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kinect v2聯合定向到unity3d四元數

[英]kinect v2 joint orientation to unity3d quaternion

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

問題描述

我正在嘗試根據來自Kinect V2的數據使用Unity3D移動化身，問題是當我將多關節方向應用於單位Slerp變換時，

如何計算新的四元數，使我能夠正確模擬實時人體運動？ 

            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);

在這里，我只是移動SpineMid，它似乎相對較好

            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);

在這里，我將相同的Slerp Transform應用於SpineMid和SpainBase

最有趣的部分是當我嘗試將之前的Slerp轉換應用於頭像中的每個關節時

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);

將Slerp Transformation應用於頭像中的每個關節

注意：所有這些打印屏幕都是使用T-Pose面向KinectV2傳感器拍攝的。

1 個解決方案

解決方案1
 1 已采納  2015-01-14 21:35:14

據我記憶，在應用相應的方向之前，方向不是局部的，您需要將每個關節定向到天空。

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