smpl_core/smpl_x/
smpl_x_hands.rs

1use super::smpl_x::NUM_HAND_JOINTS;
2use crate::common::pose_hands::{HandPair, HandType};
3use enum_map::EnumMap;
4use ndarray as nd;
5pub struct SmplXHands {
6    pub type2pose: EnumMap<HandType, HandPair>,
7}
8impl Default for SmplXHands {
9    #[allow(clippy::too_many_lines)]
10    fn default() -> Self {
11        #[allow(clippy::unreadable_literal)]
12        let left_hand_relaxed = nd::Array2::<f32>::from_shape_vec(
13            (NUM_HAND_JOINTS, 3),
14            vec![
15                -0.0423, 0.0847, -0.2358, 0.1241, -0.0303, -0.5961, -0.0841, -0.0879, -0.0305, -0.2895, -0.0021, -0.6499, 0.0655, 0.0457, -0.1250,
16                0.0112, -0.0282, -0.0638, -0.3319, -0.2805, -0.4219, -0.3363, -0.0655, -0.2898, -0.0872, -0.0354, -0.3104, -0.1407, -0.1648, -0.7088,
17                -0.1462, -0.0815, -0.1202, -0.0698, 0.0568, -0.1203, 0.2577, 0.1510, -0.0714, -0.0241, -0.0153, 0.0633, 0.2703, 0.1708, -0.2459,
18            ],
19        )
20        .unwrap();
21        #[allow(clippy::unreadable_literal)]
22        let left_hand_curled = nd::Array2::<f32>::from_shape_vec(
23            (NUM_HAND_JOINTS, 3),
24            vec![
25                0.0591, 0.0117, -0.4014, 0.1519, -0.0621, -0.8565, -0.1639, -0.1507, -0.1877, -0.3072, 0.0422, -0.5385, -0.0167, 0.0520, -0.7455,
26                0.0346, -0.1012, -0.4068, -0.7777, -0.0944, -0.5858, -0.0486, -0.0812, -0.4150, -0.2891, 0.0228, -0.3434, -0.3063, -0.1109, -0.6556,
27                -0.2111, -0.0969, -0.6347, -0.1052, -0.0272, -0.4207, 0.5913, 0.3559, -0.2171, -0.1058, -0.0210, 0.3505, 0.3081, 0.0842, -0.4556,
28            ],
29        )
30        .unwrap();
31        #[allow(clippy::unreadable_literal)]
32        #[allow(clippy::excessive_precision)]
33        let left_hand_fist = nd::Array2::<f32>::from_shape_vec(
34            (NUM_HAND_JOINTS, 3),
35            vec![
36                -0.17432889342308044,
37                0.2899666428565979,
38                -1.682339072227478,
39                0.7156379222869873,
40                -0.06946949660778046,
41                -1.6961337327957153,
42                -0.5035868883132935,
43                -0.06818924844264984,
44                -0.36969465017318726,
45                -0.4608190059661865,
46                0.11983983218669891,
47                -2.01084303855896,
48                -0.111131951212883,
49                0.24615702033042908,
50                -0.8789557814598083,
51                -0.12609277665615082,
52                0.18146048486232758,
53                -1.2574352025985718,
54                -1.0199159383773804,
55                -0.8440185189247131,
56                -1.488898754119873,
57                -0.8425631523132324,
58                -0.17709890007972717,
59                -0.49536100029945374,
60                -0.6223214864730835,
61                0.12810452282428741,
62                -0.7870318293571472,
63                -0.3238529860973358,
64                -0.5304823517799377,
65                -1.7103344202041626,
66                -0.644635796546936,
67                -0.325455904006958,
68                -1.0210907459259033,
69                -0.15834343433380127,
70                -0.04439852386713028,
71                -1.03395676612854,
72                0.9578915238380432,
73                0.24371644854545593,
74                -0.25406309962272644,
75                0.22801567614078522,
76                0.4293811023235321,
77                -0.06814373284578323,
78                0.5744239091873169,
79                0.638904869556427,
80                -0.679925262928009,
81            ],
82        )
83        .unwrap();
84        let right_hand_relaxed = Self::left2right_hand(&left_hand_relaxed);
85        let right_hand_curled = Self::left2right_hand(&left_hand_curled);
86        let right_hand_fist = Self::left2right_hand(&left_hand_fist);
87        let flat_pair = HandPair {
88            left: nd::Array2::<f32>::zeros((NUM_HAND_JOINTS, 3)),
89            right: nd::Array2::<f32>::zeros((NUM_HAND_JOINTS, 3)),
90        };
91        let relaxed_pair = HandPair {
92            left: left_hand_relaxed,
93            right: right_hand_relaxed,
94        };
95        let curled_pair = HandPair {
96            left: left_hand_curled,
97            right: right_hand_curled,
98        };
99        let fist_pair = HandPair {
100            left: left_hand_fist,
101            right: right_hand_fist,
102        };
103        let mut type2pose: EnumMap<HandType, HandPair> = EnumMap::default();
104        type2pose[HandType::Flat] = flat_pair;
105        type2pose[HandType::Relaxed] = relaxed_pair;
106        type2pose[HandType::Curled] = curled_pair;
107        type2pose[HandType::Fist] = fist_pair;
108        Self { type2pose }
109    }
110}
111impl SmplXHands {
112    pub fn left2right_hand(left_hand_pose: &nd::Array2<f32>) -> nd::Array2<f32> {
113        let mut right_hand_pose = left_hand_pose.clone();
114        right_hand_pose.column_mut(1).map_inplace(|x| *x = -*x);
115        right_hand_pose.column_mut(2).map_inplace(|x| *x = -*x);
116        right_hand_pose
117    }
118}
smpl_core/smpl_x/smpl_x_hands.rs

smpl_core/smpl_x/
smpl_x_hands.rs
