* fix wrongly modified parts in previous rebase

* fix lint

demo/top_down_img_demo_with_mmdet.py

@@ -1,4 +1,5 @@
 import os
+import warnings
 from argparse import ArgumentParser
 
 from mmpose.apis import (inference_top_down_pose_model, init_pose_model,

mmpose/core/visualization/image.py

@@ -341,3 +341,91 @@ def imshow_keypoints_3d(
     plt.close(fig)
 
     return img_vis
+
+
+def imshow_mesh_3d(img,
+                   vertices,
+                   faces,
+                   camera_center,
+                   focal_length,
+                   colors=(76, 76, 204)):
+    """Render 3D meshes on background image.
+
+    Args:
+        img(np.ndarray): Background image.
+        vertices (list of np.ndarray): Vetrex coordinates in camera space.
+        faces (list of np.ndarray): Faces of meshes.
+        camera_center ([2]): Center pixel.
+        focal_length ([2]): Focal length of camera.
+        colors (list[str or tuple or Color]): A list of mesh colors.
+    """
+
+    H, W, C = img.shape
+
+    if not has_pyrender:
+        warnings.warn('pyrender package is not installed.')
+        return img
+
+    try:
+        renderer = pyrender.OffscreenRenderer(
+            viewport_width=W, viewport_height=H)
+    except RuntimeError:
+        warnings.warn('pyrender package is not installed correctly.')
+        return img
+
+    if not isinstance(colors, list):
+        colors = [colors for _ in range(len(vertices))]
+    colors = [color_val(c) for c in colors]
+
+    depth_map = np.ones([H, W]) * np.inf
+    output_img = img
+    for idx in range(len(vertices)):
+        color = colors[idx]
+        color = [c / 255.0 for c in color]
+        color.append(1.0)
+        vert = vertices[idx]
+        face = faces[idx]
+
+        material = pyrender.MetallicRoughnessMaterial(
+            metallicFactor=0.2, alphaMode='OPAQUE', baseColorFactor=color)
+
+        mesh = trimesh.Trimesh(vert, face)
+        rot = trimesh.transformations.rotation_matrix(
+            np.radians(180), [1, 0, 0])
+        mesh.apply_transform(rot)
+        mesh = pyrender.Mesh.from_trimesh(mesh, material=material)
+
+        scene = pyrender.Scene(ambient_light=(0.5, 0.5, 0.5))
+        scene.add(mesh, 'mesh')
+
+        camera_pose = np.eye(4)
+        camera = pyrender.IntrinsicsCamera(
+            fx=focal_length[0],
+            fy=focal_length[1],
+            cx=camera_center[0],
+            cy=camera_center[1],
+            zfar=1e5)
+        scene.add(camera, pose=camera_pose)
+
+        light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=1)
+        light_pose = np.eye(4)
+
+        light_pose[:3, 3] = np.array([0, -1, 1])
+        scene.add(light, pose=light_pose)
+
+        light_pose[:3, 3] = np.array([0, 1, 1])
+        scene.add(light, pose=light_pose)
+
+        light_pose[:3, 3] = np.array([1, 1, 2])
+        scene.add(light, pose=light_pose)
+
+        color, rend_depth = renderer.render(
+            scene, flags=pyrender.RenderFlags.RGBA)
+
+        valid_mask = (rend_depth < depth_map) * (rend_depth > 0)
+        depth_map[valid_mask] = rend_depth[valid_mask]
+        valid_mask = valid_mask[:, :, None]
+        output_img = (
+            valid_mask * color[:, :, :3] + (1 - valid_mask) * output_img)
+
+    return output_img

mmpose/models/detectors/pose_lifter.py

@@ -3,7 +3,7 @@
 import mmcv
 import numpy as np
 
-from mmpose.core import imshow_keypoints, imshow_keypoints_3d
+from mmpose.core import imshow_bboxes, imshow_keypoints, imshow_keypoints_3d
 from .. import builder
 from ..builder import POSENETS
 from .base import BasePose
@@ -259,9 +259,7 @@ def forward_test(self, input, metas, **kwargs):
         return results
 
     def forward_dummy(self, input):
-        """Used for computing network FLOPs.
-
-        See ``tools/get_flops.py``.
+        """Used for computing network FLOPs. See ``tools/get_flops.py``.
 
         Args:
             input (torch.Tensor): Input pose
@@ -293,6 +291,7 @@ def show_result(self,
                     radius=8,
                     thickness=2,
                     vis_height=400,
+                    num_instances=-1,
                     win_name='',
                     show=False,
                     wait_time=0,