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Kinect v2 co-orientation on quadd

I'm trying to move an avatar using Unity3D according to the data coming from Kinect V2, the problem is that I am applying multipurpose orientations to a single Slerp transformation,

How can I calculate a new quaternion that allows me to correctly simulate human movements in real time?

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);

here i'm only moving the SpineMid and it seems to be relatively good

  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);

here i'm applying the same Slerp Transform to SpineMid and SpainBase

the funniest part is when I tried to apply the previous Slerp transformation to each joint in the avatar

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);

applying Slerp Transformation to every joint in the avatar

Note: All of these print screens were made using T-Pose facing the KinectV2 sensor.

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1 answer

As far as I remember, orientations are not local, and you need to orient each connection to the sky before applying the appropriate orientation.

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Source: https://habr.com/ru/post/980218/

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