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aligner.py
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aligner.py
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"""
Copyright©2023 Max-Planck-Gesellschaft zur Förderung
der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute
for Intelligent Systems. All rights reserved.
Author: Soyong Shin, Marilyn Keller
See https://skel.is.tue.mpg.de/license.html for licensing and contact information.
"""
import math
import os
import pickle
from skel.alignment.losses import compute_anchor_pose, compute_anchor_trans, compute_pose_loss, compute_scapula_loss, compute_spine_loss, compute_time_loss, pretty_loss_print
from skel.alignment.utils import location_to_spheres, to_numpy, to_params, to_torch
import torch
from tqdm import trange
import smplx
import torch.nn.functional as F
from psbody.mesh import Mesh, MeshViewer, MeshViewers
import skel.config as cg
from skel.skel_model import SKEL
import omegaconf
class SkelFitter(object):
def __init__(self, gender, device, num_betas=10, export_meshes=False, config_path=None) -> None:
self.smpl = smplx.create(cg.smpl_folder, model_type='smpl', gender=gender, num_betas=num_betas, batch_size=1, export_meshes=False).to(device)
self.skel = SKEL(gender).to(device)
self.gender = gender
self.device = device
self.num_betas = num_betas
# Instanciate masks used for the vertex to vertex fitting
fitting_mask_file = 'skel/alignment/riggid_parts_mask.pkl'
fitting_indices = pickle.load(open(fitting_mask_file, 'rb'))
fitting_mask = torch.zeros(6890, dtype=torch.bool, device=self.device)
fitting_mask[fitting_indices] = 1
self.fitting_mask = fitting_mask.reshape(1, -1, 1).to(self.device) # 1xVx1 to be applied to verts that are BxVx3
smpl_torso_joints = [0,3]
verts_mask = (self.smpl.lbs_weights[:,smpl_torso_joints]>0.5).sum(dim=-1)>0
self.torso_verts_mask = verts_mask.unsqueeze(0).unsqueeze(-1) # Because verts are of shape BxVx3
self.export_meshes = export_meshes
if config_path is None:
package_directory = os.path.dirname(os.path.abspath(__file__))
config_path = os.path.join(package_directory, 'config.yaml')
self.cfg = omegaconf.OmegaConf.load(config_path)
# Instanciate the mesh viewer to visualize the fitting
if('DISABLE_VIEWER' in os.environ):
self.mv = None
print("\n DISABLE_VIEWER flag is set, running in headless mode")
else:
self.mv = MeshViewers((1,2), keepalive=self.cfg.keepalive_meshviewer)
def run_fit(self,
trans_in,
betas_in,
poses_in,
batch_size=20,
skel_data_init=None,
force_recompute=False,
debug=False,
watch_frame=0,
freevert_mesh=None):
"""Align SKEL to a SMPL sequence."""
self.nb_frames = poses_in.shape[0]
self.watch_frame = watch_frame
self.is_skel_data_init = skel_data_init is not None
self.force_recompute = force_recompute
print('Fitting {} frames'.format(self.nb_frames))
print('Watching frame: {}'.format(watch_frame))
# Initialize SKEL torch params
body_params = self._init_params(betas_in, poses_in, trans_in, skel_data_init)
# We cut the whole sequence in batches for parallel optimization
if batch_size > self.nb_frames:
batch_size = self.nb_frames
print('Batch size is larger than the number of frames. Setting batch size to {}'.format(batch_size))
n_batch = math.ceil(self.nb_frames/batch_size)
pbar = trange(n_batch, desc='Running batch optimization')
# Initialize the res dict to store the per frame result skel parameters
out_keys = ['poses', 'betas', 'trans']
if self.export_meshes:
out_keys += ['skel_v', 'skin_v', 'smpl_v']
res_dict = {key: [] for key in out_keys}
res_dict['gender'] = self.gender
if self.export_meshes:
res_dict['skel_f'] = self.skel.skel_f.cpu().numpy().copy()
res_dict['skin_f'] = self.skel.skin_f.cpu().numpy().copy()
res_dict['smpl_f'] = self.smpl.faces
# Iterate over the batches to fit the whole sequence
for i in pbar:
if debug:
# Only run the first batch to test, ignore the rest
if i > 1:
continue
# Get batch start and end indices
i_start = i * batch_size
i_end = min((i+1) * batch_size, self.nb_frames)
# Fit the batch
betas, poses, trans, verts = self._fit_batch(body_params, i, i_start, i_end)
# Store ethe results
res_dict['poses'].append(poses)
res_dict['betas'].append(betas)
res_dict['trans'].append(trans)
if self.export_meshes:
# Store the meshes vertices
skel_output = self.skel.forward(poses=poses, betas=betas, trans=trans, poses_type='skel', skelmesh=True)
res_dict['skel_v'].append(skel_output.skel_verts)
res_dict['skin_v'].append(skel_output.skin_verts)
res_dict['smpl_v'].append(verts)
# Initialize the next frames with current frame
body_params['poses_skel'][i_end:] = poses[-1:]
body_params['trans_skel'][i_end:] = trans[-1]
body_params['betas_skel'][i_end:] = betas[-1:]
# Concatenate the batches and convert to numpy
for key, val in res_dict.items():
if isinstance(val, list):
res_dict[key] = torch.cat(val, dim=0).detach().cpu().numpy()
return res_dict
def _init_params(self, betas_smpl, poses_smpl, trans_smpl, skel_data_init=None):
""" Return initial SKEL parameters from SMPL data dictionary and an optional SKEL data dictionary."""
