def transfer_rotation(smplx_model,
body_pose,
part_rot,
part_idx,
transfer_type="g2l",
result_format="rotmat"):
assert transfer_type in ["g2l", "l2g"]
assert result_format in ['rotmat', 'aa']
assert type(body_pose) == type(part_rot)
return_np = False
if isinstance(body_pose, np.ndarray):
body_pose = torch.from_numpy(body_pose)
return_np = True
if isinstance(part_rot, np.ndarray):
part_rot = torch.from_numpy(part_rot)
return_np = True
if body_pose.dim() == 2:
# aa
assert body_pose.size(0) == 1 and body_pose.size(1) in [66, 72]
body_pose_rotmat = gu.angle_axis_to_rotation_matrix(
body_pose.view(22, 3)).clone()
else:
# rotmat
assert body_pose.dim() == 4
assert body_pose.size(0) == 1 and body_pose.size(1) in [22, 24]
assert body_pose.size(2) == 3 and body_pose.size(3) == 3
body_pose_rotmat = body_pose[0].clone()
if part_rot.dim() == 2:
# aa
assert part_rot.size(0) == 1 and part_rot.size(1) == 3
part_rotmat = gu.angle_axis_to_rotation_matrix(part_rot)[
0, :3, :3].clone()
else:
# rotmat
assert part_rot.dim() == 3
assert part_rot.size(0) == 1 and part_rot.size(
1) == 3 and part_rot.size(2) == 3
part_rotmat = part_rot[0, :3, :3].clone()
kinematic_map = get_kinematic_map(smplx_model, part_idx)
part_rot_trans = __transfer_rot(body_pose_rotmat, part_rotmat,
kinematic_map, transfer_type)
if result_format == 'rotmat':
return_value = part_rot_trans
else:
part_rot_aa = gu.rotation_matrix_to_angle_axis(part_rot_trans)
return_value = part_rot_aa
if return_np:
return_value = return_value.numpy()
return return_value
def __transfer_hand_rot(body_pose_mat, hand_rot, kinematic_map, transfer_type):
# get global rotmat
parent_id = 0
rotmat= body_pose_mat[0] # global orientation of body
while parent_id in kinematic_map:
child_id = kinematic_map[parent_id]
local_rotmat = body_pose_mat[child_id]
rotmat = torch.matmul(rotmat, local_rotmat)
parent_id = child_id
if hand_rot.dim() == 2:
# hand rot in angle-axis format
assert hand_rot.size(0) == 1 and hand_rot.size(1) == 3
else:
# hand rot in rotation matrix format
assert hand_rot.dim() == 3
assert hand_rot.size(0) == 1 and hand_rot.size(1) == 3 and hand_rot.size(2) == 3
if hand_rot.dim() == 2:
# hand rot in angle-axis format
hand_rotmat = gu.angle_axis_to_rotation_matrix(hand_rot)[0,:3,:3]
else:
# hand rot in rotation matrix format
hand_rotmat = hand_rot[0,:3,:3]
if transfer_type == 'g2l':
hand_rot_new = torch.matmul(rotmat.T, hand_rotmat)
else:
assert transfer_type == 'l2g'
hand_rot_new = torch.matmul(rotmat, hand_rotmat)
return hand_rot_new
def get_local_hand_rot(body_pose, hand_rot_global, kinematic_map):
hand_rotmat_global = gu.angle_axis_to_rotation_matrix(
hand_rot_global.view(1, 3))
body_pose = body_pose.reshape(-1, 3)
# the shape is (1,4,4), torch matmul support 3 dimension
rotmat = gu.angle_axis_to_rotation_matrix(body_pose[0].view(1, 3))
parent_id = 0
while parent_id in kinematic_map:
child_id = kinematic_map[parent_id]
local_rotmat = gu.angle_axis_to_rotation_matrix(
body_pose[child_id].view(1, 3))
rotmat = torch.matmul(rotmat, local_rotmat)
parent_id = child_id
hand_rotmat_local = torch.matmul(rotmat.inverse(), hand_rotmat_global)
# print("hand_rotmat_local", hand_rotmat_local.size())
hand_rot_local = gu.rotation_matrix_to_angle_axis(
hand_rotmat_local[:, :3, :])
return hand_rot_local
def get_global_hand_rot_mat(body_pose_mat, hand_rot_local, kinematic_map):
hand_rotmat_local = gu.angle_axis_to_rotation_matrix(
hand_rot_local.view(1, 3))[0, :3, :3]
rotmat = body_pose_mat[0] #global orientation of body
parent_id = 0
while parent_id in kinematic_map:
child_id = kinematic_map[parent_id]
local_rotmat = body_pose_mat[child_id]
rotmat = torch.matmul(rotmat, local_rotmat)
parent_id = child_id
hand_rot_local_mat = torch.matmul(rotmat.T, hand_rotmat_local)
return hand_rot_local_mat
