How to get mano pose, 3d points and vertex in camera coordinate system for each frame

[gs-ren]

Hi,
How I can get the pose and shape for each frame？It seems cp.mano_meshes(frame_idx) only return the mano pose for three frames .

[samarth-robo]

@gs-ren as you can see in the function documentation, cp.mano_meshes(frame_idx) does not return 3 frames. Instead, it returns a list of 2 dicts. [left_hand_dict, right_hand_dict]. Each dict is either None if that hand is absent, or it contains 3 keys: {'vertices', 'faces', 'joints'}. You can see a usage example in the cell number 12 of the demo notebook.

[gs-ren]

Thank you for replying！
I want to get the opse ,3d points and vertex in cam coordinate system for each frame if it was valid. I get the fullpose by adding return value in mutils.load_mano_meshes line 475

out.append({
      'vertices': vertices,
      'joints': joints,
      'faces': np.asarray(m.f),
      'fullpose':np.array(m.fullpose),
      'beta':np.array(m.betas[:]),
    }

and then do the transform below：

            root_pose = pose[:3]
            root_pose, _ = cv2.Rodrigues(root_pose)
            root_pose, _ = cv2.Rodrigues(np.dot(object_pose[:3, :3], root_pose))

by doing this, I can get the vertex and 3d hand points from Manolayer，

            P = cp.P(camera_name, frame_idx)                         # 3x4 projection matrix
            points_2d = mutils.project(P, points_3d_mano)           # project 3D joints to 2D

but the 2d points projected by 3d hand points was not equal to joints = cp.projected_hand_joints(camera_name, frame_idx).
Could you please give me some suggestions?
Thank you for your time!
@samarth-robo