weights smoothness soft constraint, `default` = 1.0 More...

_Scalar	weightEps
	[`parameter`] Epsilon for weights solver, `default` = 1e-15 More...

int	nV
	Number of vertices, typically indexed by `i`. More...

int	nB
	Number of bones, typically indexed by `j`. More...

int	nS
	Number of subjects, typically indexed by `s`. More...

int	nF
	Number of total frames, typically indexed by `k`, nF = fStart(nS) More...

Eigen::VectorXi	fStart
	Start frame indices, `size` = nS+1, fStart(`s`), fStart(`s+1`) are data frames for subject `s`. More...

Eigen::VectorXi	subjectID
	Subject index of the frame, `size` = nF, subjectID(`k`)=`s`, where fStart(`s`) <= `k` < fStart(`s`+1) More...

MatrixX	u
	Geometry at the rest poses, `size` = [3nS, nV], u.col(`i`).segment(3`s`, 3) is the rest pose of vertex `i` of subject `s`. More...

SparseMatrix	w
	Skinning weights, `size` = [nB, nV], w.col(`i`) are the skinning weights of vertex `i`, w(`j`, `i`) is the influence of bone `j` to vertex `i`. More...

VectorX	lockW
	Skinning weights lock control, `size` = nV, lockW(`i`) is the amount of input skinning weights will be kept for vertex `i`, where 0 (no lock) <= lockW(`i`) <= 1 (full lock) More...

MatrixX	m
	Bone transformations, `size` = [4nF4, 4nB], m.blk4(`k`, `j`) is the 44 relative transformation matrix of bone `j` at frame `k`. More...

Eigen::VectorXi	lockM
	Bone transformation lock control, `size` = nB, lockM(`j`) is the amount of input transformations will be kept for bone `j`, where lockM(`j`) = 0 (no lock) or 1 (lock) More...

Eigen::Matrix< _AniMeshScalar, Eigen::Dynamic, Eigen::Dynamic >	v
	Animated mesh sequence, `size` = [3nF, nV], v.col(`i`).segment(3`k`, 3) is the position of vertex `i` at frame `k`. More...

std::vector< std::vector< int > >	fv
	Mesh topology, `size=`[`number of polygons`], fv[`p`] is the vector of vertex indices of polygon `p`. More...

const int &	iter
	[`zero indexed`, `read only`] Current global iteration number that can be used for callback functions More...

const int &	iterTransformations
	[`zero indexed`, `read only`] Current bone transformations update iteration number that can be used for callback functions More...

const int &	iterWeights
	[`zero indexed`, `read only`] Current weights update iteration number that can be used for callback functions More...

Detailed Description

template<class _Scalar, class _AniMeshScalar>
class Dem::DemBones< _Scalar, _AniMeshScalar >

Smooth skinning decomposition with rigid bones and sparse, convex weights.

Setup the required data, parameters, and call either compute(), computeWeights(), computeTranformations(), or init().

Callback functions and read-only values can be used to report progress and stop on convergence: cbInitSplitBegin(), cbInitSplitEnd(), cbIterBegin(), cbIterEnd(), cbWeightsBegin(), cbWeightsEnd(), cbTranformationsBegin(), cbTransformationsEnd(), cbTransformationsIterBegin(), cbTransformationsIterEnd(), cbWeightsIterBegin(), cbWeightsIterEnd(), rmse(), iter, iterTransformations, iterWeights.

_Scalar is the floating-point data type. _AniMeshScalar is the floating-point data type of mesh sequence v.

Definition at line 66 of file DemBones.h.

Member Typedef Documentation

◆ Matrix3

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::Matrix3 = Eigen::Matrix<_Scalar, 3, 3>

Definition at line 72 of file DemBones.h.

◆ Matrix4

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::Matrix4 = Eigen::Matrix<_Scalar, 4, 4>

Definition at line 71 of file DemBones.h.

◆ MatrixX

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::MatrixX = Eigen::Matrix<_Scalar, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 70 of file DemBones.h.

◆ SparseMatrix

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::SparseMatrix = Eigen::SparseMatrix<_Scalar>

Definition at line 76 of file DemBones.h.

◆ Triplet

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::Triplet = Eigen::Triplet<_Scalar>

Definition at line 77 of file DemBones.h.

