kinect v2 gemeinsame Orientierung unity3d quaternion

Question

ich versuche, einen Avatar bewegen Sie mit Unity3D entsprechend den Daten kommen von Kinect V2, das Problem ist, wenn ich mit mehreren gemeinsamen Orientierungen gelten für die Einheit verwandeln Slerp,

Wie kann ich die neue Quaternion berechnen, mit der ich die menschlichen Bewegungen in Echtzeit richtig simulieren kann?

  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); 

das Tollste ist, wenn ich versucht, die vorherige Slerp Transformation zu jedem Gelenk in der Avatar

float ox, oy, anzuwenden 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); 

Hinweis: alle diese Druck-Taste mit T-Haltungs genommen wurde die KinectV2 Sensor gegenüber.

Answer 1

Soweit ich mich erinnere, sind die Orientierungen nicht lokal und Sie müssen jedes Gelenk zum Himmel ausrichten, bevor Sie die entsprechende Ausrichtung anwenden.