Tuesday, July 24, 2012 9:41 AM
i am woundering how it is possible to calcullate the joint rotation in euler angles.
the sdk provides the joint rotations in hirarchial and absolute format but i would like to have the joint rotations in angle degrees.
is there a simple appproach how to do it in c++?
the code to get the hirerchial rotation data:
void getVector(const Vector4& v)
void getMatrix(const Matrix4& m)
would be great someone could give me a code in c++ how to calculate the angles out of this data, if there a simlpe way is existing.
thanks a lot in advance for everyone trying
Thursday, August 02, 2012 8:13 PMOwner
Here's an answer I got from a co-worker familiar with the subject:
Although conceptually easier to understand, Euler angles are not recommended for general use due to the gimbal lock/singularity problem.
Find a Matrix->Euler or Quaternion->Euler conversion (such as the following link), and then perform a radians to degrees conversion on the result.
Understand that there are a number of different Euler angle orderings as well, and each is calculated differently. For the conversion above, use the standard one defined on the site (http://www.euclideanspace.com/maths/standards/index.htm).
John K4W Dev
- Proposed As Answer by John Elsbree [MSFT]Owner Thursday, August 02, 2012 8:14 PM
Sunday, August 26, 2012 3:51 PM
I want to confirm the rotation order of the Rotation Matrix given in the BoneOrientations[JointType].HierarchicalRotation.Matrix
After reading the above links, the standard rotation order is first about Y-axis, then Z-axis, and finally the X-axis.
Since matrix multiplcation does not commute, the order of the axes which one rotates about will affect the result, my question is, being R a rotation matrix given by the Kinect, is this correct:
R = Rx Rz Ry