def load_from_image()

in contactopt/hand_object.py [0:0]

• 17 lines of code
• 5 McCabe index (conditional complexity)

    def load_from_image(self, hand_beta, hand_pose, obj_faces, obj_verts, hand_verts=None):
        """Load from image-based results pkl file. Mano root translation is not known, but hand vertices are"""

        self.hand_beta = hand_beta
        self.hand_pose = hand_pose
        self.hand_mTc = np.eye(4)
        self.obj_verts = obj_verts
        self.obj_faces = obj_faces

        self.run_mano()   # Run mano model forwards
        if hand_verts is not None:
            displ = hand_verts[0, :] - self.hand_verts[0, :]    # Find translation by comparing vertices of aligned hands
            self.hand_mTc[:3, 3] = displ
            self.run_mano()  # Rerun mano model to account for translation

            mean_err = np.linalg.norm(self.hand_verts - hand_verts, 2, 1)
            if mean_err.mean() > 1e-6:  # Check if there's much error in reconstruction
                print('Mean verts error', mean_err.mean())
                print('Mano reconstruction failure')

        # self.calc_dist_contact(hand=True, obj=True)
        self.hand_contact = np.zeros((self.hand_verts.shape[0], 1)) # Set to zero since we don't know the ground truth
        self.obj_contact = np.zeros((self.obj_verts.shape[0], 1))