◆ Vector3

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::Vector3 = Eigen::Matrix<_Scalar, 3, 1>

Definition at line 75 of file DemBones.h.

◆ Vector4

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::Vector4 = Eigen::Matrix<_Scalar, 4, 1>

Definition at line 74 of file DemBones.h.

◆ VectorX

template<class _Scalar, class _AniMeshScalar>

using Dem::DemBones< _Scalar, _AniMeshScalar >::VectorX = Eigen::Matrix<_Scalar, Eigen::Dynamic, 1>

Definition at line 73 of file DemBones.h.

Constructor & Destructor Documentation

◆ DemBones()

template<class _Scalar, class _AniMeshScalar>

Dem::DemBones< _Scalar, _AniMeshScalar >::DemBones ( )

inline

Constructor and setting default parameters.

Definition at line 105 of file DemBones.h.

               : nIters(30), nInitIters(10),
             nTransIters(5), transAffine(_Scalar(10)), transAffineNorm(_Scalar(4)),
             nWeightsIters(3), nnz(8), weightsSmooth(_Scalar(1e-4)), weightsSmoothStep(_Scalar(1)),
             weightEps(_Scalar(1e-15)),
             iter(_iter), iterTransformations(_iterTransformations), iterWeights(_iterWeights) {
         clear();
     }

Member Function Documentation

◆ cbInitSplitBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbInitSplitBegin ( )

inlinevirtual

Callback function invoked before each spliting of bone clusters in initialization.

Definition at line 374 of file DemBones.h.

374 {}

◆ cbInitSplitEnd()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbInitSplitEnd ( )

inlinevirtual

Callback function invoked after each spliting of bone clusters in initialization.

Definition at line 376 of file DemBones.h.

376 {}

◆ cbIterBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbIterBegin ( )

inlinevirtual

Callback function invoked before each global iteration update.

Definition at line 379 of file DemBones.h.

379 {}

◆ cbIterEnd()

template<class _Scalar, class _AniMeshScalar>

virtual bool Dem::DemBones< _Scalar, _AniMeshScalar >::cbIterEnd ( )

inlinevirtual

Callback function invoked after each global iteration update, stop iteration if return true.

Definition at line 381 of file DemBones.h.

381 { return false; }

◆ cbTranformationsBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbTranformationsBegin ( )

inlinevirtual

Callback function invoked before each bone transformations update.

Definition at line 389 of file DemBones.h.

389 {}

◆ cbTransformationsEnd()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbTransformationsEnd ( )

inlinevirtual

Callback function invoked after each bone transformations update.

Definition at line 391 of file DemBones.h.

391 {}

◆ cbTransformationsIterBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbTransformationsIterBegin ( )

inlinevirtual

Callback function invoked before each local bone transformations update iteration.

Definition at line 394 of file DemBones.h.

394 {}

◆ cbTransformationsIterEnd()

template<class _Scalar, class _AniMeshScalar>

virtual bool Dem::DemBones< _Scalar, _AniMeshScalar >::cbTransformationsIterEnd ( )

inlinevirtual

Callback function invoked after each local bone transformations update iteration, stop iteration if return true.

Definition at line 396 of file DemBones.h.

396 { return false; }

◆ cbWeightsBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbWeightsBegin ( )

inlinevirtual

Callback function invoked before each skinning weights update.

Definition at line 384 of file DemBones.h.

384 {}

◆ cbWeightsEnd()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbWeightsEnd ( )

inlinevirtual

Callback function invoked after each skinning weights update.

Definition at line 386 of file DemBones.h.

386 {}

◆ cbWeightsIterBegin()

template<class _Scalar, class _AniMeshScalar>

virtual void Dem::DemBones< _Scalar, _AniMeshScalar >::cbWeightsIterBegin ( )

inlinevirtual

Callback function invoked before each local weights update iteration.

Definition at line 399 of file DemBones.h.

399 {}

◆ cbWeightsIterEnd()

template<class _Scalar, class _AniMeshScalar>

virtual bool Dem::DemBones< _Scalar, _AniMeshScalar >::cbWeightsIterEnd ( )

inlinevirtual

Callback function invoked after each local weights update iteration, stop iteration if return true.

Definition at line 401 of file DemBones.h.

401 { return false; }

◆ clear()

template<class _Scalar, class _AniMeshScalar>

void Dem::DemBones< _Scalar, _AniMeshScalar >::clear ( )

inline

Clear all data.

