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# Multi-HMR
# Copyright (c) 2024-present NAVER Corp.
# CC BY-NC-SA 4.0 license
import numpy as np
import torch.nn.functional as F
import torch
import roma
from smplx.joint_names import JOINT_NAMES
def rot6d_to_rotmat(x):
"""
6D rotation representation to 3x3 rotation matrix.
Args:
x: (B,6) Batch of 6-D rotation representations.
Returns:
torch.Tensor: Batch of corresponding rotation matrices with shape (B,3,3).
"""
x = x.reshape(-1,2,3).permute(0, 2, 1).contiguous()
y = roma.special_gramschmidt(x)
return y
def get_smplx_joint_names(*args, **kwargs):
return JOINT_NAMES[:127] |