Function canonicalize_motion

motion_rep/retarget_motion.py:168–184

(smpl_params, joints, set_floor=False)

    return smpl_params

def canonicalize_motion(smpl_params, joints, set_floor=False):
    # Get transformation and update smpl_params
    R_inv = get_transform_DART(joints)
    aligned_smpl_params = apply_rotation(smpl_params, R_inv)
    joints_base = torch.matmul(R_inv[None, None, :, :], joints.unsqueeze(-1)).squeeze(-1)
    
    delta_transl = -joints_base[0, 0:1]  # fetch the pelvis joint from first frame, Shape: (1,3)
    if set_floor:   
        # For gravity axis (Z), set the minimum z-coordinate to 0 as the floor
        delta_transl[0, 2] = - torch.min(joints_base[..., 2])
    joints = joints_base + delta_transl[None,]
    aligned_smpl_params['transl'] += delta_transl

    # Convert to motion representation
    motion = collect_motion_rep_DART(aligned_smpl_params, joints)   # 276-dim representation

    return motion, joints[:-1], R_inv, delta_transl

def process_hmr_motion(hmr_motion, intrinsic, to_cpu=True, set_floor=False):
    new_data = {}