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| import sys | |
| sys.path.append('.') | |
| import numpy as np | |
| import torch | |
| from manopth.manopth.manolayer import ManoLayer | |
| import open3d as o3d | |
| SEAL_FACES_R = [ | |
| [120, 108, 778], | |
| [108, 79, 778], | |
| [79, 78, 778], | |
| [78, 121, 778], | |
| [121, 214, 778], | |
| [214, 215, 778], | |
| [215, 279, 778], | |
| [279, 239, 778], | |
| [239, 234, 778], | |
| [234, 92, 778], | |
| [92, 38, 778], | |
| [38, 122, 778], | |
| [122, 118, 778], | |
| [118, 117, 778], | |
| [117, 119, 778], | |
| [119, 120, 778], | |
| ] | |
| # vertex ids around the ring of the wrist | |
| CIRCLE_V_ID = np.array( | |
| [108, 79, 78, 121, 214, 215, 279, 239, 234, 92, 38, 122, 118, 117, 119, 120], | |
| dtype=np.int64, | |
| ) | |
| def seal_mano_mesh(v3d, faces, is_rhand): | |
| # v3d: B, 778, 3 | |
| # faces: 1538, 3 | |
| # output: v3d(B, 779, 3); faces (1554, 3) | |
| seal_faces = torch.LongTensor(np.array(SEAL_FACES_R)).to(faces.device) | |
| if not is_rhand: | |
| # left hand | |
| seal_faces = seal_faces[:, np.array([1, 0, 2])] # invert face normal | |
| centers = v3d[:, CIRCLE_V_ID].mean(dim=1)[:, None, :] | |
| sealed_vertices = torch.cat((v3d, centers), dim=1) | |
| faces = torch.cat((faces, seal_faces), dim=0) | |
| return sealed_vertices, faces | |
| if __name__ == "__main__": | |
| use_pca = False | |
| ncomps = 45 | |
| left_hand_mano_layer = ManoLayer(mano_root='./manopth/mano/models', use_pca=use_pca, ncomps=ncomps, side='left', center_idx = 0) | |
| right_hand_mano_layer = ManoLayer(mano_root='./manopth/mano/models', use_pca=use_pca, ncomps=ncomps, side='right', center_idx = 0) | |
| right_hand_verts, _, _ = right_hand_mano_layer(torch.zeros(1, 48)) | |
| right_hand_faces = right_hand_mano_layer.th_faces.detach() | |
| left_hand_verts, _, _ = left_hand_mano_layer(torch.zeros(1, 48)) | |
| left_hand_faces = left_hand_mano_layer.th_faces.detach() | |
| right_hand_sealed_vertices, right_hand_faces = seal_mano_mesh(right_hand_verts / 1000.0, right_hand_faces, True) | |
| left_hand_sealed_vertices, left_hand_faces = seal_mano_mesh(left_hand_verts / 1000.0, left_hand_faces, False) | |
| # right_hand_mesh = trimesh.Trimesh(right_hand_sealed_vertices[0], right_hand_faces) | |
| # left_hand_mesh = trimesh.Trimesh(left_hand_sealed_vertices[0], left_hand_faces) | |
| # right_hand_vox = right_hand_mesh.voxelized(0.001) | |
| # left_hand_vox = left_hand_mesh.voxelized(0.001) | |
| right_hand_mesh = o3d.geometry.TriangleMesh() | |
| right_hand_pcd = o3d.geometry.PointCloud() | |
| right_hand_pcd.points = o3d.utility.Vector3dVector(right_hand_sealed_vertices.numpy()[0]) | |
| right_hand_mesh.vertices = right_hand_pcd.points | |
| right_hand_mesh.triangles = o3d.utility.Vector3iVector(right_hand_faces) | |
| left_hand_mesh = o3d.geometry.TriangleMesh() | |
| left_hand_pcd = o3d.geometry.PointCloud() | |
| left_hand_pcd.points = o3d.utility.Vector3dVector(left_hand_sealed_vertices.numpy()[0]) | |
| left_hand_mesh.vertices = left_hand_pcd.points | |
| left_hand_mesh.triangles = o3d.utility.Vector3iVector(left_hand_faces) | |
| voxel_size = 0.001 | |
| right_hand_vox = o3d.geometry.VoxelGrid.create_from_triangle_mesh(right_hand_mesh, voxel_size) | |
| right_voxel_list = right_hand_vox.get_voxels() | |
| right_grid_indexs = np.stack([voxel.grid_index for voxel in right_voxel_list]) | |
| left_hand_vox = o3d.geometry.VoxelGrid.create_from_triangle_mesh(left_hand_mesh, voxel_size) | |
| left_voxel_list = left_hand_vox.get_voxels() | |
| left_grid_indexs = np.stack([voxel.grid_index for voxel in left_voxel_list]) | |
| right_set = {tuple(row) for row in right_grid_indexs} | |
| left_set = {tuple(row) for row in left_grid_indexs} | |
| intersection_set = right_set.intersection(left_set) | |
| intersection_set = np.array(list(intersection_set)) | |
| num_right_hand_vox = right_grid_indexs.shape[0] | |
| num_left_hand_vox = left_grid_indexs.shape[0] | |
| num_intersection_vox = intersection_set.shape[0] | |
| print(num_right_hand_vox, num_left_hand_vox, num_intersection_vox) | |
| print() | |
| o3d.io.write_triangle_mesh("/home/hlyang/HOI/HOI/tmp/right_T_pose.obj", right_hand_mesh) | |
| o3d.io.write_triangle_mesh("/home/hlyang/HOI/HOI/tmp/left_T_pose.obj", left_hand_mesh) | |