SMPL human model

Visualize SMPL human body models with pose and shape parameter controls.

Requires a .npz model file. See here for download instructions:

https://github.com/vchoutas/smplx?tab=readme-ov-file#downloading-the-model

Features:

  • SMPL model loading and mesh generation

  • Interactive pose parameter sliders

  • Real-time body shape and pose updates

  • 3D mesh visualization with viser.SceneApi.add_mesh_simple()

Note

This example requires external assets. To download them, run:

cd /path/to/viser/examples/assets
./download_assets.sh

Source: examples/04_demos/03_smpl_visualizer.py

SMPL human model

Code

  1from __future__ import annotations
  2
  3import time
  4from dataclasses import dataclass
  5from pathlib import Path
  6
  7import numpy as np
  8import trimesh
  9import tyro
 10
 11import viser
 12import viser.transforms as tf
 13
 14
 15@dataclass(frozen=True)
 16class SmplOutputs:
 17    vertices: np.ndarray
 18    faces: np.ndarray
 19    T_world_joint: np.ndarray  # (num_joints, 4, 4)
 20    T_parent_joint: np.ndarray  # (num_joints, 4, 4)
 21
 22
 23class SmplHelper:
 24
 25    def __init__(self, model_path: Path) -> None:
 26        assert model_path.suffix.lower() == ".npz", "Model should be an .npz file!"
 27        body_dict = dict(**np.load(model_path, allow_pickle=True))
 28
 29        self.J_regressor = body_dict["J_regressor"]
 30        self.weights = body_dict["weights"]
 31        self.v_template = body_dict["v_template"]
 32        self.posedirs = body_dict["posedirs"]
 33        self.shapedirs = body_dict["shapedirs"]
 34        self.faces = body_dict["f"]
 35
 36        self.num_joints: int = self.weights.shape[-1]
 37        self.num_betas: int = self.shapedirs.shape[-1]
 38        self.parent_idx: np.ndarray = body_dict["kintree_table"][0]
 39
 40    def get_outputs(self, betas: np.ndarray, joint_rotmats: np.ndarray) -> SmplOutputs:
 41        # Get shaped vertices + joint positions, when all local poses are identity.
 42        v_tpose = self.v_template + np.einsum("vxb,b->vx", self.shapedirs, betas)
 43        j_tpose = np.einsum("jv,vx->jx", self.J_regressor, v_tpose)
 44
 45        # Local SE(3) transforms.
 46        T_parent_joint = np.zeros((self.num_joints, 4, 4)) + np.eye(4)
 47        T_parent_joint[:, :3, :3] = joint_rotmats
 48        T_parent_joint[0, :3, 3] = j_tpose[0]
 49        T_parent_joint[1:, :3, 3] = j_tpose[1:] - j_tpose[self.parent_idx[1:]]
 50
 51        # Forward kinematics.
 52        T_world_joint = T_parent_joint.copy()
 53        for i in range(1, self.num_joints):
 54            T_world_joint[i] = T_world_joint[self.parent_idx[i]] @ T_parent_joint[i]
 55
 56        # Linear blend skinning.
 57        pose_delta = (joint_rotmats[1:, ...] - np.eye(3)).flatten()
 58        v_blend = v_tpose + np.einsum("byn,n->by", self.posedirs, pose_delta)
 59        v_delta = np.ones((v_blend.shape[0], self.num_joints, 4))
 60        v_delta[:, :, :3] = v_blend[:, None, :] - j_tpose[None, :, :]
 61        v_posed = np.einsum(
 62            "jxy,vj,vjy->vx", T_world_joint[:, :3, :], self.weights, v_delta
 63        )
 64        return SmplOutputs(v_posed, self.faces, T_world_joint, T_parent_joint)
 65
 66
 67def main(
 68    model_path: Path = Path(__file__).parent / "../assets/SMPLH_NEUTRAL.npz",
 69) -> None:
 70    server = viser.ViserServer()
 71    server.scene.set_up_direction("+y")
 72    server.scene.add_grid("/grid", position=(0.0, -1.3, 0.0), plane="xz")
 73
 74    # Main loop. We'll read pose/shape from the GUI elements, compute the mesh,
 75    # and then send the updated mesh in a loop.
 76    model = SmplHelper(model_path)
