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demo_solver.py
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demo_solver.py
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from matplotlib import pyplot as plt
import numpy as np
from pytorch_arap.arap import ARAP_from_meshes, add_one_ring_neighbours,add_n_ring_neighbours
from pytorch3d.io import load_objs_as_meshes
from pytorch3d.utils import ico_sphere
import os
import torch
from pytorch_arap.arap_utils import save_animation, plot_meshes
if torch.cuda.is_available():
device = "cuda"
else:
device = "cpu"
def deform_cuboid():
targ = os.path.join("sample_meshes", "cuboid_hp.obj")
meshes = load_objs_as_meshes([targ], load_textures=False)
# meshes = ico_sphere(3)
meshes = ARAP_from_meshes(meshes) # convert to ARAP obejct
# for cuboid
O = meshes.verts_packed()[[22, 25]].mean(dim=0) # set origin to centre of mass
nverts = meshes.num_verts_per_mesh()[0]
meshes.offset_verts_(-O.unsqueeze(0).repeat(nverts, 1)) # normalise so [22] is on origin
static_verts = [1,3,5,7,8,9,16,19,22,26,27,34,37,38,39,46,49,58,59,60,61,83,84,85,94,98,99,106,109,110,111,118,121,130,131,132,133,146,147,154,157,158,159,166,169,178,179,180,181,230,231,232,233,234,235,236,237,238,239,240,241,274,275,276,277,299,300,301,326,327,328,329,330,331,332,333,334,371,372,373,382]
handle_verts = [0,2,4,6,14,15,17,18,25,32,33,35,36,44,45,47,48,70,71,72,73,74,75,76,97,104,105,107,108,116,117,119,120,142,143,144,145,152,153,155,156,164,165,167,168,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,286,287,288,289,290,291,292,353,354,355,356,357,358,359,360,361,362,363,364,385]
## add neighbours for further constraint
static_verts = add_one_ring_neighbours(meshes, static_verts)
handle_verts = add_one_ring_neighbours(meshes, handle_verts)
handle_pos = meshes.verts_padded()[0][handle_verts].clone()
## plot mesh
plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts, color="gray",
change_lims=True)
trisurfs, scatters = [], []
n_frames = 90
def anim(i):
[x.remove() for x in trisurfs] # remove previous frame's mesh
# 3D rotation matrix - theta deg about Z
theta = (np.pi/4) * min(i/(n_frames/2), 1)
s, c = np.sin(theta), np.cos(theta)
R = torch.FloatTensor([ [c, -s, 0], [s, c, 0], [0, 0, 1] ])
handle_pos_shifted = torch.mm(R, handle_pos.T).T
handle_pos_shifted = handle_pos_shifted
if i>n_frames/2:
# shift in z
handle_pos_shifted[:, 2] += (1+i-n_frames/2)*.07
## deform, replot
meshes.solve(static_verts=static_verts, handle_verts=handle_verts, handle_verts_pos=handle_pos_shifted,
n_its=0) ## run ARAP
trisurfs[:] = plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts)
ax.axis("off")
# anim(1)
# plt.show()
save_animation(fig, anim, n_frames=n_frames, title="cuboid_rotate")
def deform_sphere():
meshes = ico_sphere(3)
meshes = ARAP_from_meshes(meshes) # convert to ARAP obejct
N = meshes.num_verts_per_mesh()[0]
handle_verts = [26]
handle_pos = meshes.verts_padded()[0][handle_verts]
handle_pos_shifted = handle_pos.clone()
# static as furthest vert
static_verts = [max(range(N), key=lambda x: torch.norm(meshes.verts_padded()[0][x] - handle_pos[0]))]
static_verts = add_n_ring_neighbours(meshes, static_verts, n = 5)
trisurfs = plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts, prop=False, change_lims=True,
color="gray")
disp_vec = meshes.C[0] - handle_pos[0] # displace towards centre of mass
n_frames = 100
disp_frac = 1.2 # fraction of full disp_vec to move in animation
step = disp_frac * 4/n_frames # moves
def anim(i):
[x.remove() for x in trisurfs] # remove previous frame's mesh
if i < n_frames / 4 or i > 3 * n_frames / 4:
direction = 1
else:
direction = -1
handle_pos_shifted[0] += direction * step * disp_vec
## deform, replot
meshes.solve(static_verts=static_verts, handle_verts=handle_verts, handle_verts_pos=handle_pos_shifted, n_its = 1) ## run ARAP
trisurfs[:] = plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts, prop=False,
color="gray")
ax.axis("off")
save_animation(fig, anim, n_frames=n_frames, title="sphere", fps = 30)
def deform_cactus():
targ = os.path.join("sample_meshes", "cactus.obj")
meshes = load_objs_as_meshes([targ], load_textures=False)
meshes = ARAP_from_meshes(meshes, device=device) # convert to ARAP obejct
N = meshes.num_verts_per_mesh()[0]
# handle as topmost vert
handle_verts = [504]
handle_verts = add_one_ring_neighbours(meshes, handle_verts)
handle_pos = meshes.verts_padded()[0][handle_verts]
handle_pos_shifted = handle_pos.clone()
# static as base
static_verts = [619] # centres of base
static_verts = add_n_ring_neighbours(meshes, static_verts, n = 2)
faces = meshes.faces_list()
prop = True
