MonocularRGB_3D_Handpose_WACV18

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I want to know how to compute jacobi of the loss function (the rotation mat may not orthogonal after optimize ) how to do the fingers rotation angle limit. It will be nice to have some details of self.ba.solve(obs_vec, Core.ParamVector(self.model.init_pose)) (best to have src code of this part) thanks.