SMPL-Fitting

Fit an SMPL body model (BM) to a given scan and view the optimization process in a plotly dashboard. Fitting supported:

• 🧍‍♂️ fit the body model parameters (shape, pose, translation, scale)
• 🤹 fit the vertices to the scan

The code supports fitting a single scan 👤 or a whole dataset 👥.

smpl_fitting_dashboard.mp4

🔨 Getting started

You can use a docker container to facilitate running the code. After cloning the repo, run in terminal:

cd docker
sh build.sh
sh docker_run.sh CODE_PATH

by adjusting the CODE_PATH to the SMPL-Fitting directory location. This creates a smpl-fitting-container container. You can attach to it by running:

docker exec -it smpl-fitting-container /bin/bash

🚧 If you do not want to use docker, you can install the docker/requirements.txt into your own environment. 🚧

Next, initialize the chamfer distance submodule by running:

git submodule update --init --recursive

Necessary files:

• put the SMPL_{GENDER}.pkl (MALE, FEMALE and NEUTRAL) models into the data/body_models/smpl folder. You can obtain the files here.
• put the gmm_08.pkl prior into the data/prior folder. You can obtain the files here.
• [OPTIONAL] We provide a demo for fitting the whole FAUST dataset. To do that, download the FAUST dataset here and put the FAUST/training/scans and FAUST/training/registrations folders into the data/FAUST/training folder in this repository. We already provided the landmarks for fitting in data/FAUST/training/landmarks.

🏃‍♀️ Fitting

The configuration files for the fitting are stored in the configs folder:

• config.yaml stores general variables and optimization-specific variables
• loss_weight_configs.yaml stores the loss weight strategy for the fitting process defined as iteration: dict of loss weights pairs. For example, 4: {"data": 1, "smooth": 150, "landmark": 100} means that at iteration 4, the data loss will be multiplied by 1, smoothnesss loss will be multiplied by 150, etc.

⚙️ General configurations

The general configuration variables are listed below. The specific variables for fitting the body model are given here, and the specific variables for fitting the vertices are given here.

General variables:

• verbose - (bool) printout losses and variable values at each step
• default_dtype - (torch.dtype) define the shape, pose, etc. tensor data types
• pause_script_after_fitting - (bool) pause the script after the fitting is done so you can visualize in peace
• experiment_name - (string) name your experiment

Visualization variables:

• socket_type - (string) type of socket, only zmq supported
• socket_port - (int) port for visualizations, localhost:socket_port
• error_curves_logscale - (bool) visualize loss curves in log scale
• visualize - (bool) visualize or not the fitting
• visualize_steps - (list / range) iterations to visualize, can be defined as summed ranges and lists, ex. range(0, 500, 50)+[10,30,499]

Path variables:

• body_models_path - (string) path to SMPL,SMPLX,.. body models
• prior_path - (string) path to the gmm prior loss .pkl file
• save_path - (string) path to save the results

Dataset variables for FAUST (these are dataset specific for each dataset you implement):

• data_dir - (string) path to FAUST dataset
• load_gt - (bool) load ground truth SMPL fitting or not

🧍‍♂️ Fit body model (BM)

Optimize the body model parameters of shape and pose (including translation and scale) that best fit the given scan. Check notes on losses to see the losses used.

The optimization-specific configurations to fit a BM to a scan are set under fit_body_model_optimization in config.yaml with the following variables:

• iterations - (int) number of iterations
• lr - (float) learning rate
• start_lr_decay_iteration - (int) iteration when to start the learning rate decay calculated as lr *(iterations-current iteration)/iterations
• body_model - (string) which BM to use (smpl, smplx,..). See Notes for supported models
• use_landmarks - (string / list) which body landmarks to use for fitting. Can be All to use all possible landmarks, {BM}_INDEX_LANDMARKS defined in landmarks.py or list of landmark names e.g. ["Lt. 10th Rib", "Lt. Dactylion",..] defined in landmarks.py
• loss_weight_option - the strategy for the loss weights, defined in loss_weights_configs.yaml under fit_bm_loss_weight_strategy

The default variables already set should work well for the fitting process.

