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lixiny / manotorch

MANO in pyTORCH (anatomical constraints, anchors, etc)
GNU General Public License v3.0
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Question about the transformation between original MANO and A-MANO #9

Closed zdchan closed 2 weeks ago

zdchan commented 11 months ago

Hi, I just want to ask that, with AxisLayerFK.compose I can transfer anatomy aligned euler angles to original mano pose. Is there anyway back?

lixiny commented 11 months ago

There is an indirect approach available,

which involves mapping the original mano pose cure_pose (in the form of axis angle) to T_g_p (16 SE3 transformation matrices, all base on the global 'world' coord. sys.), and then transforming it into the anatomy aligned euler angles ee through axisFK.

image

The ee is subsequently used for loss evaluation. However, it can also be re-composed this process as needed.

Lixin.