Definition at line 161 of file DemBones.h.

                  {
         nV=nB=nS=nF=0;
         fStart.resize(0);
         subjectID.resize(0);
         u.resize(0, 0);
         w.resize(0, 0);
         lockW.resize(0);
         m.resize(0, 0);
         lockM.resize(0);
         v.resize(0, 0);
         fv.resize(0);
         modelSize=-1;
         laplacian.resize(0, 0);
     }

◆ compute()

template<class _Scalar, class _AniMeshScalar>

void Dem::DemBones< _Scalar, _AniMeshScalar >::compute ( )

inline

Skinning decomposition by nIters iterations of alternative updating weights and bone transformations.

Required input data:

Rest shapes: u, fv, nV
Sequence: v, nF, fStart, subjectID, nS
Number of bones: nB

Optional input data:

Skinning weights: w
Bone transformations: m

Output: w, m. Missing w and/or m (with zero size) will be initialized by init().

Definition at line 344 of file DemBones.h.

                    {
         init();
  
         for (_iter=0; _iter<nIters; _iter++) {
             cbIterBegin();
             computeTranformations();
             computeWeights();
             if (cbIterEnd()) break;
         }
     }

◆ computeTranformations()

template<class _Scalar, class _AniMeshScalar>

void Dem::DemBones< _Scalar, _AniMeshScalar >::computeTranformations ( )

inline

Update bone transformations by running nTransIters iterations with transAffine and transAffineNorm regularizers.

Required input data:

Rest shapes: u, fv, nV
Sequence: v, nF, fStart, subjectID, nS
Number of bones: nB

Optional input data:

Skinning weights: w, lockW
Bone transformations: m, lockM

Output: m. Missing w and/or m (with zero size) will be initialized by init().

Definition at line 237 of file DemBones.h.

                                  {
         if (nTransIters==0) return;
  
         init();
         cbTranformationsBegin();
  
         compute_vuT();
         compute_uuT();
  
         for (_iterTransformations=0; _iterTransformations<nTransIters; _iterTransformations++) {
             cbTransformationsIterBegin();
             #pragma omp parallel for
             for (int k=0; k<nF; k++)
                 for (int j=0; j<nB; j++) 
                     if (lockM(j)==0) {
                         Matrix4 qpT=vuT.blk4(k, j);
                         for (int it=uuT.outerIdx(j); it<uuT.outerIdx(j+1); it++)
                             if (uuT.innerIdx(it)!=j) qpT-=m.blk4(k, uuT.innerIdx(it))*uuT.val.blk4(subjectID(k), it);
                         qpT2m(qpT, k, j);
                     }
             if (cbTransformationsIterEnd()) return;
         }
         
         cbTransformationsEnd();
     }

◆ computeWeights()

template<class _Scalar, class _AniMeshScalar>

void Dem::DemBones< _Scalar, _AniMeshScalar >::computeWeights ( )

inline

Update skinning weights by running nWeightsIters iterations with weightsSmooth and weightsSmoothStep regularizers.

Required input data:

Rest shapes: u, fv, nV
Sequence: v, nF, fStart, subjectID, nS
Number of bones: nB

Optional input data:

Skinning weights: w, lockW
Bone transformations: m, lockM

Output: w. Missing w and/or m (with zero size) will be initialized by init().

Definition at line 276 of file DemBones.h.

                           {
         if (nWeightsIters==0) return;
         
         init();
         cbWeightsBegin();
         
         compute_mTm();
  
         aTb=MatrixX::Zero(nB, nV);
         wSolver.init(nnz);
         std::vector<Triplet, Eigen::aligned_allocator<Triplet>> trip;
         trip.reserve(nV*nnz);
  
         for (_iterWeights=0; _iterWeights<nWeightsIters; _iterWeights++) {
             cbWeightsIterBegin();
  
             compute_ws();
             compute_aTb();
  
             double reg_scale=pow(modelSize, 2)*nF;
  
             trip.clear();
             #pragma omp parallel for
             for (int i=0; i<nV; i++) {
                 MatrixX aTai;
                 compute_aTa(i, aTai);
                 aTai=(1-lockW(i))*(aTai/reg_scale+weightsSmooth*MatrixX::Identity(nB, nB))+lockW(i)*MatrixX::Identity(nB, nB);
                 VectorX aTbi=(1-lockW(i))*(aTb.col(i)/reg_scale+weightsSmooth*ws.col(i))+lockW(i)*w.col(i);
  
