scape

prepare/mesh/data/tpose.txt

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+0.001497 0.013568 0.152925
+-0.001799 -0.040141 -0.171951
+-0.003282 -0.027311 -0.366690
+0.000990 -0.025286 0.391908
+-0.097668 -0.025024 -0.399642
+-0.104710 -0.000172 -0.865403
+-0.113675 0.003586 -1.284691
+-0.133968 -0.071822 -1.335158
+0.090609 -0.025320 -0.398652
+0.099851 -0.000438 -0.863821
+0.110594 0.003457 -1.279811
+0.131251 -0.080692 -1.332369
+-0.162144 0.032131 0.093507
+-0.401790 0.025970 0.116005
+-0.615922 -0.072595 0.121641
+-0.686757 -0.123359 0.110817
+0.163958 0.032271 0.098162
+0.404975 0.025376 0.122067
+0.619772 -0.073468 0.126537
+0.688443 -0.122522 0.115695

prepare/mesh/demo_convertmesh.m

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+
+
+clear
+clc
+
+%%
+% prepare data
+
+addpath('io/');
+addpath('skel/');
+addpath('quatern/');
+
+% male
+scapepath = '../scape/MATLAB_daz_m_srf';
+addpath(genpath(scapepath));
+
+
+%%
+% predifined data
+
+Meta.instance.readA;
+Meta.instance.readPCA;
+
+% mesh triangles
+triangles = Meta.instance.triangles;
+
+% ponints weights
+weights = Meta.instance.weight;
+[weights_sort, ind] = sort(weights, 2);
+
+
+%%
+% RR to points
+
+RR = repmat(eye(3), 1, 1, 15);
+
+shapepara = Meta.instance.sem_default;
+
+tic;
+points = Body(RR, shapepara).points;
+toc;
+
+tic;
+generate_obj(points, triangles, 'data/tpose.obj');
+toc;
+
+
+%%
+
+% points2skel
+
+tic
+[ skel ] = points2skel( points, weights_sort, ind );
+toc
+
+generate_skel(skel, 'data/tpose.txt');
+
+
+%%
+% skel2RR
+
+skel_scape = skel;
+
+% wangchuyu
+ind_wangchuyu = [4, 1, 17, 18, 19, 13, 14, 15, 3, 9, 10, 11, 5, 6, 7];
+skel_wangchuyu = skel_scape(ind_wangchuyu, :);
+
+theta = -85/180*3.1416;
+rot_x = [1 0 0; 0 cos(theta), -sin(theta); 0 sin(theta), cos(theta)];
+skel_wangchuyu = rot_x*skel_wangchuyu';
+skel_wangchuyu = skel_wangchuyu';
+
+tic;
+[ RR, R ] = skel2RR( skel_wangchuyu, skel_scape );
+toc;
+

prepare/mesh/io/generate_obj.m

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+function generate_obj(points, triangles, file)
+% points is 3d points, 6449x3
+% triangles is mesh faces, 12894x3
+% file is saved file name
+
+pnum = size(points, 1);
+fnum = size(triangles, 1);
+
+fid = fopen(file, 'w');
+
+for i = 1 : pnum
+    fprintf(fid, 'v %f %f %f\n', points(i, :));
+end;
+
+for i = 1 : fnum
+    fprintf(fid, 'f %d %d %d\n', triangles(i, :));
+end;
+
+fclose(fid);
+
+end
+

prepare/mesh/io/generate_skel.m

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+function generate_skel( skel, file )
+% skel is 3d skeletons, 15x3 or 20x3
+% file is saved file
+
+snum = size(skel, 1);
+
+fid = fopen(file, 'w');
+
+for i = 1:snum
+    fprintf(fid, '%f %f %f\n', skel(i, :));
+end;
+
+fclose(fid);
+
+end
+

prepare/mesh/quatern/angle2q.m

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+function [ q ] = angle2q( axis, angle )
+% axis is rotating axis, (x, y ,z)'
+% angle is rotating degree, in PI
+% q is (x, y, z, w)'
+
+axis = axis/sqrt(axis'*axis);
+
+angle = angle/2;
+
+q = zeros(4, 1);
+
+q(4, 1) = cos(angle);
+
+q(1:3, 1) = sin(angle)*axis;
+
+end
+

prepare/mesh/quatern/demo.m

@@ -0,0 +1,94 @@
+
+
+% test functions
+
+clear
+clc
+
+%%
+% rotation axis and angle
+
+vec = rand(3, 1);
+theta = pi * rand();
+
+q = angle2q(vec, theta);
+
+R = q2matrix(q);
+
+q2 = matrix2quaternion(R);
+
+disp(q - q2);
+
+% q = q2
+
+%%
+% two vecs
+
+vec1 = rand(3, 1);
+
+vec2 = R*vec1;
+
+R2 = vector2matrix(vec1, vec2);
+
+disp(R);
+disp(R2);
+
+disp(vec2 - R*vec1);
+disp(vec2 - R2*vec1);
+
+% it is interesting.
+% R != R2
+% vec2 = R*vec1 = R2*vec1
+
+%%
+% q1mulq2
+
+clear
+clc
+
+vec = [1 2 3]';
+
+vec1 = [2 3 4]';
+theta1 = 30/180*pi;
+q1 = angle2q(vec1, theta1);
+R1 = q2matrix(q1);
+vecr = R1*vec;
+
+vec2 = [7 1 -3]';
+theta2 = 50/180*pi;
+q2 = angle2q(vec2, theta2);
+R2 = q2matrix(q2);
+vecr = R2*vecr;
+
+
+q3 = q1mulq2(q1, q2);
+R3 = q2matrix(q3);
+vecrr = R3*vec;
+
+disp(vecr - vecrr);
+disp(R2*R1 - R3);
+
+%%
+% points
+% p2 = q*p*qinv
+
+clear
+clc
+
+% q & qinv
+q = rand(4, 1);
+q = q/sqrt(q'*q);
+matrix = q2matrix(q);
+
+qinv = [-q(1:3); q(4)];
+
+% points
+p = rand(3, 1);
+p4 = [p; 0];
+
+% cal
+pr = matrix * p;
+
+prr = q1mulq2(q1mulq2(qinv, p4), q);
+
+disp(pr - prr(1:3));

