Estimate that both feet are above ground level

Hello @yohanshin
The video shows walking on flat ground, but the estimated action will become walking on a slope. And the feet are higher than the ground level

WHAM/lib/vis/run_vis.py

Line 83 in b25b6a4

cameras = renderer.create_camera(global_R[frame_i3], global_T[frame_i3])

Using example videos\examples\IMG_9730.mov. Change the "global-R [frame_i3]" in this line of code to "default-R" to output the video from the camera at zero angle, and you will be able to see the issue I mentioned.

Hi @psiydown , since WHAM does not have hard constraints on the ground conditions, its estimation does not always satisfy ground-level foot contact.

Hi @yohanshin
Is my understanding that the Y-axis offset is caused by the lack of external parameter correction for the camera? Or to adapt to the scenario of walking stairs, ignoring the hard constraints of the ground.