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Updated tutorial 404 to use features of newer pybind11 version,

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Introduced typedefs
This commit is contained in:
Sebastian Koch
2016-07-12 17:15:40 +02:00
parent 0258e9fb60
commit a6b2fd045a
10 changed files with 66 additions and 34 deletions
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python/modules/py_igl_viewer.cpp
+13 -7
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@@ -188,9 +188,15 @@ py::class_<igl::viewer::ViewerCore> viewercore_class(me, "ViewerCore");
})
.def_readwrite("lighting_factor",&igl::viewer::ViewerCore::lighting_factor)
.def_readwrite("model_zoom",&igl::viewer::ViewerCore::model_zoom)
.def_property("trackball_angle",
[](const igl::viewer::ViewerCore& core) {return Eigen::Quaterniond(core.trackball_angle.cast<double>());},
[](igl::viewer::ViewerCore& core, const Eigen::Quaterniond& q)
{
core.trackball_angle = Eigen::Quaternionf(q.cast<float>());
})
.def_property("model_translation",
[](const igl::viewer::ViewerCore& core) {return Eigen::MatrixXd(core.model_translation.cast<double>());},
[](igl::viewer::ViewerCore& core, const Eigen::MatrixXd& v)
@@ -316,13 +322,13 @@ py::class_<igl::viewer::ViewerCore> viewercore_class(me, "ViewerCore");
// UI Enumerations
py::class_<igl::viewer::Viewer> viewer_class(me, "Viewer");
#ifdef IGL_VIEWER_WITH_NANOGUI
py::object fh = (py::object) py::module::import("nanogui").attr("FormHelper");
py::class_<nanogui::FormHelper> form_helper_class(me, "FormHelper", fh);
// #ifdef IGL_VIEWER_WITH_NANOGUI
// py::object fh = (py::object) py::module::import("nanogui").attr("FormHelper");
// py::class_<nanogui::FormHelper> form_helper_class(me, "FormHelper", fh);
py::object screen = (py::object) py::module::import("nanogui").attr("Screen");
py::class_<nanogui::Screen> screen_class(me, "Screen", screen);
#endif
// py::object screen = (py::object) py::module::import("nanogui").attr("Screen");
// py::class_<nanogui::Screen> screen_class(me, "Screen", screen);
// #endif
py::enum_<igl::viewer::Viewer::MouseButton>(viewer_class, "MouseButton")
.value("Left", igl::viewer::Viewer::MouseButton::Left)
python/modules/py_typedefs.cpp
+12
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@@ -0,0 +1,12 @@
py::class_<RotationList>(m, "RotationList")
.def(py::init<>())
.def("pop_back", &RotationList::pop_back)
/* There are multiple versions of push_back(), etc. Select the right ones. */
.def("append", (void (RotationList::*)(const Eigen::Quaterniond &)) &RotationList::push_back)
.def("back", (Eigen::Quaterniond &(RotationList::*)()) &RotationList::back)
.def("__len__", [](const RotationList &v) { return v.size(); })
.def("__getitem__", [](const RotationList &v, int b) { return v.at(b); })
.def("__setitem__", [](RotationList &v, int b, Eigen::Quaterniond &c) { return v.at(b) = c; })
.def("__iter__", [](RotationList &v) {
return py::make_iterator(v.begin(), v.end());
}, py::keep_alive<0, 1>());
python/modules/py_typedefs.h
+5
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@@ -0,0 +1,5 @@
typedef std::vector<Eigen::Quaterniond,Eigen::aligned_allocator<Eigen::Quaterniond> > RotationList;
PYBIND11_MAKE_OPAQUE(RotationList);
//typedef std::vector<Eigen::Vector3d> TranslationList;
//PYBIND11_MAKE_OPAQUE(TranslationList);
python/modules/py_vector.cpp
+5 -2
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@@ -68,7 +68,7 @@ py::class_<Type> bind_eigen_2(py::module &m, const char *name,
})
.def("__init__", [](Type &m, py::buffer b) {
py::buffer_info info = b.request();
if (info.format != py::format_descriptor<Scalar>::value())
if (info.format != py::format_descriptor<Scalar>::value)
throw std::runtime_error("Incompatible buffer format!");
if (info.ndim == 1) {
new (&m) Type(info.shape[0], 1);
@@ -319,7 +319,7 @@ py::class_<Type> bind_eigen_2(py::module &m, const char *name,
m.data(), /* Pointer to buffer */
sizeof(Scalar), /* Size of one scalar */
/* Python struct-style format descriptor */
py::format_descriptor<Scalar>::value(),
py::format_descriptor<Scalar>::value,
2, /* Number of dimensions */
{ (size_t) m.rows(), /* Buffer dimensions */
(size_t) m.cols() },
@@ -735,6 +735,9 @@ void python_export_vector(py::module &m) {
.def("conjugate",[](Eigen::Quaterniond& q) {
return q.conjugate();
})
.def("normalize",[](Eigen::Quaterniond& q) {
return q.normalize();
})
.def("slerp",[](Eigen::Quaterniond& q, double & t, Eigen::Quaterniond other) {
return q.slerp(t, other);
