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sasabot / hrisys

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About translationAligner & rotationAligner in bvhactor.cc #4

Open mingfeisun opened 6 years ago

mingfeisun commented 6 years ago

Dear Sasabot-san,

My name is Mingfei. I am interesting in you hrisys project.

Currently, I'm also trying to retarget a bvh file to an actor, but only to find a distorted actor, as reported here. I don't know how to solve this problem.

Luckily, I found your code and know you had some experiences on this before. When I checked your codes, I noticed that there is a translationAligner and rotationAligner, different from the Gazebo source code.

// line 832 in bvhactor.cc
          transform =
        translationAligner[node->GetName()]
        * transform * rotationAligner[node->GetName()];

bvhactor.cc file can be found here

I guess this could be the possible solution to overcome the distortion. But I don't quite understand the codes. Could you help explain the underlying principles or refer me to any useful references.

Thanks a lot. BTW, sorry that I could not find your email address, so I had to contact you here.

Mingfei

sasabot commented 6 years ago

Hi Mingfei,

Thank you for contacting. Looking through your links, it seems you have already solved the problem. Great! And yes, you are correct, there is some transformation alignment you have to do between the bvh and dae to match the initial poses. The code is just calculating the transformation from one to the other to match the files.

Best, sasabot

mingfeisun commented 6 years ago

Hi Sasabot,

Thanks for your reply. Hope you do well on your research. Publish more, haha

Thanks again.

Mingfei