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direct delta mush review fix and unit test
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@Dxyk
Dxyk committed Jun 22, 2020
1 parent ce201a7 commit e4ab356
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Showing 4 changed files with 47 additions and 43 deletions.
34 changes: 6 additions & 28 deletions include/igl/direct_delta_mush.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,11 @@
template <
typename DerivedV,
typename DerivedF,
typename DerivedC,
typename DerivedE,
typename DerivedOmega,
typename DerivedU>
IGL_INLINE void igl::direct_delta_mush(
const Eigen::MatrixBase<DerivedV> & V,
const Eigen::MatrixBase<DerivedF> & F,
const Eigen::MatrixBase<DerivedC> & C,
const Eigen::MatrixBase<DerivedE> & E,
const std::vector<Eigen::Affine3d, Eigen::aligned_allocator<Eigen::Affine3d> > & T,
const Eigen::MatrixBase<DerivedOmega> & Omega,
Eigen::PlainObjectBase<DerivedU> & U)
Expand All @@ -29,9 +25,6 @@ IGL_INLINE void igl::direct_delta_mush(
// Shape checks
assert(V.cols() == 3 && "V should contain 3D positions.");
assert(F.cols() == 3 && "F should contain triangles.");
assert(C.cols() == 3 && "C should contain 3D bone endpoint positions.");
assert(E.cols() == 2 && "E should contain 2 endpoint indices forming bone edges.");
assert(E.rows() == T.size() && "E.rows() should equal to T.size()");
assert(Omega.rows() == V.rows() && "Omega contain the same number of rows as V.");
assert(Omega.cols() == T.size() * 10 && "Omega should have #T*10 columns.");

Expand Down Expand Up @@ -93,15 +86,11 @@ IGL_INLINE void igl::direct_delta_mush(
template <
typename DerivedV,
typename DerivedF,
typename DerivedC,
typename DerivedE,
typename DerivedW,
typename DerivedOmega>
IGL_INLINE void igl::direct_delta_mush_precomputation(
const Eigen::MatrixBase<DerivedV> & V,
const Eigen::MatrixBase<DerivedF> & F,
const Eigen::MatrixBase<DerivedC> & C,
const Eigen::MatrixBase<DerivedE> & E,
const Eigen::SparseMatrix<DerivedW> & W,
const int p,
const typename DerivedV::Scalar lambda,
Expand All @@ -114,10 +103,7 @@ IGL_INLINE void igl::direct_delta_mush_precomputation(
// Shape checks
assert(V.cols() == 3 && "V should contain 3D positions.");
assert(F.cols() == 3 && "F should contain triangles.");
assert(C.cols() == 3 && "C should contain 3D bone endpoint positions.");
assert(E.cols() == 2 && "E should contain 2 endpoint indices forming bone edges.");
assert(W.rows() == V.rows() && "W.rows() should be equal to V.rows().");
assert(W.cols() == E.rows() && "W.cols() should be equal to E.rows().");

// Parameter checks
assert(p > 0 && "Laplacian iteration p should be positive.");
Expand Down Expand Up @@ -151,7 +137,7 @@ IGL_INLINE void igl::direct_delta_mush_precomputation(
};

const int n = V.rows();
const int m = E.rows();
const int m = W.cols();

// V_homogeneous: #V by 4, homogeneous version of V
// Note:
Expand Down Expand Up @@ -188,11 +174,10 @@ IGL_INLINE void igl::direct_delta_mush_precomputation(
// C positive semi-definite => ldlt solver
SimplicialLDLT<SparseMatrix<DerivedW>> ldlt_W_prime;
SparseMatrix<Scalar> c(I + kappa * L_bar);
SparseMatrix<DerivedW> W_prime(W);
Matrix<DerivedW, Dynamic, Dynamic> W_prime(W);
ldlt_W_prime.compute(c.transpose());
for (int iter = 0; iter < p; ++iter)
{
W_prime.makeCompressed();
W_prime = ldlt_W_prime.solve(W_prime);
}

Expand Down Expand Up @@ -229,17 +214,14 @@ IGL_INLINE void igl::direct_delta_mush_precomputation(
// Psi = b.ldlt().solve(Psi); // hangs here
// }
// Convert to sparse matrices and compute
Matrix<Scalar, Dynamic, Dynamic> Psi;
SparseMatrix<Scalar> Psi_sparse = U_prime.sparseView();
Matrix<Scalar, Dynamic, Dynamic> Psi = U_prime.sparseView();
SparseMatrix<Scalar> b = (I + lambda * L_bar).transpose();
SimplicialLDLT<SparseMatrix<Scalar>> ldlt_Psi;
ldlt_Psi.compute(b);
for (int iter = 0; iter < p; ++iter)
{
Psi_sparse.makeCompressed();
Psi_sparse = ldlt_Psi.solve(Psi_sparse);
Psi = ldlt_Psi.solve(Psi);
}
Psi = Psi_sparse.toDense();

// P: #V by 10 precomputed upper triangle of
// p_i p_i^T , p_i
Expand Down Expand Up @@ -285,19 +267,15 @@ IGL_INLINE void igl::direct_delta_mush_precomputation(

