kinect v2联合定向到unity3d四元数
Wae*_*ada 6 orientation unity-game-engine kinect
我正在尝试根据来自Kinect V2的数据使用Unity3D移动化身,问题是当我将多关节方向应用于单位Slerp变换时,
我如何计算新的四元数,它允许我正确模拟实时人体运动？
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);
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);
最有趣的部分是当我尝试将之前的Slerp转换应用于头像中的每个关节时
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);
注意:所有这些打印屏幕都是使用T-Pose面向KinectV2传感器拍摄的.