def calc_dist_contact()

in contactopt/hand_object.py [0:0]

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

    def calc_dist_contact(self, hand=True, obj=False, special_contact=False):
        """Set hand and object contact maps based on DiffContact method.
        This is sometimes used when ground truth contact is not known"""
        object_mesh = Meshes(verts=[torch.Tensor(self.obj_verts)], faces=[torch.Tensor(self.obj_faces)])
        hand_mesh = Meshes(verts=torch.Tensor(self.hand_verts).unsqueeze(0), faces=torch.Tensor(self.closed_faces).unsqueeze(0))
        hand_verts = torch.Tensor(self.hand_verts).unsqueeze(0)

        if not special_contact:
            obj_contact, hand_contact = calculate_contact_capsule(hand_verts, hand_mesh.verts_normals_padded(), object_mesh.verts_padded(), object_mesh.verts_normals_padded())
        else:
            # hand_verts_subdivided = util.subdivide_verts(hand_mesh.edges_packed().unsqueeze(0), hand_verts)
            # hand_normals_subdivided = util.subdivide_verts(hand_mesh.edges_packed().unsqueeze(0), hand_mesh.verts_normals_padded())
            hand_verts_subdivided = hand_verts
            hand_normals_subdivided = hand_mesh.verts_normals_padded()

            obj_contact, hand_contact = calculate_contact_capsule(hand_verts_subdivided, hand_normals_subdivided, object_mesh.verts_padded(),
                                                              object_mesh.verts_normals_padded(), caps_rad=0.003)   # needed for paper vis?

        if hand:
            self.hand_contact = hand_contact.squeeze(0).detach().cpu().numpy()
        if obj:
            self.obj_contact = obj_contact.squeeze(0).detach().cpu().numpy()