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About local frame! #1
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each rotation (local frame) is represented as axis-angle w.r.t its parent frame. The order is:
Lixin |
Sorry for the confusion. The all zeros T-pose of MANO is consistent with T-pose of SMPL-X only when the |
Thanks a lot! One more question. How to avoid abnormal hand pose after designing local frame in your project? Such as setZero? |
If I understand your question correct, the abnormal poses can not be penalized without knowing its parent, or child. We use a coordinate adaptation axis layer to convert the original rotational axes to twist-bend-splay (in our code: back-left-up), and then penalize the abnormal rotations w.r.t twist-bend-splay.
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Thanks again! I have found three loss in |
One more question! I am confusing about abnormal pose of thumb recently. It seems that the three joints of thumb have more DOFs than other fingers. I would like to know how to penalize the abnormal rotation of thumb specifically. Could you please help me? |
Yes, the axis-angle: |
We approximate the rotation DoFs on the first joints (closest to the wrist) of the thumb as a combination of motions in two orthogonal directions: bend and splay Hope these figures illustrate our implementation: |
Thank you! I get it! It seems that you split the axis angle direction into three vertical direction. You restrict one direction to avoid abnormal pose so the final direction is got by suming the other two direction. But in my opinion, the axis angle is not in euclidean space. That is, "exp(aa^)exp(bb^)" is not equal to "exp((aa+bb)^)". So is it available to restrict the rotation using axis angle directly? Sorry for so many questions~I just started learing pose estimation. |
Wow, good question! you are almost there. However, |
Thank a lot! |
where can I find the specific defination of each local frame in this MANO code?
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