                 VectorX x=(1-lockW(i))*ws.col(i)+lockW(i)*w.col(i);
                 Eigen::ArrayXi idx=Eigen::ArrayXi::LinSpaced(nB, 0, nB-1);
                 std::sort(idx.data(), idx.data()+nB, [&x](int i1, int i2) { return x(i1)>x(i2); });
                 int nnzi=std::min(nnz, nB);
                 while (x(idx(nnzi-1))<weightEps) nnzi--;
  
                 VectorX x0=w.col(i).toDense().cwiseMax(0.0);
                 x=indexing_vector(x0, idx.head(nnzi));
                 _Scalar s=x.sum();
                 if (s>_Scalar(0.1)) x/=s; else x=VectorX::Constant(nnzi, _Scalar(1)/nnzi);
  
                 wSolver.solve(indexing_row_col(aTai, idx.head(nnzi), idx.head(nnzi)), indexing_vector(aTbi, idx.head(nnzi)), x, true, true);
  
                 #pragma omp critical
                 for (int j=0; j<nnzi; j++)
                     if (x(j)!=0) trip.push_back(Triplet(idx[j], i, x(j)));
             }
  
             w.resize(nB, nV);
             w.setFromTriplets(trip.begin(), trip.end());
             
             if (cbWeightsIterEnd()) return;
         }
         
         cbWeightsEnd();
     }

◆ init()

template<class _Scalar, class _AniMeshScalar>

void Dem::DemBones< _Scalar, _AniMeshScalar >::init ( )

inline

Initialize missing skinning weights and/or bone transformations.

Depending on the status of w and m, this function will:

Both w and m are already set: do nothing
Only one in w or m is missing (zero size): initialize missing matrix, i.e. w (or m)
Both w and m are missing (zero size): initialize both with rigid skinning using approximately nB bones, i.e. values of w are 0 or 1. LBG-VQ clustering is peformed using mesh sequence v, rest pose geometries u and topology fv. Note: as the initialization does not use exactly nB bones, the value of nB could be changed when both w and m are missing.

This function is called at the begining of every compute update functions as a safeguard.

Definition at line 186 of file DemBones.h.

                 {
         if (modelSize<0) modelSize=sqrt((u-(u.rowwise().sum()/nV).replicate(1, nV)).squaredNorm()/nV/nS);
         if (laplacian.cols()!=nV) computeSmoothSolver();
  
         if (((int)w.rows()!=nB)||((int)w.cols()!=nV)) { //No skinning weight
             if (((int)m.rows()!=nF*4)||((int)m.cols()!=nB*4)) { //No transformation
                 int targetNB=nB;
                 //LBG-VQ
                 nB=1;
                 label=Eigen::VectorXi::Zero(nV);
                 computeTransFromLabel();
  
                 bool cont=true;
                 while (cont) {
                     cbInitSplitBegin();
                     int prev=nB;
                     split(targetNB, 3);
                     for (int rep=0; rep<nInitIters; rep++) {
                         computeTransFromLabel();
                         computeLabel();
                         pruneBones(3);
                     }
                     cont=(nB<targetNB)&&(nB>prev);
                     cbInitSplitEnd();
                 }
                 lockM=Eigen::VectorXi::Zero(nB);
                 labelToWeights();
             } else initWeights(); //Has transformations
         } else { //Has skinning weights
             if (((int)m.rows()!=nF*4)||((int)m.cols()!=nB*4)) { //No transformation
                 m=Matrix4::Identity().replicate(nF, nB);
                 lockM=Eigen::VectorXi::Zero(nB);
             }
         }
  
         if (lockW.size()!=nV) lockW=VectorX::Zero(nV);
         if (lockM.size()!=nB) lockM=Eigen::VectorXi::Zero(nB);
     }

◆ rmse()

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::rmse ( )

inline

Returns: Root mean squared reconstruction error

Definition at line 356 of file DemBones.h.

