| from matplotlib import pyplot as plt |
| from mpl_toolkits.mplot3d import Axes3D |
| from mpl_toolkits.mplot3d.art3d import Poly3DCollection |
| import numpy as np |
| import torch |
|
|
| from custom_manopth.manolayer import ManoLayer |
|
|
|
|
| def generate_random_hand(batch_size=1, ncomps=6, mano_root='mano/models'): |
| nfull_comps = ncomps + 3 |
| random_pcapose = torch.rand(batch_size, nfull_comps) |
| mano_layer = ManoLayer(mano_root=mano_root) |
| verts, joints = mano_layer(random_pcapose) |
| return {'verts': verts, 'joints': joints, 'faces': mano_layer.th_faces} |
|
|
|
|
| def display_hand(hand_info, mano_faces=None, ax=None, alpha=0.2, batch_idx=0, show=True): |
| """ |
| Displays hand batch_idx in batch of hand_info, hand_info as returned by |
| generate_random_hand |
| """ |
| if ax is None: |
| fig = plt.figure() |
| ax = fig.add_subplot(111, projection='3d') |
| verts, joints = hand_info['verts'][batch_idx], hand_info['joints'][ |
| batch_idx] |
| if mano_faces is None: |
| ax.scatter(verts[:, 0], verts[:, 1], verts[:, 2], alpha=0.1) |
| else: |
| mesh = Poly3DCollection(verts[mano_faces], alpha=alpha) |
| face_color = (141 / 255, 184 / 255, 226 / 255) |
| edge_color = (50 / 255, 50 / 255, 50 / 255) |
| mesh.set_edgecolor(edge_color) |
| mesh.set_facecolor(face_color) |
| ax.add_collection3d(mesh) |
| ax.scatter(joints[:, 0], joints[:, 1], joints[:, 2], color='r') |
| cam_equal_aspect_3d(ax, verts.numpy()) |
| if show: |
| plt.show() |
|
|
|
|
| def cam_equal_aspect_3d(ax, verts, flip_x=False): |
| """ |
| Centers view on cuboid containing hand and flips y and z axis |
| and fixes azimuth |
| """ |
| extents = np.stack([verts.min(0), verts.max(0)], axis=1) |
| sz = extents[:, 1] - extents[:, 0] |
| centers = np.mean(extents, axis=1) |
| maxsize = max(abs(sz)) |
| r = maxsize / 2 |
| if flip_x: |
| ax.set_xlim(centers[0] + r, centers[0] - r) |
| else: |
| ax.set_xlim(centers[0] - r, centers[0] + r) |
| |
| ax.set_ylim(centers[1] + r, centers[1] - r) |
| ax.set_zlim(centers[2] + r, centers[2] - r) |
|
|