# Prepare smpl params
betas_smpl = to_torch(betas_smpl, self.device)
poses_smpl = to_torch(poses_smpl, self.device)
trans_smpl = to_torch(trans_smpl, self.device)
if skel_data_init is None or self.force_recompute:
poses_skel = torch.zeros((self.nb_frames, self.skel.num_q_params), device=self.device)
poses_skel[:, :3] = poses_smpl[:, :3] # Global orient are similar between SMPL and SKEL, so init with SMPL angles
betas_skel = torch.zeros((self.nb_frames, 10), device=self.device)
betas_skel[:] = betas_smpl[..., :10]
trans_skel = trans_smpl # Translation is similar between SMPL and SKEL, so init with SMPL translation
else:
# Load from previous alignment
betas_skel = to_torch(skel_data_init['betas'], self.device)
poses_skel = to_torch(skel_data_init['poses'], self.device)
trans_skel = to_torch(skel_data_init['trans'], self.device)
# Make a dictionary out of the necessary body parameters
body_params = {
'betas_skel': betas_skel,
'poses_skel': poses_skel,
'trans_skel': trans_skel,
'betas_smpl': betas_smpl,
'poses_smpl': poses_smpl,
'trans_smpl': trans_smpl
}
return body_params
def _fit_batch(self, body_params, i, i_start, i_end):
""" Create parameters for the batch and run the optimization."""
# Sample a batch ver
body_params = { key: val[i_start:i_end] for key, val in body_params.items()}
# SMPL params
betas_smpl = body_params['betas_smpl']
poses_smpl = body_params['poses_smpl']
trans_smpl = body_params['trans_smpl']
# SKEL params
betas = to_params(body_params['betas_skel'], device=self.device)
poses = to_params(body_params['poses_skel'], device=self.device)
trans = to_params(body_params['trans_skel'], device=self.device)
if 'verts' in body_params:
verts = body_params['verts']
else:
# Run a SMPL forward pass to get the SMPL body vertices
smpl_output = self.smpl(betas=betas_smpl, body_pose=poses_smpl[:,3:], transl=trans_smpl, global_orient=poses_smpl[:,:3])
verts = smpl_output.vertices
# Optimize
config = self.cfg.optim_steps
current_cfg = config[0]
if not self.is_skel_data_init:
# Optimize the global rotation and translation for the initial fitting
print(f'Step 0: {current_cfg.description}')
self._optim([trans,poses], poses, betas, trans, verts, current_cfg)
for ci, cfg in enumerate(config[1:]):
# for ci, cfg in enumerate([config[-1]]): # To debug, only run the last step
current_cfg.update(cfg)
print(f'Step {ci+1}: {current_cfg.description}')
self._optim([poses], poses, betas, trans, verts, current_cfg)
# # Refine by optimizing the whole body
# cfg.update(self.cfg_optim[])
# cfg.update({'mode' : 'free', 'tolerance_change': 0.0001, 'l_joint': 0.2e4})
# self._optim([trans, poses], poses, betas, trans, verts, cfg)
return betas, poses, trans, verts
def _optim(self,
params,
poses,
betas,
trans,
verts,
cfg,
):
# regress anatomical joints from SMPL's vertices
anat_joints = torch.einsum('bik,ji->bjk', [verts, self.skel.J_regressor_osim])
dJ=torch.zeros((poses.shape[0], 24, 3), device=betas.device)
# Create the optimizer
optimizer = torch.optim.LBFGS(params,
lr=cfg.lr,
max_iter=cfg.max_iter,
line_search_fn=cfg.line_search_fn,