// Explicit template instantiation
template void
igl::direct_delta_mush<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(
Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const &,
Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const &,
igl::direct_delta_mush<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(
Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const &,
Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const &,
std::vector<Eigen::Transform<double, 3, 2, 0>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2, 0> > > const &,
Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const &,
Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > &);

template void
igl::direct_delta_mush_precomputation<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(
Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const &,
Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const &,
igl::direct_delta_mush_precomputation<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<int, -1, -1, 0, -1, -1>, double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >(
Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const &,
Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const &,
Eigen::SparseMatrix<double, 0, int> const &, int,
Expand Down
14 changes: 1 addition & 13 deletions include/igl/direct_delta_mush.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,24 +22,18 @@ namespace igl {
// Inputs:
// V #V by 3 list of rest pose vertex positions
// F #F by 3 list of triangle indices into rows of V
// C #C by 3 list of rest pose bone endpoint positions
// E #T by 2 list of bone edge indices into rows of C
// T #T list of bone pose transformations
// Omega #V by #T*10 list of precomputated matrix values
// Outputs:
// U #V by 3 list of output vertex positions
template <
typename DerivedV,
typename DerivedF,
typename DerivedC,
typename DerivedE,
typename DerivedOmega,
typename DerivedU>
IGL_INLINE void direct_delta_mush(
const Eigen::MatrixBase<DerivedV> & V,
const Eigen::MatrixBase<DerivedF> & F,
const Eigen::MatrixBase<DerivedC> & C,
const Eigen::MatrixBase<DerivedE> & E,
const std::vector<
Eigen::Affine3d, Eigen::aligned_allocator<Eigen::Affine3d>
> & T, /* should eventually be templated more generally than double */
Expand All @@ -51,9 +45,7 @@ namespace igl {
// Inputs:
// V #V by 3 list of rest pose vertex positions
// F #F by 3 list of triangle indices into rows of V
// C #C by 3 list of rest pose bone endpoint positions
// E #E by 2 list of bone edge indices into rows of C
// W #V by #E list of weights
// W #V by #Edges list of weights
// p number of smoothing iterations
// lambda rotation smoothing step size
// kappa translation smoothness step size
Expand All @@ -63,15 +55,11 @@ namespace igl {
template <
typename DerivedV,
typename DerivedF,
typename DerivedC,
typename DerivedE,
typename DerivedW,
typename DerivedOmega>
IGL_INLINE void direct_delta_mush_precomputation(
const Eigen::MatrixBase<DerivedV> & V,
const Eigen::MatrixBase<DerivedF> & F,
const Eigen::MatrixBase<DerivedC> & C,
const Eigen::MatrixBase<DerivedE> & E,
const Eigen::SparseMatrix<DerivedW> & W,
const int p,
const typename DerivedV::Scalar lambda,
Expand Down
25 changes: 25 additions & 0 deletions tests/include/igl/direct_delta_mush.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
#include <test_common.h>
#include <igl/direct_delta_mush.cpp>
#include <igl/adjacency_list.h>
#include <iostream>

TEST_CASE("direct_delta_mush: cube", "[igl]")
{
Eigen::MatrixXd V, W, U, Omega;
Eigen::MatrixXi F;

// Test that direct delta mush with identity transform reproduces the rest state of the mesh.
// For simplicity, testing on a cube of dimensions 1.0 x 1.0 x 1.0,
// with all vertices bound strictly to one and only one imaginary bone (weight is a column of 1s)
igl::read_triangle_mesh(test_common::data_path("cube.off"), V, F);
Eigen::SparseMatrix<double> W_sparse = Eigen::MatrixXd::Ones(V.rows(), 1).sparseView();

// Parameters such as p, lambda, kappa, alpha do not matter given identity transform
igl::direct_delta_mush_precomputation(V, F, W_sparse, 1, 1., 0.5, 0.5, Omega);

std::vector<Eigen::Affine3d, Eigen::aligned_allocator<Eigen::Affine3d>> T_list;
T_list.push_back(Eigen::Affine3d::Identity());
igl::direct_delta_mush(V, F, T_list, Omega, U);

test_common::assert_near(U, V, 1e-4);
}
17 changes: 15 additions & 2 deletions tutorial/408_DirectDeltaMush/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,10 @@

#include "tutorial_shared_path.h"

// TODO:
// This tutorial example shares a lot of code with 404_DualQuaternionSkinning.
// We should either combine them or pull out the shared code.

typedef std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond>>
RotationList;

Expand Down Expand Up @@ -76,7 +80,7 @@ bool pre_draw(igl::opengl::glfw::Viewer & viewer)
}
if (use_ddm)
{
igl::direct_delta_mush(V, F, C, BE, T_list, Omega, U);
igl::direct_delta_mush(V, F, T_list, Omega, U);
}
else
{
Expand Down Expand Up @@ -139,6 +143,15 @@ int main(int argc, char *argv[])
poses[3][2] = rest_pose[2] * bend * rest_pose[2].conjugate();

igl::readDMAT(TUTORIAL_SHARED_PATH "/arm-weights.dmat", W);
// convert weight to piecewise-rigid weights
for (int i = 0; i < W.rows(); ++i)
{
const double Wi_max = W.row(i).maxCoeff();
for (int j = 0; j < W.cols(); j++)
{
W(i, j) = double(W(i, j) == Wi_max);
}
}
SparseMatrix<double> W_sparse = W.sparseView();
igl::lbs_matrix(V, W, M);

Expand All @@ -148,7 +161,7 @@ int main(int argc, char *argv[])
<< "- lambda: " << lambda << endl
<< "- kappa: " << kappa << endl
<< "- alpha: " << alpha << endl;
igl::direct_delta_mush_precomputation(V, F, C, BE, W_sparse, p, lambda, kappa, alpha, Omega);
igl::direct_delta_mush_precomputation(V, F, W_sparse, p, lambda, kappa, alpha, Omega);

// Plot the mesh with pseudocolors
igl::opengl::glfw::Viewer viewer;
Expand Down

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