PCA from Axisangle

[marcilzakour]

Hi,

Thanks for the nice work! Is there a direct method to get the PCA to pose representation given the axis angle representation?
So far, I tried using the hands_components in the pickle file. I follow something like this

# (1,45)           (1,45)           (45x45)
pose_pca = pose_axisangle @ hand_components.T

It gives a similar pose it has a slight offset, especially for the thumb.

Also, it looks like the hand_components matrix is not exactly orthonormal.

Ideally, I am trying to avoid iterative optimization methods.
Any help is appreciated.

Kind Regards,
Marsil.