                    {
         _Scalar e=0;
         #pragma omp parallel for
         for (int i=0; i<nV; i++) {
             _Scalar ei=0;
             Matrix4 mki;
             for (int k=0; k<nF; k++) {
                 mki.setZero();
                 for (typename SparseMatrix::InnerIterator it(w, i); it; ++it) mki+=it.value()*m.blk4(k, it.row());
                 ei+=(mki.template topLeftCorner<3, 3>()*u.vec3(subjectID(k), i)+mki.template topRightCorner<3, 1>()-v.vec3(k, i).template cast<_Scalar>()).squaredNorm();
             }
             #pragma omp atomic
             e+=ei;
         }
         return std::sqrt(e/nF/nV);
     }

Member Data Documentation

◆ fStart

template<class _Scalar, class _AniMeshScalar>

Eigen::VectorXi Dem::DemBones< _Scalar, _AniMeshScalar >::fStart

Start frame indices, size = nS+1, fStart(s), fStart(s+1) are data frames for subject s.

Definition at line 123 of file DemBones.h.

◆ fv

template<class _Scalar, class _AniMeshScalar>

std::vector<std::vector<int> > Dem::DemBones< _Scalar, _AniMeshScalar >::fv

Mesh topology, size=[number of polygons], fv[p] is the vector of vertex indices of polygon p.

Definition at line 148 of file DemBones.h.

◆ iter

template<class _Scalar, class _AniMeshScalar>

const int& Dem::DemBones< _Scalar, _AniMeshScalar >::iter

[zero indexed, read only] Current global iteration number that can be used for callback functions

Definition at line 151 of file DemBones.h.

◆ iterTransformations

template<class _Scalar, class _AniMeshScalar>

const int& Dem::DemBones< _Scalar, _AniMeshScalar >::iterTransformations

[zero indexed, read only] Current bone transformations update iteration number that can be used for callback functions

Definition at line 154 of file DemBones.h.

◆ iterWeights

template<class _Scalar, class _AniMeshScalar>

const int& Dem::DemBones< _Scalar, _AniMeshScalar >::iterWeights

[zero indexed, read only] Current weights update iteration number that can be used for callback functions

Definition at line 157 of file DemBones.h.

◆ lockM

template<class _Scalar, class _AniMeshScalar>

Eigen::VectorXi Dem::DemBones< _Scalar, _AniMeshScalar >::lockM

Bone transformation lock control, size = nB, lockM(j) is the amount of input transformations will be kept for bone j, where lockM(j) = 0 (no lock) or 1 (lock)

Definition at line 142 of file DemBones.h.

◆ lockW

template<class _Scalar, class _AniMeshScalar>

VectorX Dem::DemBones< _Scalar, _AniMeshScalar >::lockW

Skinning weights lock control, size = nV, lockW(i) is the amount of input skinning weights will be kept for vertex i, where 0 (no lock) <= lockW(i) <= 1 (full lock)

Definition at line 134 of file DemBones.h.

◆ m

template<class _Scalar, class _AniMeshScalar>

MatrixX Dem::DemBones< _Scalar, _AniMeshScalar >::m

Bone transformations, size = [4*nF*4, 4*nB], m.blk4(k, j) is the 4*4 relative transformation matrix of bone j at frame k.

Note that the transformations are relative, that is m.blk4(k, j) brings the global transformation of bone j from the rest pose to the pose at frame k.

Definition at line 139 of file DemBones.h.

◆ nB

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nB

Number of bones, typically indexed by j.

Definition at line 116 of file DemBones.h.

◆ nF

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nF

Number of total frames, typically indexed by k, nF = fStart(nS)

Definition at line 120 of file DemBones.h.

◆ nInitIters

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nInitIters

[parameter] Number of clustering update iterations in the initalization, default = 10

Definition at line 83 of file DemBones.h.

◆ nIters

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nIters

[parameter] Number of global iterations, default = 30

Definition at line 80 of file DemBones.h.

◆ nnz

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nnz

[parameter] Number of non-zero weights per vertex, default = 8

Definition at line 95 of file DemBones.h.

◆ nS

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nS

Number of subjects, typically indexed by s.

Definition at line 118 of file DemBones.h.

◆ nTransIters

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nTransIters

[parameter] Number of bone transformations update iterations per global iteration, default = 5

Definition at line 86 of file DemBones.h.

◆ nV

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nV

Number of vertices, typically indexed by i.

Definition at line 114 of file DemBones.h.

