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c-he / NeMF

[NeurIPS 2022] Official implementation of "NeMF: Neural Motion Fields for Kinematic Animation"
MIT License
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What is the difference between rotmat and global_xform? #18

Open xwg0508 opened 11 months ago

xwg0508 commented 11 months ago

Hi , thank you for your code ! I want to ask the difference between rotmat(or rot6d) and global_xform? From the code in amass.py , i see the global_xform was gotten by the following code:

image image

SO What is the difference between rot6d and global_xform?Why we get global_xform through rot6d AND in training and applying , the global_xform was seen as rotmat, such as the following code:

image

SO WHAT is the global_xform?

c-he commented 11 months ago

rot6d and rotmat are joint rotations relative to their parent joint, while global_xform is the rotation relative to the root joint. In training, I used global_xform since this global rotation representation performed better in our experiments. I should have given it a different name in the training code, so sorry for the confusion caused by my poor coding style :)