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import os
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import numpy as np
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from utils.os_utils import mkdir_p
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from utils.tree_utils import TreeNode
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from utils.rig_parser import Info
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from geometric_proc.compute_volumetric_geodesic import get_bones
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def readPly(filename):
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with open(filename, 'r') as fin:
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lines = fin.readlines()
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pts = []
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for li in lines[7:]:
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words = li.split()
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pts.append(np.array([[float(words[0]), float(words[1]), float(words[2])]]))
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pts = np.concatenate(pts, axis=0)
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return pts
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def writePly(pts, filename):
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with open(filename, 'w') as f:
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pn = pts.shape[0]
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f.write('ply\n')
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f.write('format ascii 1.0\n')
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f.write('element vertex %d\n' % (pn) )
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f.write('property float x\n')
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f.write('property float y\n')
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f.write('property float z\n')
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f.write('end_header\n')
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for i in range(pn):
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f.write('%f %f %f\n' % (pts[i, 0], pts[i, 1], pts[i, 2]) )
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def output_point_cloud_ply(xyzs, name, output_folder):
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if not os.path.exists( output_folder ):
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mkdir_p( output_folder )
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print('write: ' + os.path.join(output_folder, name + '.ply'))
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with open(os.path.join(output_folder, name + '.ply'), 'w') as f:
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pn = xyzs.shape[0]
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f.write('ply\n')
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f.write('format ascii 1.0\n')
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f.write('element vertex %d\n' % (pn) )
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f.write('property float x\n')
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f.write('property float y\n')
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f.write('property float z\n')
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f.write('end_header\n')
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for i in range(pn):
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f.write('%f %f %f\n' % (xyzs[i][0], xyzs[i][1], xyzs[i][2]) )
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def add_duplicate_joints(skel):
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this_level = [skel.root]
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while this_level:
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next_level = []
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for p_node in this_level:
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if len(p_node.children) > 1:
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new_children = []
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for dup_id in range(len(p_node.children)):
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p_node_new = TreeNode(p_node.name + '_dup_{:d}'.format(dup_id), p_node.pos)
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p_node_new.overlap=True
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p_node_new.parent = p_node
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p_node_new.children = [p_node.children[dup_id]]
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p_node_new.pos = np.array(p_node_new.pos) + 0.03 * np.linalg.norm(np.array(p_node.children[dup_id].pos) - np.array(p_node_new.pos))
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p_node_new.pos = (p_node_new.pos[0], p_node_new.pos[1], p_node_new.pos[2])
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p_node.children[dup_id].parent = p_node_new
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new_children.append(p_node_new)
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p_node.children = new_children
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p_node.overlap = False
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next_level += p_node.children
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this_level = next_level
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return skel
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def mapping_bone_index(bones_old, bones_new):
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bone_map = {}
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for i in range(len(bones_old)):
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bone_old = bones_old[i][np.newaxis, :]
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dist = np.linalg.norm(bones_new - bone_old, axis=1)
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ni = np.argmin(dist)
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bone_map[i] = ni
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return bone_map
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def assemble_skel_skin(skel, attachment):
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bones_old, bone_names_old, _ = get_bones(skel)
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skel_new = add_duplicate_joints(skel)
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bones_new, bone_names_new, _ = get_bones(skel_new)
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bone_map = mapping_bone_index(bones_old, bones_new)
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skel_new.joint_pos = skel_new.get_joint_dict()
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skel_new.joint_skin = []
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for v in range(len(attachment)):
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vi_skin = [str(v)]
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skw = attachment[v]
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skw = skw / (np.sum(skw) + 1e-10)
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for i in range(len(skw)):
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if i == len(bones_old):
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break
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if skw[i] > 1e-5:
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bind_joint_name = bone_names_new[bone_map[i]][0]
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bind_weight = skw[i]
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vi_skin.append(bind_joint_name)
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vi_skin.append(str(bind_weight))
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skel_new.joint_skin.append(vi_skin)
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return skel_new
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def output_rigging(skel_name, attachment, output_folder, name):
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skel = Info(skel_name)
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skel_new = assemble_skel_skin(skel, attachment)
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skel_new.save(os.path.join(output_folder, str(name) + '_rig.txt'))
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