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# Joint Order (Position & Rotation) | ||
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## Attention !!! | ||
For both body and hand, the order of joint position and joint angles are different. Please find the details below. | ||
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## Hand Joint | ||
### Joint Position (Hand) | ||
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To obtain predicted 3D hand joint position, you can use [pred_joints_img](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/handmocap/hand_mocap_api.py#L222) in hand-only demo or | ||
[pred_lhand_joints_img](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/integration/copy_and_paste.py#L186) and [pred_rhand_joints_img](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/integration/copy_and_paste.py#L192) in body-plus-hand demo. | ||
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The order of hand joint position is depicted as below: | ||
<p> | ||
<img src="https://penincillin.github.io/frank_mocap/video_02.gif" height="200"> | ||
</p> | ||
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The order of hand joint (position) is listed below: | ||
``` | ||
0 : Wrist | ||
1 : Thumb_00 | ||
2 : Thumb_01 | ||
3 : Thumb_02 | ||
4 : Thumb_03 | ||
5 : Index_00 | ||
6 : Index_01 | ||
7 : Index_02 | ||
8 : Index_03 | ||
9 : Middle_00 | ||
10 : Middle_01 | ||
11 : Middle_02 | ||
12 : Middle_03 | ||
13 : Ring_00 | ||
14 : Ring_01 | ||
15 : Ring_02 | ||
16 : Ring_03 | ||
17 : Little_00 | ||
18 : Little_01 | ||
19 : Little_02 | ||
20 : Little_03 | ||
``` | ||
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### Joint Angle (Hand) | ||
To obtain predicted 3D hand joint angles (in [angle-axis format](https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation)), you can use [pred_hand_pose](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/handmocap/hand_mocap_api.py#L197) in hand-only demo or [pred_left_hand_pose](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/integration/copy_and_paste.py#L234) [pred_right_hand_pose](https://github.com/facebookresearch/frankmocap/blob/60584337f81795b1b9fe4f4da5ffe273f6f1266a/integration/copy_and_paste.py#L235) in body-plus-hand demo. | ||
If the dimension of ```hand_pose``` is 45 (15 * 3), then the joint starts from ```Index_00```; otherwise the dimension should be 48 (16 * 3) and the joint start from wrist (or say, hand global orientation). | ||
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The order of hand joint (angle) is listed below: | ||
``` | ||
0 : Wrist | ||
1 : Index_00 | ||
2 : Index_01 | ||
3 : Index_02 | ||
4 : Middle_00 | ||
5 : Middle_01 | ||
6 : Middle_02 | ||
7 : Little_00 | ||
8 : Little_01 | ||
9 : Little_02 | ||
10 : Ring_00 | ||
11 : Ring_01 | ||
12 : Ring_02 | ||
13 : Thumb_00 | ||
14 : Thumb_01 | ||
15 : Thumb_02 | ||
``` | ||
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## License | ||
- [CC-BY-NC 4.0](https://creativecommons.org/licenses/by-nc/4.0/legalcode). | ||
See the [LICENSE](LICENSE) file. |