👤 Fit BM to single scan

python fit_body_model.py onto_scan --scan_path {path-to-scan} --landmark_path {path-to-landmarks}

Check Notes to see the supported scan and landmark file extensions.

👥 Fit BM to dataset

python fit_body_model.py onto_dataset --dataset_name {dataset-to-fit}

The dataset you want to fit needs to be defined in datasets.py as a torch dataset. Check notes on datasets for more details. We already provide the FAUST dataset in datasets.py.

🤹 Fit vertices

Optimize the vertices of a BM (or mesh) that best fit the given scan. Check notes on losses to see the losses used.

The optimization-specific configuration to fit the vertices to a scan is set under fit_vertices_optimization in config.yaml with the following variables:

• max_iterations - (int) number of maximal iterations
• stop_at_loss_value - (float) stop fitting if loss under this threshold
• stop_at_loss_difference - (float) stop fitting if difference of loss at iteration i-1 and iteration i is less this threshold
• use_landmarks - (string / list) which body landmarks to use for fitting. Can be nul to not use landmarks, All to use all possible landmarks, {BM}_INDEX_LANDMARKS defined in landmarks.py, or list of landmark names e.g. ["Lt. 10th Rib", "Lt. Dactylion",..] defined in landmarks.py
• random_init_A - (bool) random initialization of vertices transformation
• seed - (float) seed for random initialization of vertices transformation
• use_losses - (list) losses to use. The complete list of losses is ["data","smooth","landmark","normal","partial_data"]. Check notes on losses.
• loss_weight_option - (string) the strategy for the loss weights, defined in loss_weights_configs.yaml under fit_verts_loss_weight_strategy
• lr - (float) learning rate
• normal_threshold_angle - (float) used if normal loss included in use_losses. Penalizes knn points only if angle is lower than this threshold. Otherwise points are ignored
• normal_threshold_distance - (float) used if normal loss included in use_losses. Penalizes knn points only if the distance is lower than this threshold. Otherwise points are ignored
• partial_data_threshold - (float) used if partial_data loss included in use_losses. Chamfer distance from BM to scan for points that are closer than this threshold. Otherwise points are ignored

👤 Fit vertices to scan

python fit_vertices.py onto_scan --scan_path {path-to-scan} --landmark_path {path-to-landmarks} --start_from_previous_results {path-to-YYYY_MM_DD_HH_MM_SS-folder}

Check Notes to see the supported scan and landmark file extensions. You can either use --start_from_previous_results to fit the vertices of the previously fitted BM with the fit_body_model.py script ( ⚠️ provide the folder where the fitted .npz is located) or use --start_from_body_model to start fitting a BM with zero shape and pose to the scan (⚠️ results will probably be poor).

👥 Fit vertices to dataset

python fit_vertices.py onto_dataset --dataset_name {dataset-name} --start_from_previous_results {path-to-previously-fitted-bm-results}

You can either use --start_from_previous_results to fit the vertices of the previously fitted BM with the fit_body_model.py script (⚠️ provide the folder where the fitted .npz are located) or use --start_from_body_model to start fitting a BM with zero shape and pose to the scan (⚠️ results will be poor). The dataset you want to fit needs to be defined in datasets.py as a torch dataset. Check notes on datasets for more details. We already provide the FAUST dataset in datasets.py.

