C++ implementation of: Embedded Deformation for Shape Manipulation

What is in this repository?

This repository contains the C++ implementation of embedded deformation (ED) [1]. The formulation of the different cost functions used in ED are defined with the associated jacobians. In contrasts to [1], the optimization uses Levenberg-Marquardt from CERES instead of Gauss-Newton.

Several other cost functions are also defined, such as the minimization of model to model similarly as the one from Elastic Fusion (in the journal version).

Dependencies

Standard dev tools

On Ubuntu, you need to install the following packages:

sudo apt-get update
sudo apt-get install git build-essential cmake libx11-dev mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev libxrandr-dev libxi-dev libxmu-dev libblas-dev libxinerama-dev libxcursor-dev libeigen3-dev libyaml-cpp-dev

Additional dependencies

Additionally, CERES is used as an optimization framework. It can be installed with the package manager:

sudo apt-get install libceres-dev

Installation instruction

To build, type into the console:

git clone https://github.com/rFalque/embedded_deformation.git
cd embedded_deformation
mkdir build
cd build
cmake ..
make -j3

Run the code

ℹ️ Info: The input files and the skeleton trimming method can be changed through the config.yaml file.

To run the sample, then just type:

./embedded_deformation_sample

Illustration

todo

• make the code single thread
• clean up the mesh visualization

Link to the original paper:

[1] Embedded Deformation for Shape Manipulation