Minimal-IK
A simple and naive inverse kinematics solver for MANO hand model, SMPL body model, and SMPLH body+hand model.
Briefly, given joint coordinates (and optional other keypoints), the solver gives the corresponding model parameters.
Levenberg–Marquardt algorithm is used, the energy is simply the L2 distance between the keypoints.
Usage
Models
- Download the official model from MPI.
- See
config.py
and set the official model path. - See
prepare_model.py
, use the provided function to pre-process the model.
Solver
- See
example.py
, un-comment the corresponding code. python example.py
.- The example ground truth mesh and estimated mesh are saved to
gt.obj
andest.obj
respectively.
Dependencies
Every required package is available via pip install
.