如何使用kinect查找手的滚动和俯仰 [英] How do I Find roll and pitch of hand with kinect

问题描述

大家好。 

我正在开发一个使用kinect传感器来控制机器人操纵器的应用程序，但是在控制"俯仰和偏航"时我遇到了问题。当传感器无法识别用户手中的这些角度时机器人的抓手。 
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Hello everyone. 
I am developing an application to control a robot manipulator using the kinect sensor but I have a problem when controlling the "Pitch and Yaw" the gripper of the robot as the sensor does not recognize these angles from the hand of the user. 

I希望你能帮我找到这些角度的代码。

I hope you can help me with a code to find these angles.

推荐答案

获取父关节方向的倒数并将其乘以局部旋转值。从那里你可以进行四元数到矩阵的转换，以获得旋转的完整矩阵变换。

take the inverse of the parent joint's orientation and multiply that by the local rotation value. From there you can make a quaternion to matrix conversion to get the full matrix transformation for the rotation.

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