堆栈内存溢出
  简体   繁体   English

kinect v2联合定向到unity3d四元数

[英]kinect v2 joint orientation to unity3d quaternion

 原文  2014-12-27 22:34:48  7   1    unity3d/ orientation/ kinect

问题描述

i'm trying to move an avatar using Unity3D according to the data coming from Kinect V2, the problem is when i apply multi joint orientations to the unity Slerp transform, 我正在尝试根据来自Kinect V2的数据使用Unity3D移动化身，问题是当我将多关节方向应用于单位Slerp变换时，

how can i calculate the new quaternion which allows me to Simulate the realtime human movements correctly? 如何计算新的四元数，使我能够正确模拟实时人体运动？ 

            float ox, oy, oz, ow;

            ox = body.JointOrientations[_SpineMid].Orientation.X;
            oy = body.JointOrientations[_SpineMid].Orientation.Y;
            oz = body.JointOrientations[_SpineMid].Orientation.Z;
            ow = body.JointOrientations[_SpineMid].Orientation.W;
            //SpineMid.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            SpineMid.transform.localRotation = Quaternion.Slerp(SpineMid.transform.localRotation, new Quaternion(ox, oy, oz, ow), Time.time * 0.1f);

在这里，我只是移动SpineMid，它似乎相对较好

            float ox, oy, oz, ow;

            ox = body.JointOrientations[_SpineMid].Orientation.X;
            oy = body.JointOrientations[_SpineMid].Orientation.Y;
            oz = body.JointOrientations[_SpineMid].Orientation.Z;
            ow = body.JointOrientations[_SpineMid].Orientation.W;
            //SpineMid.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            SpineMid.transform.localRotation = Quaternion.Slerp(SpineMid.transform.localRotation, new Quaternion(ox, oy, oz, ow), Time.time * 0.1f);

            ox = body.JointOrientations[_SpineBase].Orientation.X;
            oy = body.JointOrientations[_SpineBase].Orientation.Y;
            oz = body.JointOrientations[_SpineBase].Orientation.Z;
            ow = body.JointOrientations[_SpineBase].Orientation.W;
            //SpineBase.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            SpineBase.transform.localRotation = Quaternion.Slerp(SpineBase.transform.localRotation, new Quaternion(ox, oy, oz, ow), Time.time * 0.1f);

在这里，我将相同的Slerp Transform应用于SpineMid和SpainBase

the funniest part is when i tried to apply the previous Slerp transformation to every joint in in the avatar 最有趣的部分是当我尝试将之前的Slerp转换应用于头像中的每个关节时

float ox, oy, oz, ow; float ox，oy，oz，ow; 

            ox = body.JointOrientations[_SpineMid].Orientation.X;
            oy = body.JointOrientations[_SpineMid].Orientation.Y;
            oz = body.JointOrientations[_SpineMid].Orientation.Z;
            ow = body.JointOrientations[_SpineMid].Orientation.W;
            //SpineMid.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            SpineMid.transform.localRotation = Quaternion.Slerp(SpineMid.transform.localRotation, new Quaternion(ox, oy, oz, ow), Time.time * 0.1f);

            ox = body.JointOrientations[_SpineBase].Orientation.X;
            oy = body.JointOrientations[_SpineBase].Orientation.Y;
            oz = body.JointOrientations[_SpineBase].Orientation.Z;
            ow = body.JointOrientations[_SpineBase].Orientation.W;
            //SpineBase.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            SpineBase.transform.localRotation = Quaternion.Slerp(SpineBase.transform.localRotation, new Quaternion(ox, oy, oz, ow), Time.time * 0.1f);


