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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
1.21k stars 147 forks source link

wonder why change theta optimize target from quat to rotmat #130

Open cbyzju opened 1 year ago

cbyzju commented 1 year ago

https://github.com/Jeff-sjtu/HybrIK/blob/main/hybrik/utils/presets/simple_transform_3d_smpl_cam.py#L475

neural network benefit from the relatively continous space of quat during train stage, I wonder why you change the optimize target from quat to 3x3 rotmats.