Kinect v2 SDK联合定位

本文介绍了Kinect v2 SDK联合定位的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！ 问题描述

我正在尝试使用Kinect提供的联合方向。 JointOrientation结构的Vector4成员是方向四元数，是正确的吗？

I am trying to use theJoint Orientations provided by Kinect. The Vector4 member of the JointOrientation structure is the orientation quaternion, is that correct?

四元数应该是一个有序元组{cos（t / 2），sin（t / 2）* axis_x ，sin（t / 2）* axis_y， sin（t / 2）* axis_z}，（其中t = angle）。这四个数字如何对应于Vector4中的{x，y，z，w}（即JointOrientation.Orientation）？

A quaternion should be an ordered tuple {cos(t/2), sin(t/2)*axis_x,sin(t/2)*axis_y,sin(t/2)*axis_z}, (where t = angle). How do these four numbers correspond to {x,y,z,w} in the Vector4 (i.e, JointOrientation.Orientation)?

换句话说，每个数字是什么{x Vector4中的，y，z，w}是什么意思？

In other words, what do each of the numbers {x,y,z,w} in the Vector4 mean?

此外，什么是参考方向，即零四元数的方向？它是沿着Y轴向上指向吗？

Further, what is the reference orientation, i.e., the orientation for zero quaternion? is it Pointing upwards, along Y axis?

谢谢。

推荐答案

有一些线程触及你的一些问题。

There are some threads that touch on some of your questions.

social.msdn.microsoft/Forums/en-US/31c9aff6-7dab-433d-9af9-59942dfd3d69/kinect-v20-preview-sdk-jointorientation -vs-boneorientation？forum = kinectv2sdk

social.msdn.microsoft/Forums/en-US/749e47fc-8e7b-4286-b095-72c7676ecaaf / unity-jointorientations-to-bone-mapping-not-right-right？forum = kinectv2sdk

social.msdn.microsoft/Forums/en-US/749e47fc-8e7b-4286-b095-72c7676ecaaf/unity-jointorientations-to-bone-mapping-not-quite-right?forum=kinectv2sdk

关节定向是一种每关节的偏航，俯仰和滚转。每个四元数都是父骨骼的绝对方向。每个关节的基础定义如下：

Joint Orientation is a per-joint yaw, pitch, and roll. Each quaternion is the absolute orientation of the parent bone. The basis of each joint is defined by:

- 骨骼方向（Y绿色） - 始终与骨骼匹配。 - 正常（Z蓝色） - 关节滚动，垂直于骨骼 - Binormal（X orange） - 垂直于骨骼和正常

- Bone direction(Y green) - always matches the skeleton. - Normal(Z blue) - joint roll, perpendicular to the bone - Binormal(X orange) - perpendicular to the bone and normal