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from matplotlib import pyplot as plt |
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from mpl_toolkits.mplot3d import Axes3D |
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from mpl_toolkits.mplot3d.art3d import Poly3DCollection |
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import numpy as np |
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import torch |
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from custom_manopth.manolayer import ManoLayer |
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def generate_random_hand(batch_size=1, ncomps=6, mano_root='mano/models'): |
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nfull_comps = ncomps + 3 |
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random_pcapose = torch.rand(batch_size, nfull_comps) |
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mano_layer = ManoLayer(mano_root=mano_root) |
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verts, joints = mano_layer(random_pcapose) |
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return {'verts': verts, 'joints': joints, 'faces': mano_layer.th_faces} |
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def display_hand(hand_info, mano_faces=None, ax=None, alpha=0.2, batch_idx=0, show=True): |
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""" |
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Displays hand batch_idx in batch of hand_info, hand_info as returned by |
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generate_random_hand |
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""" |
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if ax is None: |
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fig = plt.figure() |
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ax = fig.add_subplot(111, projection='3d') |
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verts, joints = hand_info['verts'][batch_idx], hand_info['joints'][ |
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batch_idx] |
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if mano_faces is None: |
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ax.scatter(verts[:, 0], verts[:, 1], verts[:, 2], alpha=0.1) |
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else: |
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mesh = Poly3DCollection(verts[mano_faces], alpha=alpha) |
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face_color = (141 / 255, 184 / 255, 226 / 255) |
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edge_color = (50 / 255, 50 / 255, 50 / 255) |
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mesh.set_edgecolor(edge_color) |
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mesh.set_facecolor(face_color) |
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ax.add_collection3d(mesh) |
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ax.scatter(joints[:, 0], joints[:, 1], joints[:, 2], color='r') |
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cam_equal_aspect_3d(ax, verts.numpy()) |
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if show: |
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plt.show() |
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def cam_equal_aspect_3d(ax, verts, flip_x=False): |
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""" |
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Centers view on cuboid containing hand and flips y and z axis |
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and fixes azimuth |
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""" |
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extents = np.stack([verts.min(0), verts.max(0)], axis=1) |
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sz = extents[:, 1] - extents[:, 0] |
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centers = np.mean(extents, axis=1) |
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maxsize = max(abs(sz)) |
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r = maxsize / 2 |
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if flip_x: |
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ax.set_xlim(centers[0] + r, centers[0] - r) |
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else: |
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ax.set_xlim(centers[0] - r, centers[0] + r) |
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ax.set_ylim(centers[1] + r, centers[1] - r) |
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ax.set_zlim(centers[2] + r, centers[2] - r) |
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