K4W v2旋转数据的含义 [英] Meaning of Rotation Data of K4W v2

问题描述

我研究了Kinect v2 sdk旋转数据的含义。我有两个问题。



对于儿童和父母的联合，我定义了这些四元数。
    Pc = i * Position.X + j * Position.Y + k * Position.Z（儿童关节）

    Rc = Orientation.W + i * Orientation.X + j * Orientation.Y + k * Orientation.Z（儿童关节）

和

    Pp = i * Position.X + j * Position.Y + k * Position.Z（其父联合）。

然后我得到以下公式：

  ;   Pc-Pp = | Pc-Pp | * Rc *（0i + 1j + 0k）*共轭（Rc）。



（我仔细检查。我是对此公式充满信心。）



此外，我在下面画一幅图，以弄清楚"曲折"。



对于任何关节点，我计算了矢量图像（1,0， 0），（0,1,0），（0,0,1）

按其旋转图并将它们绘制为红色，绿色和蓝色箭头 

来自联合点。在这里，他站在"关注"的立场。姿势。

这张照片好吗？我不自信，因为曲折不那么稳定。



并且  什么是"SpineBase"的JointOrientation？

它不是空的，但我完全不理解它的含义。

感谢您的好意。

解决方案

非常好的图表和绘图。以下是一些更有用的链接。

   
http://social.msdn.microsoft.com/Forums/en-US/a87049b5-7842-4c17-b776-3f6f4260c801/how-to-interpret-jointorientation-data?forum=k4wv2devpreview

    

     http://social.msdn.microsoft.com/Forums/en-US/6e819a88-c74b-40f3-8951-abbd903a0085/inferred-joints-how-to-treat-best-practices?forum=k4wv2devpreview

    

     http://social.msdn.microsoft.com/Forums/en-US/7ec4ba56-74af-44a5-a321-df93b0b2c721/mathematical-foundations-for-understanding-joint-orientations?forum=k4wv2devpreview

    

     http://social.msdn.microsoft.com/Forums/en-US/14d49b97-118c-4791-a022-820b09d52091/joint-orientation-quaternion-when-there-is-no- parent-joint？forum = k4wv2devpreview

    

     http://social.msdn.microsoft.com/Forums/en-US/b686b40d-44ae-4b80-9953-d33e5ea6be41/compute-segment-orientation-with-quaternion?forum=k4wv2devpreview

I have studied the meaning of rotation data of Kinect v2 sdk. I have two questions about it.

For a child and parent joint, I define these quaternions
    Pc=i*Position.X+j*Position.Y+k*Position.Z (of the child joint)
    Rc=Orientation.W+i*Orientation.X+j*Orientation.Y+k*Orientation.Z (of the child joint)
and
    Pp=i*Position.X+j*Position.Y+k*Position.Z (of its parent joint).
Then I got the following formula:
    Pc-Pp=|Pc-Pp|*Rc*(0i+1j+0k)*Conjugate(Rc).

(I double-checked. I'm confident of this formula.)

Furthermore I draw a picture below to figure out "twists".

For any joint point, I calculated the images of vector (1,0,0),(0,1,0),(0,0,1)
by its rotation map and draw them as red, green and blue arrows 
from the joint point. Here he is standing at "attention" pose.
Is this picture OK? I'm not confident because twists are not so stable.

And what is the JointOrientation of "SpineBase"?
It's not empty, but I don't understand its meaning at all.

Thank you for your kindness.

解决方案

Very good diagram and drawing. Here are some more helpful links.

    http://social.msdn.microsoft.com/Forums/en-US/a87049b5-7842-4c17-b776-3f6f4260c801/how-to-interpret-jointorientation-data?forum=k4wv2devpreview
    
    http://social.msdn.microsoft.com/Forums/en-US/6e819a88-c74b-40f3-8951-abbd903a0085/inferred-joints-how-to-treat-best-practices?forum=k4wv2devpreview
    
    http://social.msdn.microsoft.com/Forums/en-US/7ec4ba56-74af-44a5-a321-df93b0b2c721/mathematical-foundations-for-understanding-joint-orientations?forum=k4wv2devpreview
    
    http://social.msdn.microsoft.com/Forums/en-US/14d49b97-118c-4791-a022-820b09d52091/joint-orientation-quaternion-when-there-is-no-parent-joint?forum=k4wv2devpreview
    
    http://social.msdn.microsoft.com/Forums/en-US/b686b40d-44ae-4b80-9953-d33e5ea6be41/compute-segment-orientation-with-quaternion?forum=k4wv2devpreview

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