tolerance_change=cfg.tolerance_change)
poses_init = poses.detach().clone()
trans_init = trans.detach().clone()
def closure():
optimizer.zero_grad()
fi = self.watch_frame #frame of the batch to display
output = self.skel.forward(poses=poses[fi:fi+1],
betas=betas[fi:fi+1],
trans=trans[fi:fi+1],
poses_type='skel',
dJ=dJ[fi:fi+1],
skelmesh=True)
self._fstep_plot(output, cfg, verts[fi:fi+1], anat_joints[fi:fi+1], )
loss_dict = self._fitting_loss(poses,
poses_init,
betas,
trans,
trans_init,
dJ,
anat_joints,
verts,
cfg)
print(pretty_loss_print(loss_dict))
loss = sum(loss_dict.values())
loss.backward()
return loss
for step_i in range(cfg.num_steps):
loss = optimizer.step(closure).item()
def _get_masks(self, cfg):
pose_mask = torch.ones((self.skel.num_q_params)).to(self.device).unsqueeze(0)
verts_mask = torch.ones_like(self.fitting_mask)
joint_mask = torch.ones((self.skel.num_joints, 3)).to(self.device).unsqueeze(0).bool()
# Mask vertices
if cfg.mode=='root_only':
# Only optimize the global rotation of the body, i.e. the first 3 angles of the pose
pose_mask[:] = 0 # Only optimize for the global rotation
pose_mask[:,:3] = 1
# Only fit the thorax vertices to recover the proper body orientation and translation
verts_mask = self.torso_verts_mask
elif cfg.mode=='fixed_upper_limbs':
upper_limbs_joints = [0,1,2,3,6,9,12,15,17]
verts_mask = (self.smpl.lbs_weights[:,upper_limbs_joints]>0.5).sum(dim=-1)>0
verts_mask = verts_mask.unsqueeze(0).unsqueeze(-1)
joint_mask[:, [3,4,5,8,9,10,18,23], :] = 0 # Do not try to match the joints of the upper limbs
pose_mask[:] = 1
pose_mask[:,:3] = 0 # Block the global rotation
pose_mask[:,19] = 0 # block the lumbar twist
# pose_mask[:, 36:39] = 0
# pose_mask[:, 43:46] = 0
# pose_mask[:, 62:65] = 0
# pose_mask[:, 62:65] = 0
elif cfg.mode=='fixed_root':
pose_mask[:] = 1
pose_mask[:,:3] = 0 # Block the global rotation
# pose_mask[:,19] = 0 # block the lumbar twist
# The orientation of the upper limbs is often wrong in SMPL so ignore these vertices for the finale step
upper_limbs_joints = [1,2,16,17]
verts_mask = (self.smpl.lbs_weights[:,upper_limbs_joints]>0.5).sum(dim=-1)>0
verts_mask = torch.logical_not(verts_mask)
verts_mask = verts_mask.unsqueeze(0).unsqueeze(-1)
elif cfg.mode=='free':
verts_mask = torch.ones_like(self.fitting_mask )
joint_mask[:]=0
joint_mask[:, [19,14], :] = 1 # Only fir the scapula join to avoid collapsing shoulders
else:
raise ValueError(f'Unknown mode {cfg.mode}')
return pose_mask, verts_mask, joint_mask
def _fitting_loss(self,
poses,
poses_init,
betas,
trans,
trans_init,
dJ,
anat_joints,
verts,
cfg):
loss_dict = {}
pose_mask, verts_mask, joint_mask = self._get_masks(cfg)
poses = poses * pose_mask + poses_init * (1-pose_mask)
# Mask joints to not optimize before computing the losses
output = self.skel.forward(poses=poses, betas=betas, trans=trans, poses_type='skel', dJ=dJ, skelmesh=False)
# Fit the SMPL vertices
# We know the skinning of the forearm and the neck are not perfect,
# so we create a mask of the SMPL vertices that are important to fit, like the hands and the head
loss_dict['verts_loss_loose'] = cfg.l_verts_loose * (verts_mask * (output.skin_verts - verts)**2).sum() / (((verts_mask).sum()*self.nb_frames))
