| 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 | |