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import torch |
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import numpy as np |
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import pickle |
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from typing import Optional |
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import smplx |
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from smplx.lbs import vertices2joints |
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from smplx.utils import MANOOutput, to_tensor |
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from smplx.vertex_ids import vertex_ids |
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class MANO(smplx.MANOLayer): |
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def __init__(self, *args, joint_regressor_extra: Optional[str] = None, **kwargs): |
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""" |
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Extension of the official MANO implementation to support more joints. |
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Args: |
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Same as MANOLayer. |
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joint_regressor_extra (str): Path to extra joint regressor. |
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""" |
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super(MANO, self).__init__(*args, **kwargs) |
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mano_to_openpose = [0, 13, 14, 15, 16, 1, 2, 3, 17, 4, 5, 6, 18, 10, 11, 12, 19, 7, 8, 9, 20] |
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if joint_regressor_extra is not None: |
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self.register_buffer('joint_regressor_extra', torch.tensor(pickle.load(open(joint_regressor_extra, 'rb'), encoding='latin1'), dtype=torch.float32)) |
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self.register_buffer('extra_joints_idxs', to_tensor(list(vertex_ids['mano'].values()), dtype=torch.long)) |
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self.register_buffer('joint_map', torch.tensor(mano_to_openpose, dtype=torch.long)) |
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def forward(self, *args, **kwargs) -> MANOOutput: |
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""" |
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Run forward pass. Same as MANO and also append an extra set of joints if joint_regressor_extra is specified. |
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""" |
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mano_output = super(MANO, self).forward(*args, **kwargs) |
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extra_joints = torch.index_select(mano_output.vertices, 1, self.extra_joints_idxs) |
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joints = torch.cat([mano_output.joints, extra_joints], dim=1) |
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joints = joints[:, self.joint_map, :] |
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if hasattr(self, 'joint_regressor_extra'): |
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extra_joints = vertices2joints(self.joint_regressor_extra, mano_output.vertices) |
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joints = torch.cat([joints, extra_joints], dim=1) |
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mano_output.joints = joints |
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return mano_output |
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def query(self, hmr_output): |
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batch_size = hmr_output['pred_rotmat'].shape[0] |
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pred_rotmat = hmr_output['pred_rotmat'].reshape(batch_size, -1, 3, 3) |
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pred_shape = hmr_output['pred_shape'].reshape(batch_size, 10) |
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mano_output = self(global_orient=pred_rotmat[:, [0]], |
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hand_pose = pred_rotmat[:, 1:], |
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betas = pred_shape, |
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pose2rot=False) |
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return mano_output |
