Merge pull request #65 from christsa/main

MANO support and z-up feature for Meshes

aitviewer/models/smpl.py

@@ -236,8 +236,65 @@ def fk(
 
         return output.vertices, output.joints
 
+    def fk_mano(
+        self,
+        hand_pose,
+        betas,
+        global_orient=None,
+        trans=None,
+        normalize_root=False,
+        mano=True,
+    ):
+        """
+        Convert mano pose data (joint angles and shape parameters) to positional data (joint and mesh vertex positions).
+        :param hand_pose: A tensor of shape (N, N_JOINTS*3), i.e. joint angles in angle-axis format or PCA format (N, N_PCA_COMPONENTS). This contains all
+          body joints which are not the root.
+        :param betas: A tensor of shape (N, N_BETAS) containing the betas/shape parameters.
+        :param global_orient: Orientation of the root or None. If specified expected shape is (N, 3).
+        :param trans: translation that is applied to vertices and joints or None, this is the 'transl' parameter
+          of the MANO Model. If specified expected shape is (N, 3).
+        :param normalize_root: If set, it will normalize the root such that its orientation is the identity in the
+          first frame and its position starts at the origin.
+        :return: The resulting vertices and joints.
+        """
+
+        batch_size = hand_pose.shape[0]
+        device = hand_pose.device
+
+        if global_orient is None:
+            global_orient = torch.zeros([batch_size, 3]).to(dtype=hand_pose.dtype, device=device)
+        if trans is None:
+            trans = torch.zeros([batch_size, 3]).to(dtype=hand_pose.dtype, device=device)
+
+        # Batch shapes if they don't match batch dimension.
+        if len(betas.shape) == 1 or betas.shape[0] == 1:
+            betas = betas.repeat(hand_pose.shape[0], 1)
+        betas = betas[:, : self.num_betas]
+
+        if normalize_root:
+            # Make everything relative to the first root orientation.
+            root_ori = aa2rot(global_orient)
+            first_root_ori = torch.inverse(root_ori[0:1])
+            root_ori = torch.matmul(first_root_ori, root_ori)
+            global_orient = rot2aa(root_ori)
+            trans = torch.matmul(first_root_ori.unsqueeze(0), trans.unsqueeze(-1)).squeeze()
+            trans = trans - trans[0:1]
+
+        output = self.bm(
+            hand_pose=hand_pose,
+            betas=betas,
+            global_orient=global_orient,
+            transl=trans,
+        )
+
+        return output.vertices, output.joints
+
     def forward(self, *args, **kwargs):
         """
         Forward pass using forward kinematics
         """
-        return self.fk(*args, **kwargs)
+
+        if "mano" in kwargs.keys():
+            return self.fk_mano(*args, **kwargs)
+        else:
+            return self.fk(*args, **kwargs)

aitviewer/renderables/meshes.py

@@ -51,6 +51,7 @@ def __init__(
         draw_edges=False,
         draw_outline=False,
         instance_transforms=None,
+        z_up=False,
         icon="\u008d",
         **kwargs,
     ):
@@ -147,6 +148,9 @@ def _maybe_unsqueeze(x):
         self.clip_control = np.array((0, 0, 0), np.int32)
         self.clip_value = np.array((0, 0, 0), np.float32)
 
+        if z_up:
+            self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
+
     @classmethod
     def instanced(cls, *args, positions=None, rotations=None, scales=None, **kwargs):
         """

aitviewer/renderables/smpl.py

@@ -157,20 +157,28 @@ def __init__(
 
         # First convert the relative joint angles to global joint angles in rotation matrix form.
         if self.smpl_layer.model_type != "flame":
-            global_oris = local_to_global(
-                torch.cat([self.poses_root, self.poses_body], dim=-1),
-                self.skeleton[:, 0],
-                output_format="rotmat",
-            )
+            if self.smpl_layer.model_type != "mano":
+                global_oris = local_to_global(
+                    torch.cat([self.poses_root, self.poses_body, self.poses_left_hand, self.poses_right_hand], dim=-1),
+                    self.skeleton[:, 0],
+                    output_format="rotmat",
+                )
+            else:
+                global_oris = local_to_global(
+                    torch.cat([self.poses_root, self.poses_body], dim=-1),
+                    self.skeleton[:, 0],
+                    output_format="rotmat",
+                )
             global_oris = c2c(global_oris.reshape((self.n_frames, -1, 3, 3)))
         else:
             global_oris = np.tile(np.eye(3), self.joints.shape[:-1])[np.newaxis]
 
         if self._z_up and not C.z_up:
             self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
 
-        self.rbs = RigidBodies(self.joints, global_oris, length=0.1, gui_affine=False, name="Joint Angles")
-        self._add_node(self.rbs, enabled=self._show_joint_angles)
+        if self.smpl_layer.model_type != "mano":
+            self.rbs = RigidBodies(self.joints, global_oris, length=0.1, gui_affine=False, name="Joint Angles")
+            self._add_node(self.rbs, enabled=self._show_joint_angles)
 
         self.mesh_seq = Meshes(
             self.vertices,
@@ -397,20 +405,33 @@ def fk(self, current_frame_only=False):
             trans = self.trans
             betas = self.betas
 
-        verts, joints = self.smpl_layer(
-            poses_root=poses_root,
-            poses_body=poses_body,
-            poses_left_hand=poses_left_hand,
-            poses_right_hand=poses_right_hand,
-            betas=betas,
-            trans=trans,
-        )
+        if self.smpl_layer.model_type == "mano":
+            verts, joints = self.smpl_layer(
+                hand_pose=poses_body,
+                betas=betas,
+                global_orient=poses_root,
+                trans=trans,
+                mano=True,
+            )
+        else:
+            verts, joints = self.smpl_layer(
+                poses_root=poses_root,
+                poses_body=poses_body,
+                poses_left_hand=poses_left_hand,
+                poses_right_hand=poses_right_hand,
+                betas=betas,
+                trans=trans,
+            )
 
         # Apply post_fk_func if specified.
         if self.post_fk_func:
             verts, joints = self.post_fk_func(self, verts, joints, current_frame_only)
 
-        skeleton = self.smpl_layer.skeletons()["body"].T
+        skeleton = (
+            self.smpl_layer.skeletons()["body"].T
+            if not self.smpl_layer.model_type == "mano"
+            else self.smpl_layer.skeletons()["all"].T
+        )
         faces = self.smpl_layer.bm.faces.astype(np.int64)
         joints = joints[:, : skeleton.shape[0]]