File size: 1,092 Bytes
f7ca549 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | import chumpy as ch
import numpy as np
kpId2vertices = {
4: [744], #ThumbT
8: [320], #IndexT
12: [443], #MiddleT
16: [555], #RingT
20: [672] #PinkT
}
def get_keypoints_from_mesh_ch(mesh_vertices, keypoints_regressed):
""" Assembles the full 21 keypoint set from the 16 Mano Keypoints and 5 mesh vertices for the fingers. """
keypoints = [0.0 for _ in range(21)] # init empty list
# fill keypoints which are regressed
mapping = {0: 0, #Wrist
1: 5, 2: 6, 3: 7, #Index
4: 9, 5: 10, 6: 11, #Middle
7: 17, 8: 18, 9: 19, # Pinky
10: 13, 11: 14, 12: 15, # Ring
13: 1, 14: 2, 15: 3} # Thumb
for manoId, myId in mapping.items():
keypoints[myId] = keypoints_regressed[manoId, :]
# get other keypoints from mesh
for myId, meshId in kpId2vertices.items():
keypoints[myId] = ch.mean(mesh_vertices[meshId, :], 0)
keypoints = ch.vstack(keypoints)
return keypoints
|