trisurfs = plot_meshes(ax, meshes.verts_list(), faces, handle_verts=handle_verts, static_verts=static_verts, prop=prop, change_lims=True,
color="gray", zoom=1.5)
disp_vec = torch.FloatTensor([1, 0, 0]) # displace in x direction
n_frames = 40
disp_frac = 0.4 # fraction of full disp_vec to move in animation
step = disp_frac * 4/n_frames # moves
nits = 2
def anim(i):
[x.remove() for x in trisurfs] # remove previous frame's mesh
if i < n_frames / 4 or i > 3 * n_frames / 4:
direction = 1
else:
direction = -1
handle_pos_shifted[:] += direction * step * disp_vec
## deform, replot
verts = meshes.solve(static_verts=static_verts, handle_verts=handle_verts, handle_verts_pos=handle_pos_shifted, n_its = nits,
track_energy=False) ## run ARAP
verts = [verts]
trisurfs[:] = plot_meshes(ax, verts, faces, handle_verts=handle_verts, static_verts=static_verts, prop=prop,
color="gray")
[anim(i) for i in range(1)]
# anim(0)
# f = 1
# n_unknown = N - len(static_verts) - len(handle_verts)
# [anim(i) for i in range(f)]
# print(meshes.timer.report(nits=f, rots=f*nits, b1=f*nits, b2=f*nits, b3=f*nits))
# plt.show()
#
ax.axis("off")
save_animation(fig, anim, n_frames=n_frames, title="cactus", fps = 30)
def deform_smal():
targ = os.path.join("sample_meshes", "smal.obj")
meshes = load_objs_as_meshes([targ], load_textures=False)
meshes = ARAP_from_meshes(meshes) # convert to ARAP obejct
N = meshes.num_verts_per_mesh()[0]
meshes.rotate(mesh_idx=0, rot_x=np.pi/2)
# handle as topmost vert
handle_verts = [28] # [79]
handle_verts = add_one_ring_neighbours(meshes, handle_verts)
handle_pos = meshes.verts_padded()[0][handle_verts]
handle_pos_shifted = handle_pos.clone()
# static as base
static_verts = [1792, 3211, 95, 3667] # centres of paws
# static_verts += [262] # bottom of mouth
static_verts = add_n_ring_neighbours(meshes, static_verts, n = 6)
faces = meshes.faces_list()
prop = True
trisurfs = plot_meshes(ax, meshes.verts_list(), faces, handle_verts=handle_verts, static_verts=static_verts, prop=prop, change_lims=True,
color="gray", zoom=1.5)
disp_vec = torch.FloatTensor([1, 0, 0]) # displace in x direction
n_frames = 10
disp_frac = 0.2 # fraction of full disp_vec to move in animation
step = disp_frac * 4/n_frames # moves
def anim(i):
[x.remove() for x in trisurfs] # remove previous frame's mesh
if i < n_frames / 4 or i > 3 * n_frames / 4:
direction = 1
else:
direction = -1
handle_pos_shifted[:] += direction * step * disp_vec
## deform, replot
verts = meshes.solve(static_verts=static_verts, handle_verts=handle_verts, handle_verts_pos=handle_pos_shifted, n_its = 1,
track_energy=False) ## run ARAP
verts = [verts]
trisurfs[:] = plot_meshes(ax, verts, faces, handle_verts=handle_verts, static_verts=static_verts, prop=prop,
color="gray")
#
# [anim(1) for i in range(1)]
# plt.show()
ax.axis("off")
save_animation(fig, anim, n_frames=n_frames, title="smal", fps = 30)
def deform_dog():
targ = os.path.join("sample_meshes", "dog.obj")
meshes = load_objs_as_meshes([targ], load_textures=False)
# meshes = ico_sphere(3)
meshes = ARAP_from_meshes(meshes) # convert to ARAP obejct
meshes.rotate(rot_x=np.pi/2)
# meshes.offset_verts_(-O.unsqueeze(0).repeat(nverts, 1)) # normalise so [22] is on origin
# O = meshes.verts_packed()[[22, 25]].mean(dim=0) # set origin to centre of mass
# nverts = meshes.num_verts_per_mesh()[0]
handle_verts = add_n_ring_neighbours(meshes, [266], mesh_idx=0, n=2)
static_verts = add_n_ring_neighbours(meshes, [523, 1134, 471, 1085], mesh_idx=0, n=1)
## add neighbours for further constraint
static_verts = add_one_ring_neighbours(meshes, static_verts)
handle_verts = add_one_ring_neighbours(meshes, handle_verts)
handle_pos = meshes.verts_padded()[0][handle_verts]
# shift in z
handle_pos_shifted = handle_pos.clone()
## plot mesh
t, s = plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts, change_lims=True,
color="dodgerblue")
# [x.remove() for x in t+s] # remove original mesh
trisurfs, scatters = [], []
def anim(i):
[x.remove() for x in trisurfs+scatters] # remove previous frame's mesh
if i < 20:
handle_pos_shifted[:, 2] += 0.01
elif i < 45:
handle_pos_shifted[:, 0] += 0.0075
elif i < 75:
handle_pos_shifted[:, 0] -= 0.0075
## deform, replot
meshes.solve(static_verts=static_verts, handle_verts=handle_verts, handle_verts_pos=handle_pos_shifted,
n_its=0) ## run ARAP
trisurfs[:], scatters[:] = plot_meshes(ax, meshes, handle_verts=handle_verts, static_verts=static_verts,
color="orange")
ax.axis("off")
# ax.view_init(azim=-60)
# plt.show()
save_animation(fig, anim, n_frames=75)
if __name__ == "__main__":
fig, ax = plt.subplots(subplot_kw=dict(projection="3d"))
# deform_cuboid()
# deform_sphere()
# deform_smal()
deform_cactus()