ZED skeleton kinematic chain representation

Hello, I am in the process of building an app which uses ZED to drive an animation. My animator is having difficulties with aligning the body meshes with the ZED data. I know some kinematics, and I believe I can solve this by rotating his mesh properly to the ZED kinematic data. This leads to my question, how are the joint axes put on the internal skeleton representation in ZED? It seems (from some experiments) that the T-pose have been used so that the transform joint to root becomes identity. Can you confirm this?

Thanks for any help


Yes, when the skeleton is in T-pose, all the local joint transforms are aligned to the root transform and are all equal to identity.
In our Unity package, we are animating 3D models with the skeleton information given by the SDK.
Looking at our code may help you (here is the source : https://github.com/stereolabs/zed-unity/blob/master/ZEDCamera/Assets/ZED/SDK/Helpers/Scripts/SkeletonTracking/SkeletonHandler.cs#L496).

I hope it helps.

Benjamin Vallon