})
python/py_igl.cpp
+3
View File
@@ -1,6 +1,7 @@
#include <Eigen/Dense>
#include "python_shared.h"
#include "modules/py_typedefs.h"
#include <igl/AABB.h>
#include <igl/ARAPEnergyType.h>
@@ -85,6 +86,8 @@
void python_export_igl(py::module &m)
{
#include "modules/py_typedefs.cpp"
#include "py_igl/py_AABB.cpp"
#include "py_igl/py_ARAPEnergyType.cpp"
#include "py_igl/py_MeshBooleanType.cpp"
python/py_igl/py_directed_edge_orientations.cpp
+2 -7
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@@ -3,15 +3,10 @@ m.def("directed_edge_orientations", []
(
const Eigen::MatrixXd& C,
const Eigen::MatrixXi& E,
py::list Q
RotationList& Q
)
{
std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > Ql;
igl::directed_edge_orientations(C, E, Ql);
for (auto item : Ql) {
py::object obj = py::cast(item);
Q.append(obj);
}
return igl::directed_edge_orientations(C, E, Q);
}, __doc_igl_directed_edge_orientations,
py::arg("C"), py::arg("E"), py::arg("Q"));
python/py_igl/py_dqs.cpp
+1 -1
View File
@@ -4,7 +4,7 @@ m.def("dqs", []
(
const Eigen::MatrixXd& V,
const Eigen::MatrixXd& W,
const std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > & vQ,
const RotationList& vQ,
const std::vector<Eigen::MatrixXd> & vT,
Eigen::MatrixXd& U
)
python/py_igl/py_forward_kinematics.cpp
+3 -8
View File
@@ -19,18 +19,13 @@ m.def("forward_kinematics", []
const Eigen::MatrixXd& C,
const Eigen::MatrixXi& BE,
const Eigen::MatrixXi& P,
const std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > dQ,
py::list vQ,
const RotationList& dQ,
RotationList& vQ,
py::list vT
)
{
std::vector<Eigen::Quaterniond, Eigen::aligned_allocator<Eigen::Quaterniond> > vQl;
std::vector<Eigen::Vector3d> vTl;
igl::forward_kinematics(C, BE, P, dQ, vQl, vTl);
for (auto item : vQl) {
py::object obj = py::cast(item);
vQ.append(obj);
}
igl::forward_kinematics(C, BE, P, dQ, vQ, vTl);
for (auto item : vTl) {
py::object obj = py::cast(Eigen::MatrixXd(item));
vT.append(obj);
python/scripts/py_igl.mako
+3
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@@ -1,6 +1,7 @@
#include <Eigen/Dense>
#include "python_shared.h"
#include "modules/py_typedefs.h"
% for f in functions:
#include <igl/${f}.h>
@@ -9,6 +10,8 @@
void python_export_igl(py::module &m)
{
#include "modules/py_typedefs.cpp"
% for f in functions:
#include "py_igl/py_${f}.cpp"
% endfor
python/tutorial/404_DualQuaternionSkinning.py
+19 -9
View File
@@ -14,7 +14,7 @@ check_dependencies(dependencies)
def pre_draw(viewer):
global recompute, anim_t, poses, C, BE, P, U
global recompute, anim_t, poses, C, BE, P, U, M, anim_t_dir
if recompute:
# Find pose interval
@@ -23,12 +23,12 @@ def pre_draw(viewer):
t = anim_t - math.floor(anim_t)
# Interpolate pose and identity
anim_pose = []
anim_pose = igl.RotationList()
for e in range(len(poses[begin])):
anim_pose.append(poses[begin][e].slerp(t, poses[end][e]))
# Propogate relative rotations via FK to retrieve absolute transformations
vQ = []
vQ = igl.RotationList()
vT = []
igl.forward_kinematics(C, BE, P, anim_pose, vQ, vT)
dim = C.cols()
@@ -62,14 +62,23 @@ def pre_draw(viewer):
def key_down(viewer, key, mods):
global recompute, use_dqs
global recompute, use_dqs, animation
recompute = True
if key == ord('D') or key == ord('d'):
use_dqs = not use_dqs
return True
viewer.core.is_animating = False
animation = False
if use_dqs:
print("Switched to Dual Quaternion Skinning")
else:
print("Switched to Linear Blend Skinning")
elif key == ord(' '):
viewer.core.is_animating = not viewer.core.is_animating
return True
if animation:
viewer.core.is_animating = False
animation = False
else:
viewer.core.is_animating = True
animation = True
return False
@@ -93,6 +102,7 @@ if __name__ == "__main__":
anim_t_dir = 0.015
use_dqs = False
recompute = True
animation = False # Flag needed as there is some synchronization problem with viewer.core.is_animating
poses = [[]]
@@ -102,7 +112,7 @@ if __name__ == "__main__":
# retrieve parents for forward kinematics
igl.directed_edge_parents(BE, P)
rest_pose = []
rest_pose = igl.RotationList()
igl.directed_edge_orientations(C, BE, rest_pose)
poses = [[igl.eigen.Quaterniond.Identity() for i in range(4)] for j in range(4)]
@@ -121,7 +131,7 @@ if __name__ == "__main__":
viewer.core.show_lines = False
viewer.core.show_overlay_depth = False
viewer.core.line_width = 1
# viewer.core.trackball_angle.normalize()
viewer.core.trackball_angle.normalize()
viewer.callback_pre_draw = pre_draw
viewer.callback_key_down = key_down
viewer.core.is_animating = False