data/InterHand2.6M/dataset.py [162:174]:
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            focal = cam_param['focal']
            princpt = cam_param['princpt']
            gt_joint_coord = joint['cam_coord']
            joint_valid = joint['valid']
            
            # restore xy coordinates to original image space
            pred_joint_coord_img = preds_joint_coord[n].copy()
            pred_joint_coord_img[:,0] = pred_joint_coord_img[:,0]/cfg.output_hm_shape[2]*cfg.input_img_shape[1]
            pred_joint_coord_img[:,1] = pred_joint_coord_img[:,1]/cfg.output_hm_shape[1]*cfg.input_img_shape[0]
            for j in range(self.joint_num*2):
                pred_joint_coord_img[j,:2] = trans_point2d(pred_joint_coord_img[j,:2],inv_trans[n])
            # restore depth to original camera space
            pred_joint_coord_img[:,2] = (pred_joint_coord_img[:,2]/cfg.output_hm_shape[0] * 2 - 1) * (cfg.bbox_3d_size/2)
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data/RHD/dataset.py [139:150]:
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            focal = cam_param['focal']
            princpt = cam_param['princpt']
            gt_joint_coord = joint['cam_coord']
            joint_valid = joint['valid']

            # restore coordinates to original space
            pred_joint_coord_img = preds_joint_coord[n].copy()
            pred_joint_coord_img[:,0] = pred_joint_coord_img[:,0]/cfg.output_hm_shape[2]*cfg.input_img_shape[1]
            pred_joint_coord_img[:,1] = pred_joint_coord_img[:,1]/cfg.output_hm_shape[1]*cfg.input_img_shape[0]
            for j in range(self.joint_num*2):
                pred_joint_coord_img[j,:2] = trans_point2d(pred_joint_coord_img[j,:2],inv_trans[n])
            pred_joint_coord_img[:,2] = (pred_joint_coord_img[:,2]/cfg.output_hm_shape[0] * 2 - 1) * (cfg.bbox_3d_size/2)
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