Add this function to https://github.com/CalciferZh/minimal-hand/blob/master/hand_mesh.py
Inspired by https://github.com/CalciferZh/minimal-hand/issues/80
@staticmethod
def convert_iknet_pose(ik_quat):
### ik_quat: (21, 4) IKNET output
### ret_axangle: (16, 3) MANO pose axis-angle, not exactly the same, but quite similar
mat = []
for j in range(MANOHandJoints.n_joints):
mat.append(transforms3d.quaternions.quat2mat(ik_quat[j]))
mat = np.stack(mat, 0)
result_axangle = [None] * MANOHandJoints.n_joints
result_mat = [None] * MANOHandJoints.n_joints
for j in range(MANOHandJoints.n_joints):
parent = MANOHandJoints.parents[j]
if parent is not None:
matJ = mat[j]
matP = mat[parent]
rel_mat = np.linalg.inv(matP) @ matJ
axis, ang = transforms3d.axangles.mat2axangle(rel_mat)
result_axangle[parent] = axis*ang
result_mat[parent] = rel_mat
axis, ang = transforms3d.axangles.mat2axangle(mat[0])
result_axangle[0] = axis*ang
result_axangle = np.stack(result_axangle[:16])
return result_axangle
Compare
- red - with quaternion and hand_mesh
-
gray - with axis-angle and mano_layer
wireframe.png
geometry.png