↺ Refine fitting

If you already have body model parameters (pose, shape, translation and scale) given, but they are not ideal, you can refine them. The optimization-specific configuration to refine the parmaeters is set under refine_bm_fitting in config.yaml with the following variables:

• iterations - (int) number of iterations
• start_lr_decay_iteration - (int) iteration when to start the learning rate decay calculated as lr *(iterations-current iteration)/iterations
• body_model - (string) which BM to use (smpl, smplx,..). See Notes for supported models
• use_landmarks - (string / list) which body landmarks to use for fitting. Can be nul to not use landmarks, All to use all possible landmarks, {BM}_INDEX_LANDMARKS defined in landmarks.py, or list of landmark names e.g. ["Lt. 10th Rib", "Lt. Dactylion",..] defined in landmarks.py
• refine_params - (list of strings) of parameters you want to refine, can contiain: pose, shape, transl, scale
• use_losses - (list) losses to use. The complete list of losses is ["data","smooth","landmark","normal","partial_data"]. Check notes on losses.
• loss_weight_option - (string) the strategy for the loss weights, defined in loss_weights_configs.yaml under fit_verts_loss_weight_strategy
• prior_folder - (string) path to the gmm prior loss .pkl file
• num_gaussians - (float) number of gaussians to use for the prior
• lr - (float) learning rate
• normal_threshold_angle - (float) used if normal loss included in use_losses. Penalizes knn points only if angle is lower than this threshold. Otherwise points are ignored

👥 Refine parameters fitted to dataset

python refine_fitting.py onto_dataset --dataset_name {dataset-name}

⚖️ Evaluate

Use the evaluate_fitting.py script to evaluate the fitting.

evaluate per-vertex-error

Evaluate the per vertex error (pve) which is the average euclidean distance between the given ground truth BM to the fitted BM.

python evaluate_fitting.py pve -F {path-to-results}

The pve unit is determined by the data. For the FAUST dataset the unit is given in meters.

You can use:

• -V - to visualize the pve for each example
• --select_examples - (list) to select a subset of examples to evaluate (only if evaluating fitting to dataset)
• --ground_truth_path - (string) to set the path to the ground truth body model (only if evaluating fitting to scan)

evaluate chamfer distance

Evaluate the (various definitions of) chamfer distance (CD) from the estimated body model to the scan with:

python evaluate_fitting.py chamfer -F {path-to-results}

where the different definitions are:

• Chamfer standard is (mean(dists_bm2scan) + mean(dists_scan2bm))
• Chamfer bidirectional is mean(concatenation(dists_bm2scan,dists_scan2bm))
• Chamfer from body model to scan is mean(dists_bm2scan)
• Chamfer from scan to body model is mean(dists_scan2bm)

and are averaged over the examples. The unit of these metrics is determined by the data. For the FAUST dataset the unit is given in meters.

You can use:

• --select_examples to select a subset of examples to evaluate (only if evaluating fitting to dataset)
• --device to set gpu for running a faster chamfer distance (use cuda:{gpu-index})
• --scan_path - (string) to set the path to the scan you are evaluating (only if evaluating fitting to scan and not whole dataset)

📈 Visualization

1. Visualize SMPL landmarks with:

   python visualization.py visualize_smpl_landmarks

2. Visualize scan landmarks with:

   python visualization.py visualize_scan_landmarks --scan_path {path-to-scan} --landmark_path {path-to-landmarks}

   Check Notes section to find out the possible landmark definitions.

3. Visualize fitting:

   python visualization.py visualize_fitting --scan_path {path-to-scan} --fit_paths {path-to-.npz-file}

   where the .npz is obtained with the fitting scripts.

📝 Notes

Notes on landmarks

The list of available landmarks for each BM are listed in landmarks.py.
The supported ways of loading landmarks for a scan are:

• .txt extension has two options
  1. x y z landmark_name
  2. landmark_index landmark_name
• .json extension has two options
  1. {landmark_name: [x,y,z]}
  2. {landmark_name: landmark_index}

where x y z indicate the coordinates of the landmark and landmark_index indicates the index of the scan vertex representing the landmark.