 77    gui_elements = make_gui_elements(
 78        server,
 79        num_betas=model.num_betas,
 80        num_joints=model.num_joints,
 81        parent_idx=model.parent_idx,
 82    )
 83    body_handle = server.scene.add_mesh_simple(
 84        "/human",
 85        model.v_template,
 86        model.faces,
 87        wireframe=gui_elements.gui_wireframe.value,
 88        color=gui_elements.gui_rgb.value,
 89    )
 90
 91    # Add a vertex selector to the mesh. This will allow us to click on
 92    # vertices to get indices.
 93    red_sphere = trimesh.creation.icosphere(radius=0.001, subdivisions=1)
 94    red_sphere.visual.vertex_colors = (255, 0, 0, 255)  # type: ignore
 95    vertex_selector = server.scene.add_batched_meshes_trimesh(
 96        "/selector",
 97        red_sphere,
 98        batched_positions=model.v_template,
 99        batched_wxyzs=((1.0, 0.0, 0.0, 0.0),) * model.v_template.shape[0],
100    )
101
102    @vertex_selector.on_click
103    def _(event: viser.SceneNodePointerEvent) -> None:
104        event.client.add_notification(
105            f"Clicked on vertex {event.instance_index}",
106            body="",
107            auto_close=3000,
108        )
109
110    while True:
111        # Do nothing if no change.
112        time.sleep(0.02)
113        if not gui_elements.changed:
114            continue
115
116        gui_elements.changed = False
117
118        # If anything has changed, re-compute SMPL outputs.
119        smpl_outputs = model.get_outputs(
120            betas=np.array([x.value for x in gui_elements.gui_betas]),
121            joint_rotmats=tf.SO3.exp(
122                # (num_joints, 3)
123                np.array([x.value for x in gui_elements.gui_joints])
124            ).as_matrix(),
125        )
126
127        # Update the mesh properties based on the SMPL model output + GUI
128        # elements.
129        body_handle.vertices = smpl_outputs.vertices
130        body_handle.wireframe = gui_elements.gui_wireframe.value
131        body_handle.color = gui_elements.gui_rgb.value
132        vertex_selector.batched_positions = smpl_outputs.vertices
133
134        # Match transform control gizmos to joint positions.
135        for i, control in enumerate(gui_elements.transform_controls):
136            control.position = smpl_outputs.T_parent_joint[i, :3, 3]
137
138
139@dataclass
140class GuiElements:
141
142    gui_rgb: viser.GuiInputHandle[tuple[int, int, int]]
143    gui_wireframe: viser.GuiInputHandle[bool]
144    gui_betas: list[viser.GuiInputHandle[float]]
145    gui_joints: list[viser.GuiInputHandle[tuple[float, float, float]]]
146    transform_controls: list[viser.TransformControlsHandle]
147
148    changed: bool
149
150
151def make_gui_elements(
152    server: viser.ViserServer,
153    num_betas: int,
154    num_joints: int,
155    parent_idx: np.ndarray,
156) -> GuiElements:
157
158    tab_group = server.gui.add_tab_group()
159
160    def set_changed(_) -> None:
161        out.changed = True  # out is define later!
162
163    # GUI elements: mesh settings + visibility.
164    with tab_group.add_tab("View", viser.Icon.VIEWFINDER):
165        gui_rgb = server.gui.add_rgb("Color", initial_value=(90, 200, 255))
166        gui_wireframe = server.gui.add_checkbox("Wireframe", initial_value=False)
167        gui_show_controls = server.gui.add_checkbox("Handles", initial_value=True)
168
169        gui_rgb.on_update(set_changed)
170        gui_wireframe.on_update(set_changed)
171
172        @gui_show_controls.on_update
173        def _(_):
174            for control in transform_controls:
175                control.visible = gui_show_controls.value
176
