Fixing save_skel_state to actually save skel_state. #179
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Summary:
In this function, there was some really suspicious-looking code, namely this:
const Eigen::Quaternionf localRotation{
joint_params[iFrame].coeff(iJoint, 3),
joint_params[iFrame].coeff(iJoint, 4),
joint_params[iFrame].coeff(iJoint, 5),
joint_params[iFrame].coeff(iJoint, 6),
};
Digging into why this function worked at all given how wrong the above code is revealed that we were actually completely ignoring the skeleton state passed into this function and just constructing a brand new skeleton state from the joint parameters.
This seems non-ideal to me since it violates the contract: if you pass in skel_states that don't match the joint parameters you won't get what you expect. Therefore let's rewrite this function to work directly from the skel_state, which means we can toss out the joint parameters altogether. This lets us delete a bunch of skel_state_to_joint_params calls.
Also fixing the API to be less annoying (use buffers instead of lists of buffers), since this appears to be what everyone wants anyways.
Reviewed By: yutingye
Differential Revision: D67655918
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Summary:
In this function, there was some really suspicious-looking code, namely this:
const Eigen::Quaternionf localRotation{
joint_params[iFrame].coeff(iJoint, 3),
joint_params[iFrame].coeff(iJoint, 4),
joint_params[iFrame].coeff(iJoint, 5),
joint_params[iFrame].coeff(iJoint, 6),
};
Digging into why this function worked at all given how wrong the above code is revealed that we were actually completely ignoring the skeleton state passed into this function and just constructing a brand new skeleton state from the joint parameters.
This seems non-ideal to me since it violates the contract: if you pass in skel_states that don't match the joint parameters you won't get what you expect. Therefore let's rewrite this function to work directly from the skel_state, which means we can toss out the joint parameters altogether. This lets us delete a bunch of skel_state_to_joint_params calls.
Also fixing the API to be less annoying (use buffers instead of lists of buffers), since this appears to be what everyone wants anyways.
Reviewed By: yutingye, jeongseok-meta
Differential Revision: D67655918
|
This pull request has been merged in 8859b1a. |
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Summary:
In this function, there was some really suspicious-looking code, namely this:
const Eigen::Quaternionf localRotation{
joint_params[iFrame].coeff(iJoint, 3),
joint_params[iFrame].coeff(iJoint, 4),
joint_params[iFrame].coeff(iJoint, 5),
joint_params[iFrame].coeff(iJoint, 6),
};
Digging into why this function worked at all given how wrong the above code is revealed that we were actually completely ignoring the skeleton state passed into this function and just constructing a brand new skeleton state from the joint parameters.
This seems non-ideal to me since it violates the contract: if you pass in skel_states that don't match the joint parameters you won't get what you expect. Therefore let's rewrite this function to work directly from the skel_state, which means we can toss out the joint parameters altogether. This lets us delete a bunch of skel_state_to_joint_params calls.
Also fixing the API to be less annoying (use buffers instead of lists of buffers), since this appears to be what everyone wants anyways.
Reviewed By: yutingye
Differential Revision: D67655918