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Jeff-sjtu / HybrIK

Official code of "HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation", CVPR 2021
MIT License
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FK rotation matrix order #120

Open blairstar opened 1 year ago

blairstar commented 1 year ago

Thanks for your great job! I Have a question. For rotation from root joint to leaf joint, the global rotation matrix(for example, the 3th joint) should be get by R3 = r2*r1 (1) or R3 = r1*r2 (2) r1 and r2 is relative rotation matrix. In paper, I found (2) is present, but I think (1) should be proper.

Jeff-sjtu commented 1 year ago

Hi @blairstar, you can refer to the SMPL paper and the corresponding code. I think they can answer your question.