MANO pyTORCH

ManoLayer is a differentiable PyTorch layer that deterministically maps from pose and shape parameters to hand joints and vertices. It can be integrated into any architecture as a differentiable layer to predict hand meshes.

Introduction

This MANO layer is modified from the original manopth with following features.

Additional axes adaptation to covert MANO's coordinate frame into a twist-splay-bend frame based on hand anatomy (axislayer.py).

Left: original MANO coordinate system; Middle: axes adaptation; Right: rotation based on the axes adaptation

Additional anchor interpolation to derive the anchor representation of MANO's vertices on palm (anchorlayer).

Quaternion rotation mode. (quatutils.py)
Ortho6D rotation mode.
Employ lietorch to perform exp() in SO(3) group. (once lietorch supports backward of ToMatrix operation).

The first two features were developed and used for the paper CPF: Learning a Contact Potential Field to Model the Hand-object Interaction. But we find it also useful in researches including:

avoid hand pose abnormality during learning or fitting by applying anatomically constraints on rotation axes and angles.
derive a coarse palm vertices representation to treat contact during hand-object interaction.

If you find this code useful for your research, consider citing:

the publication of the repository was used for

@article{yang2020cpf,
  title={CPF: Learning a Contact Potential Field to Model the Hand-object Interaction},
  author={Yang, Lixin and Zhan, Xinyu and Li, Kailin and Xu, Wenqiang and Li, Jiefeng and Lu, Cewu},
  journal={arXiv preprint arXiv:2012.00924},
  year={2020}
}

the original MANO publication:

@article{MANO:SIGGRAPHASIA:2017,
  title = {Embodied Hands: Modeling and Capturing Hands and Bodies Together},
  author = {Romero, Javier and Tzionas, Dimitrios and Black, Michael J.},
  journal = {ACM Transactions on Graphics, (Proc. SIGGRAPH Asia)},
  publisher = {ACM},
  month = nov,
  year = {2017},
  url = {http://doi.acm.org/10.1145/3130800.3130883},
  month_numeric = {11}
}

Installation

Get code and dependencies

$ git clone https://github.com/lixiny/manotorch.git
$ cd manotorch

Install the dependencies listed in environment.yaml

# In a new environment,
$ conda env create -f environment.yaml

# Or in an existing conda environment,
$ conda env update -f environment.yaml

For user in China, we provide an alternative environment_tuna.yaml based on Tuna Mirror of Tsinghua University

Download MANO pickle data-structures

Visit MANO website
Create an account by clicking Sign Up and provide your information
Download Models and Code (the downloaded file should have the format mano_v*_*.zip). Note that all code and data from this download falls under the MANO license.
unzip and copy the contents in mano_v*_*/ folder to the assets/mano/ folder
Your assets/mano folder structure should look like this:

assets/mano
        ├── info.txt
        ├── __init__.py
        ├── LICENSE.txt
        ├── models
        │   ├── info.txt
        │   ├── LICENSE.txt
        │   ├── MANO_LEFT.pkl
        │   ├── MANO_RIGHT.pkl
        │   ├── SMPLH_female.pkl
        │   └── SMPLH_male.pkl
        └── webuser
            └── ...

Optional: Install manotorch package

To be able to import and use manotorch in another project, go to your manotorch folder and run

$ pip install .
# Or,
$ pip install -e .

Usage

we provide a simple code snippet to demonstrate the minimal usage.

import torch
from manotorch.manolayer import ManoLayer
from manotorch.axislayer import AxisLayer
from manotorch.anchorlayer import AnchorLayer

# Select number of principal components for pose space
ncomps = 15

# initialize layers
mano_layer = ManoLayer(use_pca=True, flat_hand_mean=False, ncomps=ncomps)
axis_layer = AxisLayer()
anchor_layer = AnchorLayer()

batch_size = 2
# Generate random shape parameters
random_shape = torch.rand(batch_size, 10)
# Generate random pose parameters, including 3 values for global axis-angle rotation
random_pose = torch.rand(batch_size, 3 + ncomps)


"""
MANOOutput = namedtuple(
    "MANOOutput",
    [
        "verts",
        "joints",
        "center_idx",
        "center_joint",
        "full_poses",
        "betas",
        "transforms_abs",
    ],
)
"""
# forward mano layer
mano_output = mano_layer(random_pose, random_shape)

# retrieve 778 vertices, 21 joints and 16 absolute transforms of each articulation
verts = mano_output.verts
joints = mano_output.joints
transforms_abs = mano_output.transforms_abs

# optional, forward anchor layer to retrieve anchors
anchors = anchor_layer(verts)

# optional, forward axis layer to retrieve twist-splay-bend (back-up-left) axes
bul_axes = axis_layer(joints, transforms_abs) # bul: back-up-left

Visualize

We provide a visualization code in app.py. It will draw the hand mesh, joints, twist-splay-bend axes and anchors in PyRender (require active screen)

LKmidair/manotorch