177    # GUI elements: shape parameters.
178    with tab_group.add_tab("Shape", viser.Icon.BOX):
179        gui_reset_shape = server.gui.add_button("Reset Shape")
180        gui_random_shape = server.gui.add_button("Random Shape")
181
182        @gui_reset_shape.on_click
183        def _(_):
184            for beta in gui_betas:
185                beta.value = 0.0
186
187        @gui_random_shape.on_click
188        def _(_):
189            for beta in gui_betas:
190                beta.value = np.random.normal(loc=0.0, scale=1.0)
191
192        gui_betas = []
193        for i in range(num_betas):
194            beta = server.gui.add_slider(
195                f"beta{i}", min=-5.0, max=5.0, step=0.01, initial_value=0.0
196            )
197            gui_betas.append(beta)
198            beta.on_update(set_changed)
199
200    # GUI elements: joint angles.
201    with tab_group.add_tab("Joints", viser.Icon.ANGLE):
202        gui_reset_joints = server.gui.add_button("Reset Joints")
203        gui_random_joints = server.gui.add_button("Random Joints")
204
205        @gui_reset_joints.on_click
206        def _(_):
207            for joint in gui_joints:
208                joint.value = (0.0, 0.0, 0.0)
209
210        @gui_random_joints.on_click
211        def _(_):
212            rng = np.random.default_rng()
213            for joint in gui_joints:
214                joint.value = tf.SO3.sample_uniform(rng).log()
215
216        gui_joints: list[viser.GuiInputHandle[tuple[float, float, float]]] = []
217        for i in range(num_joints):
218            gui_joint = server.gui.add_vector3(
219                label=f"Joint {i}",
220                initial_value=(0.0, 0.0, 0.0),
221                step=0.05,
222            )
223            gui_joints.append(gui_joint)
224
225            def set_callback_in_closure(i: int) -> None:
226                @gui_joint.on_update
227                def _(_):
228                    transform_controls[i].wxyz = tf.SO3.exp(
229                        np.array(gui_joints[i].value)
230                    ).wxyz
231                    out.changed = True
232
233            set_callback_in_closure(i)
234
235    # Transform control gizmos on joints.
236    transform_controls: list[viser.TransformControlsHandle] = []
237    prefixed_joint_names = []  # Joint names, but prefixed with parents.
238    for i in range(num_joints):
239        prefixed_joint_name = f"joint_{i}"
240        if i > 0:
241            prefixed_joint_name = (
242                prefixed_joint_names[parent_idx[i]] + "/" + prefixed_joint_name
243            )
244        prefixed_joint_names.append(prefixed_joint_name)
245        controls = server.scene.add_transform_controls(
246            f"/smpl/{prefixed_joint_name}",
247            depth_test=False,
248            scale=0.2 * (0.75 ** prefixed_joint_name.count("/")),
249            disable_axes=True,
250            disable_sliders=True,
251            visible=gui_show_controls.value,
252        )
253        transform_controls.append(controls)
254
255        def set_callback_in_closure(i: int) -> None:
256            @controls.on_update
257            def _(_) -> None:
258                axisangle = tf.SO3(transform_controls[i].wxyz).log()
259                gui_joints[i].value = (axisangle[0], axisangle[1], axisangle[2])
260
261        set_callback_in_closure(i)
262
263    out = GuiElements(
264        gui_rgb,
265        gui_wireframe,
266        gui_betas,
267        gui_joints,
268        transform_controls=transform_controls,
269        changed=True,
270    )
271    return out
272
273
274if __name__ == "__main__":
275    tyro.cli(main, description=__doc__)