Kinect v2 SDK联合定位 [英] Kinect v2 SDK Joint Orientation
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 the Joint 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.
http://social.msdn.microsoft.com/Forums/en-US/749e47fc-8e7b-4286-b095-72c7676ecaaf / unity-jointorientations-to-bone-mapping-not-right-right？forum = kinectv2sdk
http://social.msdn.microsoft.com/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
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