            ox = body.JointOrientations[_Neck].Orientation.X;
            oy = body.JointOrientations[_Neck].Orientation.Y;
            oz = body.JointOrientations[_Neck].Orientation.Z;
            ow = body.JointOrientations[_Neck].Orientation.W;
            //Neck.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            Neck.transform.localRotation = Quaternion.Slerp(Neck.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_Head].Orientation.X;
            oy = body.JointOrientations[_Head].Orientation.Y;
            oz = body.JointOrientations[_Head].Orientation.Z;
            ow = body.JointOrientations[_Head].Orientation.W;
            //Head.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            Head.transform.localRotation = Quaternion.Slerp(Head.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_ShoulderRight].Orientation.X;
            oy = body.JointOrientations[_ShoulderRight].Orientation.Y;
            oz = body.JointOrientations[_ShoulderRight].Orientation.Z;
            ow = body.JointOrientations[_ShoulderRight].Orientation.W;
            //ShoulderRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            ShoulderRight.transform.localRotation = Quaternion.Slerp(ShoulderRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_ElbowRight].Orientation.X;
            oy = body.JointOrientations[_ElbowRight].Orientation.Y;
            oz = body.JointOrientations[_ElbowRight].Orientation.Z;
            ow = body.JointOrientations[_ElbowRight].Orientation.W;
            //ElbowRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            ElbowRight.transform.localRotation = Quaternion.Slerp(ElbowRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_HandRight].Orientation.X;
            oy = body.JointOrientations[_HandRight].Orientation.Y;
            oz = body.JointOrientations[_HandRight].Orientation.Z;
            ow = body.JointOrientations[_HandRight].Orientation.W;
            //HandRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            HandRight.transform.localRotation = Quaternion.Slerp(HandRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_ShoulderLeft].Orientation.X;
            oy = body.JointOrientations[_ShoulderLeft].Orientation.Y;
            oz = body.JointOrientations[_ShoulderLeft].Orientation.Z;
            ow = body.JointOrientations[_ShoulderLeft].Orientation.W;
            //ShoulderLeft.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            ShoulderLeft.transform.localRotation = Quaternion.Slerp(ShoulderLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_ElbowLeft].Orientation.X;
            oy = body.JointOrientations[_ElbowLeft].Orientation.Y;
            oz = body.JointOrientations[_ElbowLeft].Orientation.Z;
            ow = body.JointOrientations[_ElbowLeft].Orientation.W;
            //ElbowLeft.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            ElbowLeft.transform.localRotation = Quaternion.Slerp(ElbowLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_HandLeft].Orientation.X;
            oy = body.JointOrientations[_HandLeft].Orientation.Y;
            oz = body.JointOrientations[_HandLeft].Orientation.Z;
            ow = body.JointOrientations[_HandLeft].Orientation.W;
            //HandLeft.transform.localRotation = Quaternion.Lerp(transform.localRotation, new Quaternion(ox*360, oz*360, oy*360, ow*360), 0.03f);
            HandLeft.transform.localRotation = Quaternion.Slerp(HandLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_HipsLeft].Orientation.X;
            oy = body.JointOrientations[_HipsLeft].Orientation.Y;
            oz = body.JointOrientations[_HipsLeft].Orientation.Z;
            ow = body.JointOrientations[_HipsLeft].Orientation.W;
            //HipsLeft.transform.rotation = new Quaternion(ox, oy, oz, ow);
            HipsLeft.transform.localRotation = Quaternion.Slerp(HipsLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_KneeRight].Orientation.X;
            oy = body.JointOrientations[_KneeRight].Orientation.Y;
            oz = body.JointOrientations[_KneeRight].Orientation.Z;
            ow = body.JointOrientations[_KneeRight].Orientation.W;
            //KneeRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            KneeRight.transform.localRotation = Quaternion.Slerp(KneeRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_AnkleRight].Orientation.X;
            oy = body.JointOrientations[_AnkleRight].Orientation.Y;
            oz = body.JointOrientations[_AnkleRight].Orientation.Z;
            ow = body.JointOrientations[_AnkleRight].Orientation.W;
            //AnkleRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            AnkleRight.transform.localRotation = Quaternion.Slerp(AnkleRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_FootRight].Orientation.X;
            oy = body.JointOrientations[_FootRight].Orientation.Y;
            oz = body.JointOrientations[_FootRight].Orientation.Z;
            ow = body.JointOrientations[_FootRight].Orientation.W;
            //FootRight.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            FootRight.transform.localRotation = Quaternion.Slerp(FootRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_HipsRight].Orientation.X;
            oy = body.JointOrientations[_HipsRight].Orientation.Y;
            oz = body.JointOrientations[_HipsRight].Orientation.Z;
            ow = body.JointOrientations[_HipsRight].Orientation.W;
            //HipsRight.transform.rotation = new Quaternion(ox, oy, oz, ow);
            HipsRight.transform.localRotation = Quaternion.Slerp(HipsRight.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_KneeLeft].Orientation.X;
            oy = body.JointOrientations[_KneeLeft].Orientation.Y;
            oz = body.JointOrientations[_KneeLeft].Orientation.Z;
            ow = body.JointOrientations[_KneeLeft].Orientation.W;
            //KneeLeft.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            KneeLeft.transform.localRotation = Quaternion.Slerp(KneeLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_AnkleLeft].Orientation.X;
            oy = body.JointOrientations[_AnkleLeft].Orientation.Y;
            oz = body.JointOrientations[_AnkleLeft].Orientation.Z;
            ow = body.JointOrientations[_AnkleLeft].Orientation.W;
            //AnkleLeft.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            AnkleLeft.transform.localRotation = Quaternion.Slerp(AnkleLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

            ox = body.JointOrientations[_FootLeft].Orientation.X;
            oy = body.JointOrientations[_FootLeft].Orientation.Y;
            oz = body.JointOrientations[_FootLeft].Orientation.Z;
            ow = body.JointOrientations[_FootLeft].Orientation.W;
            //FootLeft.transform.localRotation = new Quaternion(ox, oy, oz, ow);
            FootLeft.transform.localRotation = Quaternion.Slerp(FootLeft.transform.localRotation, new Quaternion(ox * 360, oy * 360, oz * 360, ow * 360), 0.03f);

将Slerp Transformation应用于头像中的每个关节

Note: all those print screens was taken with T-Pose facing the KinectV2 Sensor. 注意：所有这些打印屏幕都是使用T-Pose面向KinectV2传感器拍摄的。

1 个解决方案

解决方案1
 1 已采纳  2015-01-14 21:35:14

据我记忆，在应用相应的方向之前，方向不是局部的，您需要将每个关节定向到天空。

暂无
暂无

声明:本站的技术帖子网页，遵循CC BY-SA 4.0协议，如果您需要转载，请注明本站网址或者原文地址。任何问题请咨询:yoyou2525@163.com.

相关问题 Kinect V2和Unity3D - Kinect V2 and Unity3D 带Unity3D的Kinect v1.8 SDK - Kinect v1.8 SDK with Unity3D Microsoft Kinect V2 + Unity 3D 深度 = 变形 - Microsoft Kinect V2 + Unity 3D Depth = Warping unity3D + kinect交互 - unity3D + kinect interection Kinect v2 + Unity-> MapDepthFrameToColorSpaceUsingIntPtr - Kinect v2 + Unity -> MapDepthFrameToColorSpaceUsingIntPtr Unity3D四元数libGDX等效 - Unity3D Quaternion libGDX equivalent Unity3d-2d关节不充当固定关节 - Unity3d - 2d joint doesnt act as fixed joint Unity3D锁定可配置关节 - Unity3D locking configurable joint Unity3D可配置关节麻烦 - Unity3D configurable joint trouble 屏幕方向 Unity3d - Screen orientation Unity3d
相关标签
 
粤ICP备18138465号  © 2020-2024 STACKOOM.COM