Comments (1)
yzqin
commented on August 14, 2024
Yes @JiaheXu you are correct.
The MediaPipe 3d joint positions are local, represented in the hand wrist frame (joint 0 frame). For the rotation matrix computed via this function, it is in camera frame.
For hand detection, this repo currently only provides part of the code in AnyTeleop. It does not include the the detection code to estimate the position of wrist in the camera frame, only orientation. Position estimation code is much more complex and will be release later from NVIDIA.
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