Upload taco_analysis/render_mesh_overlay.py with huggingface_hub

taco_analysis/render_mesh_overlay.py

@@ -318,7 +318,9 @@ def draw_hand_skeleton(img, joints_world, K, R, T, color):
 # ── Hand data loading ─────────────────────────────────────────────────
 
 def load_hand_skeletons(root, row, frame_idx, mano_root=None):
-    """Load hand skeleton joint positions via MANO forward kinematics.
+    """Load pre-computed 3D hand joint positions from hand_joints.npy.
+
+    Falls back to MANO forward kinematics if .npy not found.
 
     Returns dict: {'left': (21, 3), 'right': (21, 3)} or empty if missing.
     """
@@ -326,11 +328,23 @@ def load_hand_skeletons(root, row, frame_idx, mano_root=None):
     if not hand_dir or pd.isna(hand_dir):
         return {}
 
+    hand_path = root / hand_dir
+
+    # Try pre-computed joints first (Hand_Poses_3D/ then Hand_Poses/)
+    npy_path_3d = root / hand_dir.replace("Hand_Poses/", "Hand_Poses_3D/", 1) / "hand_joints.npy"
+    npy_path = npy_path_3d if npy_path_3d.exists() else hand_path / "hand_joints.npy"
+
+    if npy_path.exists():
+        joints = np.load(str(npy_path), mmap_mode="r")
+        fi = min(frame_idx, len(joints) - 1)
+        frame_joints = joints[fi].astype(np.float64)  # (2, 21, 3)
+        return {"left": frame_joints[0], "right": frame_joints[1]}
+
+    # Fallback: MANO forward kinematics
     if mano_root is None:
         mano_root = root.parent / "mano_v1_2" / "models"
 
     result = {}
-    hand_path = root / hand_dir
     frame_key = f"{frame_idx + 1:05d}"
 
     for side in ["left", "right"]:
@@ -350,7 +364,6 @@ def load_hand_skeletons(root, row, frame_idx, mano_root=None):
         hand_pose = np.array(frame_data["hand_pose"], dtype=np.float64).ravel()
         hand_trans = np.array(frame_data["hand_trans"], dtype=np.float64).ravel()
 
-        # Load shape parameters (betas) if available
         betas = None
         shape_file = hand_path / f"{side}_hand_shape.pkl"
         if shape_file.exists():
@@ -473,11 +486,11 @@ def build_grid(dataset: TACODataset, seq_idx: int, frame_idx: int,
 def main():
     parser = argparse.ArgumentParser(description="Render mesh + hand overlays on TACO views")
     parser.add_argument("--csv", type=Path,
-                        default=Path(__file__).resolve().parent.parent / "taco_info.csv")
+                        default=Path(__file__).resolve().parent.parent.parent / "taco_info.csv")
     parser.add_argument("--root", type=Path,
-                        default=Path(__file__).resolve().parent.parent)
+                        default=Path(__file__).resolve().parent.parent.parent)
     parser.add_argument("--mano-root", type=Path,
-                        default=Path(__file__).resolve().parent.parent / "mano_v1_2" / "models")
+                        default=Path(__file__).resolve().parent.parent.parent / "mano_v1_2" / "models")
     parser.add_argument("--save-dir", type=Path,
                         default=Path(__file__).resolve().parent / "plots" / "mesh_overlay")
     parser.add_argument("--n-sequences", type=int, default=5)