prepare/mesh/quatern/matrix2quaternion.m

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+% MATRIX2QUATERNION - Homogeneous matrix to quaternion
+%
+% Converts 4x4 homogeneous rotation matrix to quaternion
+%
+% Usage: Q = matrix2quaternion(T)
+%
+% Argument:   T - 4x4 Homogeneous transformation matrix
+% Returns:    Q - a quaternion in the form [w, xi, yj, zk]
+%
+% See Also QUATERNION2MATRIX
+
+% Copyright (c) 2008 Peter Kovesi
+% School of Computer Science & Software Engineering
+% The University of Western Australia
+% pk at csse uwa edu au
+% http://www.csse.uwa.edu.au/
+%
+% Permission is hereby granted, free of charge, to any person obtaining a copy
+% of this software and associated documentation files (the "Software"), to deal
+% in the Software without restriction, subject to the following conditions:
+%
+% The above copyright notice and this permission notice shall be included in
+% all copies or substantial portions of the Software.
+%
+% The Software is provided "as is", without warranty of any kind.
+
+function Q = matrix2quaternion(T)
+
+% This code follows the implementation suggested by Hartley and Zisserman
+R = T(1:3, 1:3);   % Extract rotation part of T
+
+% Find rotation axis as the eigenvector having unit eigenvalue
+% Solve (R-I)v = 0;
+[v,d] = eig(R-eye(3));
+
+% The following code assumes the eigenvalues returned are not necessarily
+% sorted by size. This may be overcautious on my part.
+d = diag(abs(d));   % Extract eigenvalues
+[s, ind] = sort(d); % Find index of smallest one
+if d(ind(1)) > 0.001   % Hopefully it is close to 0
+    warning('Rotation matrix is dubious');
+end
+
+axis = v(:,ind(1)); % Extract appropriate eigenvector
+
+if abs(norm(axis) - 1) > .0001     % Debug
+    warning('non unit rotation axis');
+end
+
+% Now determine the rotation angle
+twocostheta = trace(R)-1;
+twosinthetav = [R(3,2)-R(2,3), R(1,3)-R(3,1), R(2,1)-R(1,2)]';
+twosintheta = axis'*twosinthetav;
+
+theta = atan2(twosintheta, twocostheta);
+
+% Q = [cos(theta/2); axis*sin(theta/2)];
+Q = [axis*sin(theta/2); cos(theta/2)];
+
+end
+

prepare/mesh/quatern/q1mulq2.m

@@ -0,0 +1,28 @@
+function [ q ] = q1mulq2( q1, q2 )
+% q is (x, y, z, w)'
+% q = q1*q2
+% the rotate matrix will first rotate q1
+% then rotate q2
+
+w1 = q1(4, 1);
+w2 = q2(4, 1);
+
+x1 = q1(1, 1);
+y1 = q1(2, 1);
+z1 = q1(3, 1);
+
+x2 = q2(1, 1);
+y2 = q2(2, 1);
+z2 = q2(3, 1);
+
+w = w1*w2 - x1*x2 - y1*y2 - z1*z2;
+x = w1*x2 + x1*w2 + z1*y2 - y1*z2;
+y = w1*y2 + y1*w2 + x1*z2 - z1*x2;
+z = w1*z2 + z1*w2 + y1*x2 - x1*y2;
+
+q = [x, y, z, w]';
+
+% q = q/sqrt(q'*q);
+
+end
+

prepare/mesh/quatern/q2matrix.m

@@ -0,0 +1,32 @@
+function [ matrix ] = q2matrix( q )
+% q is (x, y, z, w)'
+% matrix is V2 = R*V1
+
+q = q/sqrt(q'*q);
+
+w = q(4, 1);
+
+x = q(1, 1);
+y = q(2, 1);
+z = q(3, 1);
+
+r=zeros(3, 3);
+
+r(1,1) = 1-2*y*y-2*z*z;
+r(1,2) = 2*x*y+2*w*z;
+r(1,3) = 2*x*z-2*w*y;
+
+r(2,1) = 2*x*y-2*w*z;
+r(2,2) = 1-2*x*x-2*z*z;
+r(2,3) = 2*z*y+2*w*x;
+
+r(3,1) = 2*x*z+2*w*y;
+r(3,2) = 2*y*z-2*w*x;
+r(3,3) = 1-2*x*x-2*y*y;
+
+r = r';
+
+matrix = r;
+
+end
+

prepare/mesh/quatern/vector2matrix.m

@@ -0,0 +1,18 @@
+function [ matrix ] = vector2matrix( vec1, vec2 )
+% vec is (x, y, z)'
+% vec2 = matrix*vec1
+
+v1 = vec1/sqrt(vec1'*vec1);
+v2 = vec2/sqrt(vec2'*vec2);
+
+angle = acos(v1'*v2);
+
+v3 = cross(v1, v2);
+v3 = v3/sqrt(v3'*v3);
+
+q = angle2q(v3, angle);
+
+matrix = q2matrix(q);
+
+end
+