# Fit the regressed joints, this avoids collapsing shoulders
# loss_dict['joint_loss'] = cfg.l_joint * F.mse_loss(output.joints, anat_joints)
loss_dict['joint_loss'] = cfg.l_joint * (joint_mask * (output.joints - anat_joints)**2).mean()
# Time consistancy
if poses.shape[0] > 1:
# This avoids unstable hips orientationZ
loss_dict['time_loss'] = cfg.l_time_loss * F.mse_loss(poses[1:], poses[:-1])
loss_dict['pose_loss'] = cfg.l_pose_loss * compute_pose_loss(poses, poses_init)
if cfg.use_basic_loss is False:
# These losses can be used to regularize the optimization but are not always necessary
loss_dict['anch_rot'] = cfg.l_anch_pose * compute_anchor_pose(poses, poses_init)
loss_dict['anch_trans'] = cfg.l_anch_trans * compute_anchor_trans(trans, trans_init)
loss_dict['verts_loss'] = cfg.l_verts * (verts_mask * self.fitting_mask * (output.skin_verts - verts)**2).sum() / (self.fitting_mask*verts_mask).sum()
# Regularize the pose
loss_dict['scapula_loss'] = cfg.l_scapula_loss * compute_scapula_loss(poses)
loss_dict['spine_loss'] = cfg.l_spine_loss * compute_spine_loss(poses)
# Adjust the losses of all the pose regularizations sub losses with the pose_reg_factor value
for key in ['scapula_loss', 'spine_loss', 'pose_loss']:
loss_dict[key] = cfg.pose_reg_factor * loss_dict[key]
return loss_dict
def _fstep_plot(self, output, cfg, verts, anat_joints):
"Function to plot each step"
if('DISABLE_VIEWER' in os.environ):
return
pose_mask, verts_mask, joint_mask = self._get_masks(cfg)
skin_err_value = ((output.skin_verts[0] - verts[0])**2).sum(dim=-1).sqrt()
skin_err_value = skin_err_value / 0.05
skin_err_value = to_numpy(skin_err_value)
skin_mesh = Mesh(v=to_numpy(output.skin_verts[0]), f=[], vc='white')
skel_mesh = Mesh(v=to_numpy(output.skel_verts[0]), f=self.skel.skel_f.cpu().numpy(), vc='white')
# Display vertex distance on SMPL
smpl_verts = to_numpy(verts[0])
smpl_mesh = Mesh(v=smpl_verts, f=self.smpl.faces)
smpl_mesh.set_vertex_colors_from_weights(skin_err_value, scale_to_range_1=False)
smpl_mesh_masked = Mesh(v=smpl_verts[to_numpy(verts_mask[0,:,0])], f=[], vc='green')
smpl_mesh_pc = Mesh(v=smpl_verts, f=[], vc='green')
skin_mesh_err = Mesh(v=to_numpy(output.skin_verts[0]), f=self.skel.skin_f.cpu().numpy(), vc='white')
skin_mesh_err.set_vertex_colors_from_weights(skin_err_value, scale_to_range_1=False)
# List the meshes to display
meshes_left = [skin_mesh_err, smpl_mesh_pc, skel_mesh]
meshes_right = [smpl_mesh_masked, skin_mesh, skel_mesh]
if cfg.l_joint > 0:
# Plot the joints
meshes_right += location_to_spheres(to_numpy(output.joints[joint_mask[:,:,0]]), color=(1,0,0), radius=0.02)
meshes_right += location_to_spheres(to_numpy(anat_joints[joint_mask[:,:,0]]), color=(0,1,0), radius=0.02) \
self.mv[0][0].set_dynamic_meshes(meshes_left)
self.mv[0][1].set_dynamic_meshes(meshes_right)
# print(poses[frame_to_watch, :3])
# print(trans[frame_to_watch])
# print(betas[frame_to_watch, :3])
# mv.get_keypress()