def forwardKinematics(fullpose, trans, beta):
'''
MANO parameters --> 3D pts, mesh
:param fullpose:
:param trans:
:param beta:
:return: 3D pts of size (21,3)
'''
assert fullpose.shape == (48, )
assert trans.shape == (3, )
assert beta.shape == (10, )
m = load_model(MANO_MODEL_PATH, ncomps=6, flat_hand_mean=True)
m.fullpose[:] = fullpose
m.trans[:] = trans
m.betas[:] = beta
return m.J_transformed.r, m
# total number of synthetic image
SYNTHETIC_NUM = 10
# total number of bg images
model_pth = '/home/workspace/yy_ws/code/manopth/manopth/mano/models/MANO_RIGHT.pkl'
bg_pth = '/home/workspace/yy_ws/code/3dhand/data/backgrounds/'
output_path = '/home/workspace2/dataset/3dhand/syn/raw/'
if os.path.exists(output_path):
shutil.rmtree(output_path)
os.makedirs(output_path)
ls = sorted(get_img_path_list(bg_pth))
bg_number = len(ls)
print('the total number of background images : %d' % (bg_number))
m = load_model(model_pth, ncomps=6, flat_hand_mean=False)
# load all colors
colors = []
for i in xrange(0, 27):
f = open('/home/workspace/yy_ws/code/3dhand/data/meshes_colored/%d.obj' %
i)
cont = f.readlines()
f.close()
col = []
for x in cont:
a = x[:len(x) - 1].split(" ")
if (a[0] == 'v'):
col.append(np.array([float(a[4]), float(a[5]), float(a[6])]))
col = np.expand_dims(np.vstack(col), 0)
for theta in thetas.values():
thetaID = theta['id']
minThetaVals[thetaID] = theta['min']
maxThetaVals[thetaID] = theta['max']
if theta['optimize']:
validThetaIDs.append(thetaID)
else:
invalidThetaIDs.append(thetaID)
validThetaIDs = np.array(validThetaIDs, dtype=np.int32)
invalidThetaIDs = np.array(invalidThetaIDs, dtype=np.int32)
return validThetaIDs, invalidThetaIDs, minThetaVals, maxThetaVals
m = load_model(MANO_MODEL_PATH, ncomps=6, flat_hand_mean=True)
def forwardKinematics(fullpose, trans, beta):
'''
MANO parameters --> 3D pts, mesh
:param fullpose:
:param trans:
:param beta:
:return: 3D pts of size (21,3)
'''
assert fullpose.shape == (48, )
assert trans.shape == (3, )
assert beta.shape == (10, )
