search

papagina / RotationContinuity

Coder for "On the Continuity of Rotation Representations"
MIT License
328 stars 54 forks source link

About ”pose" #13

Open HiroshiNNW opened 2 years ago

HiroshiNNW commented 2 years ago

Hello, I have a question about Sanitytest code. I don't see what "pose" means and what this function below computes from the rotation matrix. https://github.com/papagina/RotationContinuity/blob/758b0ce551c06372cab7022d4c0bdf331c89c696/sanity_test/code/tools.py#L9

It seems this function just calculates the transpose of the given matrix, is that right?

papagina commented 2 years ago

T_pose is the position of each joint at the rest pose and r_matrix is the rotation for each joint. The output pose is the joint positions after rotation.

HiroshiNNW commented 2 years ago

I understand that is the case in "Inverse Kinematics", but it seems joints or poses don't matter in "Sanitytest" code. Could you tell me about "poses" in Sanitytest code?

ShaoshuSu commented 1 year ago

According to my observation, I think T_pose is exactly the Identity matrix in the Sanity Test code