def load_from_contactpose()

in contactopt/hand_object.py [0:0]

• 20 lines of code
• 6 McCabe index (conditional complexity)

    def load_from_contactpose(self, cp_obj):
        """Load HO object from ContactPose dataset"""
        if not osp.isfile(cp_obj.contactmap_filename):
            raise FileNotFoundError('Could not find {}'.format(cp_obj.contactmap_filename))

        obj_mesh = o3dio.read_triangle_mesh(cp_obj.contactmap_filename)     # Includes object mesh and contact map embedded as vertex colors

        vertex_colors = np.array(obj_mesh.vertex_colors, dtype=np.float32)
        self.obj_contact = np.expand_dims(util.fit_sigmoid(vertex_colors[:, 0]), axis=1)    # Normalize with sigmoid, shape (V, 1)
        self.obj_verts = np.array(obj_mesh.vertices, dtype=np.float32)     # Keep as floats since torch uses floats
        self.obj_faces = np.array(obj_mesh.triangles)

        for idx, mp in enumerate(cp_obj.mano_params):
            if mp is None:
                continue

            self.is_left = idx == 0  # Left then right
            self.hand_beta = np.array(mp['betas'])  # 10 shape PCA parameters
            self.hand_pose = np.array(mp['pose'])  # 18 dim length, first 3 ax-angle, 15 PCA pose

            mTc = mp['hTm']
            # mTc = np.linalg.inv(mTc)  # World to object
            self.hand_mTc = mTc

        if self.is_left:
            raise ValueError('Pipeline currently cant handle left hands')

        self.run_mano()
        self.calc_dist_contact(hand=True, obj=False)