tool/MANO_render/render.py [60:74]:
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        try:
            mano_param = mano_params[capture_idx][frame_idx][hand_type]
            if mano_param is None:
                continue
        except KeyError:
            continue
        
        # get MANO 3D mesh coordinates (world coordinate)
        mano_pose = torch.FloatTensor(mano_param['pose']).view(-1,3)
        root_pose = mano_pose[0].view(1,3)
        hand_pose = mano_pose[1:,:].view(1,-1)
        shape = torch.FloatTensor(mano_param['shape']).view(1,-1)
        trans = torch.FloatTensor(mano_param['trans']).view(1,3)
        output = mano_layer[hand_type](global_orient=root_pose, hand_pose=hand_pose, betas=shape, transl=trans)
        mesh = output.vertices[0].numpy() * 1000 # meter to milimeter
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tool/MANO_world_to_camera/convert.py [75:91]:
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        try:
            mano_param = mano_params[capture_idx][frame_idx][hand_type]
            if mano_param is None:
                continue
        except KeyError:
            continue

        ####################
        # First world to camera coordinate conversion method: apply camera extrinsics to world coordinates
        # get MANO 3D mesh coordinates (world coordinate)
        mano_pose = torch.FloatTensor(mano_param['pose']).view(-1,3)
        root_pose = mano_pose[0].view(1,3)
        hand_pose = mano_pose[1:,:].view(1,-1)
        shape = torch.FloatTensor(mano_param['shape']).view(1,-1)
        trans = torch.FloatTensor(mano_param['trans']).view(1,3)
        output = mano_layer[hand_type](global_orient=root_pose, hand_pose=hand_pose, betas=shape, transl=trans)
        mesh = output.vertices[0].numpy() * 1000 # meter to milimeter (world coordinate)
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