In the developer documentation, there is a section on Transforming Finger Coordinates into the Hand’s Frame of Reference however when implemented, I noticed that the hand is projected into a plane and no longer contains information in 3D. Is there a way to generate a rotation-invariant plot of the hand in 3D?
Using the documentation linked generates the above plots which show a 2d projection of the hand that is indeed rotation and position invariant, but 2D.
The implementation used to plot the above graphs can be found here.
I believe a palm rotation matrix is made using the palm direction and position, this used to transform each finger position in the HFoR by using transformPosition() with the inverse of such palm orientation matrix.