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shaohua-pan / RobustCap

Code for our SIGGRAPH ASIA 2023 paper "Fusing Monocular Images and Sparse IMU Signals for Real-time Human Motion Capture".
https://shaohua-pan.github.io/robustcap-page/
MIT License
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重力常量计算 #15

Closed yxyyundanfengqing closed 2 months ago

yxyyundanfengqing commented 2 months ago

请问self.gravityc是如何得到的

shaohua-pan commented 2 months ago

可以参考下这行 net.gravityc = torch.matmul(RCM, torch.tensor([0., -1, 0.]).unsqueeze(-1)).squeeze(-1)，根据相机外参可以计算

yxyyundanfengqing commented 2 months ago

十分感谢