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Theia Axiom - v2025
Theia Axiom - v2025
  • Theia3D Documentation
    • What's New
    • Theia3D Documentation
    • Welcome to Theia3D
    • Keyboard Shortcuts
    • Getting Started
      • System Requirements
      • Installation
      • License Activation
      • Startup Window
      • Theia3D Basics
      • Camera Setup Tips
      • Tutorial Videos
    • Data Collection
      • Data Collection Principles
      • Recording Intrinsic Lens Calibrations
      • Recording Extrinsic Chessboard Calibrations
      • Recording Extrinsic Object Calibrations
    • Theia3D Interface
    • Theia3D Dropdown Menus
      • File Menu
      • Analyze Menu
      • Display Menu
      • Results Menu
      • Calibration Menu
        • Check Calibration
        • Lens Calibration
        • Chessboard Calibration
        • Object Calibration
        • Adjust Calibration
      • Tools Menu
        • Check Synchronization
        • Organize Videos
        • Format Sony Multicam
        • Assign Calibration Files
        • Modify People IDs
        • Toggle Views
        • Display Video Metadata
        • Enhance Videos
      • Settings Menu
        • Settings Menu
        • Analysis Preferences
        • Rendering Preferences
        • Setup Preferences
      • Help Menu
    • Theia Model Description
      • Default Model Description
      • Full Body Model Description
      • Separate Arm and Head Model Description
    • Data Formats
      • Video Data
      • Calibration Files
      • Theia3D Workspaces
      • C3D Files
      • FBX Files
      • JSON Files
      • Video Overlays
    • Theia3D Batch
      • Theia3D Batch Interface
      • Setting Up a Batch
      • File Menu
      • Help Menu
      • Settings
      • Trials
      • Preferences
      • Batch Processing Outputs
    • Camera System Requirements
    • Sony Camera Package
      • Components
      • System Setup
      • Data Collection
  • Troubleshooting
    • Troubleshooting Documentation
    • Error Messages
      • License Errors
        • License Activation Failed
      • Organize Data Errors
        • Input directory has no mp4 or avi files
      • Load Video Data Errors
        • Videos not formatted properly
        • Only [#] videos found
        • Videos are not the same length
        • Unsupported video codec detected
        • Invalid video
      • Load Calibration File Errors
        • Unable to load calibration
        • Required camera parameter groups not present
      • Load Workspace Errors
        • Selected folder does not contain a valid Theia workspace
        • Incompatible workspace
      • Calibration Errors
        • Camera extrinsics optimization step 3 failed
        • Unable to detect chessboard in overlapping frames for all cameras
        • Too few chessboards detected (<25)
        • Field of view coverage insufficient (<60%)
      • Movement Trial Processing Errors
        • Track people not complete
        • Abnormally high tracking errors
    • Visible Issues
      • Coordinate system is out of place in one camera view
      • Coordinate system is in different positions and/or orientations in all camera viewse
      • Coordinate system is in an incorrect but consistent position and/or orientation in all views
      • Skeleton is consistently outside the body
      • Skeleton is momentarily incorrect
      • Skeleton is incomplete
      • Skeleton is completely missing
      • Skeleton is jittery
    • Sony Troubleshooting
      • Initialization Issues
      • Unstable Connection
    • Other Issues
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  • Upper Body Kinematic Chain
  • Lower Body Kinematic Chain

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  1. Theia3D Documentation
  2. Theia Model Description

Default Model Description

The Default kinematic model consists of two kinematic chains for the lower body (pelvis and legs) and upper body (torso, arms, and head).

Upper Body Kinematic Chain

Segment
Parent
Origin
Joint
Proximal
Distal

Torso

Lab

Base of neck

Free joint (6 DOF)

Head

Torso

Midpoint of ears

Free joint (6 DOF)

Right Upper Arm

Torso

Right shoulder

Free joint (6 DOF)

Right shoulder

Right elbow

Right Lower Arm

Right Upper Arm

Right elbow

Two rotational DOF (flexion/extension, pronation/supination)

Right elbow

Right wrist

Right Hand

Right Lower Arm

Right wrist

Two rotational DOF (flexion/extension, ad/abduction)

Right wrist

Right mid hand

Left Upper Arm

Torso

Left shoulder

Free joint (6 DOF)

Left shoulder

Left elbow

Left Lower Arm

Left Upper Arm

Left elbow

Two rotational DOF (flexion/extension, pronation/supination)

Left elbow

Left wrist

Left Hand

Left Lower Arm

Left wrist

Two rotational DOF (flexion/extension, ad/abduction)

Left wrist

Left mid hand


Lower Body Kinematic Chain

Segment
Parent
Origin
Joint
Proximal
Distal

Pelvis

Lab

Midpoint of pelvis plane

Free joint (6 DOF)

Right Thigh

Pelvis

Right hip

Three rotational DOF

Right hip

Right knee

Right Shank

Right Thigh

Right knee

Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Right knee

Right ankle

Right Foot

Right Shank

Right ankle

Free joint (6 DOF), limited translation

Right ankle

Right mid foot

Right Toes

Right Foot

Right mid foot

One rotational DOF (flexion/extension)

Right mid foot

Right big toe

Left Thigh

Pelvis

Left hip

Three rotational DOF

Left hip

Left knee

Left Shank

Left Thigh

Left knee

Two rotational degrees of freedom (flexion/extension, ad/abduction) or three rotational degrees of freedom (flexion/extension, ad/abduction, internal/external rotation)

Left knee

Left ankle

Left Foot

Left Shank

Left ankle

Free joint (6 DOF), limited translation

Left ankle

Left mid foot

Left Toes

Left Foot

Left mid foot

One rotational DOF (flexion/extension)

Left mid foot

Left big toe

PreviousTheia Model DescriptionNextFull Body Model Description

Last updated 2 months ago

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