Notes on losses

Losses for fitting the BM:

• data loss - chamfer distance between BM and scan
• landmark loss - L2 distance between BM landmarks and scan landmarks
• prior shape loss - L2 norm of BM shape parameters
• prior pose loss - gmm prior loss from [1]

Losses for fitting the vertices:

• data loss - directional chamfer distance from BM to scan
• smoothness loss - difference between transformations of neighboring BM vertices
• landmark loss - L2 distance between BM landmarks and scan landmarks
• normal loss - L2 distance between points with normals within angle threshold

Notes on datasets

The dataset you want to fit needs to be defined in datasets.py as a torch dataset with the following variables:

• name - (string) name of the scan
• vertices - (np.ndarray) vertices of the scan
• faces - (np.ndarray) faces of the scan (set to None if no faces)
• landmarks - (dict) of (landmark_name: landmark_coords) pairs where landmark_coords is list of 3 floats

If you additionally want to evaluate the per vertex error (pve) after fitting (check ⚖️ Evaluate) which compares the mean L2 between the fitted BM and the ground truth BM, you need to provide the ground truth BM as:

• vertices_gt - (np.ndarray) ground truth vertices of the BM
• faces_gt - (np.ndarray) ground truth faces of the BM

If you want to refine the parameters that have already been fitted, the dataset needs to additionally return:

• pose - (torch.tensor) fitted pose parameters dim 1 x 72
• shape - (torch.tensor) fitted shape parameters dim 1 x 10
• trans - (torch.tensor) fitted translation dim 1 x 3
• gender - (str) gender of the body model

We provide the FAUST and CAESAR and 4DHumanOutfit dataset implementations in datasets.py. You can obtain the datasets from here, here and here.

Notes on supported BM

Currently, we support the SMPL body model. If you want to add another BM, you can follow these steps:

1. Add the body models into data/body_models
2. Implement the body model in body_models.py
3. Implement the body model parameters in body_parameters.py
4. Implement the body landmarks in landmarks.py

💿 Demos

Fit body model onto scan:

python fit_body_model.py onto_scan --scan_path data/demo/tr_scan_000.ply --landmark_path data/demo/tr_scan_000_landmarks.json

Fit body model onto dataset (🚧 you need to provide the FAUST dataset files as mentioned above 🚧):

python fit_body_model.py onto_dataset -D FAUST

Fit the vertices of the previously fitted BM onto the scan even further:

python fit_vertices.py onto_scan --scan_path data/FAUST/training/scans/tr_scan_000.ply --landmark_path data/FAUST/training/landmarks/tr_scan_000_landmarks.json --start_from_previous_results data/demo

Fit the vertices of the previously fitted BM onto FAUST dataset further:

python fit_vertices.py onto_dataset --dataset_name FAUST --start_from_previous_results data/demo

🚧 We provide only the fitted paths for scans tr_scan_000 and tr_scan_001. Therefore the rest of the scans are going to be skipped 🚧

Evaluate PVE of fitted scan for the two provided fittings:

python evaluate_fitting.py pve -F data/demo -G data/demo

Evaluate chamfer of fitted scan for the two provided fittings:

python evaluate_fitting.py chamfer -F data/demo

Visualize SMPL landmarks:

python visualization.py visualize_smpl_landmarks

Visualize FAUST scan landmarks:

python visualization.py visualize_scan_landmarks --scan_path data/demo/tr_scan_000.ply --landmark_path data/demo/tr_scan_000_landmarks.json

Visualize the fitted vertices of the BM onto the FAUST scan:

python visualization.py visualize_fitting --scan_path data/demo/tr_scan_000.ply --fit_paths data/demo/tr_scan_000.npz

Citation

Please cite our work and leave a star ⭐ if you find the repository useful.

@misc{SMPL-Fitting,
  author = {Bojani\'{c}, D.},
  title = {SMPL-Fitting},
  year = {2024},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/DavidBoja/SMPL-Fitting}},
}

Todo

• Implement SMPLx body model

References

[1] Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image