◆ nWeightsIters

template<class _Scalar, class _AniMeshScalar>

int Dem::DemBones< _Scalar, _AniMeshScalar >::nWeightsIters

[parameter] Number of weights update iterations per global iteration, default = 3

Definition at line 93 of file DemBones.h.

◆ subjectID

template<class _Scalar, class _AniMeshScalar>

Eigen::VectorXi Dem::DemBones< _Scalar, _AniMeshScalar >::subjectID

Subject index of the frame, size = nF, subjectID(k)=s, where fStart(s) <= k < fStart(s+1)

Definition at line 125 of file DemBones.h.

◆ transAffine

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::transAffine

[parameter] Translations affinity soft constraint, default = 10.0

Definition at line 88 of file DemBones.h.

◆ transAffineNorm

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::transAffineNorm

[parameter] p-norm for bone translations affinity soft constraint, default = 4.0

Definition at line 90 of file DemBones.h.

◆ u

template<class _Scalar, class _AniMeshScalar>

MatrixX Dem::DemBones< _Scalar, _AniMeshScalar >::u

Geometry at the rest poses, size = [3*nS, nV], u.col(i).segment(3*s, 3) is the rest pose of vertex i of subject s.

Definition at line 128 of file DemBones.h.

◆ v

template<class _Scalar, class _AniMeshScalar>

Eigen::Matrix<_AniMeshScalar, Eigen::Dynamic, Eigen::Dynamic> Dem::DemBones< _Scalar, _AniMeshScalar >::v

Animated mesh sequence, size = [3*nF, nV], v.col(i).segment(3*k, 3) is the position of vertex i at frame k.

Definition at line 145 of file DemBones.h.

◆ w

template<class _Scalar, class _AniMeshScalar>

SparseMatrix Dem::DemBones< _Scalar, _AniMeshScalar >::w

Skinning weights, size = [nB, nV], w.col(i) are the skinning weights of vertex i, w(j, i) is the influence of bone j to vertex i.

Definition at line 131 of file DemBones.h.

◆ weightEps

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::weightEps

[parameter] Epsilon for weights solver, default = 1e-15

Definition at line 101 of file DemBones.h.

◆ weightsSmooth

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::weightsSmooth

[parameter] Weights smoothness soft constraint, default = 1e-4

Definition at line 97 of file DemBones.h.

◆ weightsSmoothStep

template<class _Scalar, class _AniMeshScalar>

_Scalar Dem::DemBones< _Scalar, _AniMeshScalar >::weightsSmoothStep

[parameter] Step size for the weights smoothness soft constraint, default = 1.0

Definition at line 99 of file DemBones.h.

The documentation for this class was generated from the following file:

include/DemBones/DemBones.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<class _Scalar, class _AniMeshScalar> class Dem::DemBones< _Scalar, _AniMeshScalar >

Member Typedef Documentation

◆ Matrix3

◆ Matrix4

◆ MatrixX

◆ SparseMatrix

◆ Triplet

◆ Vector3

◆ Vector4

◆ VectorX

Constructor & Destructor Documentation

◆ DemBones()

Member Function Documentation

◆ cbInitSplitBegin()

◆ cbInitSplitEnd()

◆ cbIterBegin()

◆ cbIterEnd()

◆ cbTranformationsBegin()

◆ cbTransformationsEnd()

◆ cbTransformationsIterBegin()

◆ cbTransformationsIterEnd()

◆ cbWeightsBegin()

◆ cbWeightsEnd()

◆ cbWeightsIterBegin()

◆ cbWeightsIterEnd()

◆ clear()

◆ compute()

◆ computeTranformations()

◆ computeWeights()

◆ init()

◆ rmse()

Member Data Documentation

◆ fStart

◆ fv

◆ iter

◆ iterTransformations

◆ iterWeights

◆ lockM

◆ lockW

◆ m

◆ nB

◆ nF

◆ nInitIters

◆ nIters

◆ nnz

◆ nS

◆ nTransIters

◆ nV

◆ nWeightsIters

◆ subjectID

◆ transAffine

◆ transAffineNorm

◆ u

◆ v

◆ w

◆ weightEps

◆ weightsSmooth

◆ weightsSmoothStep

template<class _Scalar, class _AniMeshScalar>
class Dem::DemBones< _Scalar, _AniMeshScalar >