kinect骨骼的XYZ坐标的本质是什么

Question

我正在使用 kinect 设备开发手势应用程序。在这里，我正在用 X、y、z 坐标检查手势。

我想知道特定手势的骨架性质。我正在检查手势是否是手推。

private handpush()
{

 bool MovedFront = false;
 float refDistance = 0.2F;


 SkeletonPoint refPos = SkeletonHistory[0].Joints[JointType.ShoulderCenter].Position;
 SkeletonPoint startPos = SkeletonHistory[0].Joints[JointType.HandRight].Position;

 //printing all intial cordinates

 Console.WriteLine(" ShoulderCenter[0].Z = " + refPos.Z);

 Console.WriteLine(" HandRight[0].X = " + startPos.X);
 Console.WriteLine(" HandRight[0].Y = " + startPos.Y);
 Console.WriteLine(" HandRight[0].Z = " + startPos.Z);


   for (int i = 20; i < SkeletonHistory.Count; i++)
   {
            Console.WriteLine(" ShoulderCenter[i].Z = " + SkeletonHistory[i].Joints[JointType.ShoulderCenter].Position.Z);
            Console.WriteLine(" HandRight[i].X = " + SkeletonHistory[i].Joints[JointType.HandRight].Position.X);
            Console.WriteLine(" HandRight[i].Y = " + SkeletonHistory[i].Joints[JointType.HandRight].Position.Y);
            Console.WriteLine(" HandRight[i].Z = " + SkeletonHistory[i].Joints[JointType.HandRight].Position.Z);


            if (!(SkeletonHistory[i].Joints[JointType.HandRight].Position.Y < SkeletonHistory[i].Joints[JointType.Head].Position.Y &&
                    Math.Abs(SkeletonHistory[i].Joints[JointType.ShoulderCenter].Position.Z - refPos.Z) < 0.05F &&
                    Math.Abs(SkeletonHistory[i].Joints[JointType.HandRight].Position.Y - startPos.Y) < 0.1F &&
                    Math.Abs(SkeletonHistory[i].Joints[JointType.HandRight].Position.X - startPos.X) < 0.1F))
            {
                Console.WriteLine("CheckHandPush breaking !!");
                break;
            }

            if (SkeletonHistory[i].Joints[JointType.HandRight].Position.Z <= (startPos.Z - refDistance))
            {
                Console.WriteLine("CheckHandPush sucess");
                bMovedFront = true;
                temp_SkeletonHistory.Clear();
            }
    }

   return MovedFront;
}

但我得到的初始值如下：

输出：

ShoulderCenter[0].Z = 1.246491
 HandRight[0].X = 0.1519185
 HandRight[0].Y = -0.2328865
 HandRight[0].Z = 1.014945

 ShoulderCenter[i].Z = 1.248788
 HandRight[i].X = 0.1397971
 HandRight[i].Y = -0.2452036
 HandRight[i].Z = 1.054223

 -----
 ShoulderCenter[0].Z = 1.26865
 HandRight[0].X = 0.1545139
 HandRight[0].Y = -0.3375102
 HandRight[0].Z = 1.057466

 ShoulderCenter[i].Z = 1.25049
 HandRight[i].X = 0.09602752
 HandRight[i].Y = -0.283217
 HandRight[i].Z = 1.150237


 ---

 ShoulderCenter[0].Z = 1.243356
 HandRight[0].X = 0.1406149
 HandRight[0].Y = -0.2458241
 HandRight[0].Z = 1.065399

 ShoulderCenter[i].Z = 1.250542
 HandRight[i].X = 0.1392216
 HandRight[i].Y = -0.2418006
 HandRight[i].Z = 1.046706

我是在推手，那么Z轴应该是增加值还是减少值？表示Z坐标长度是从kinect设备还是人体开始？

这个条件适合手推吗？有什么建议么？我可以得到一个示例代码吗？？

任何有用的 x、y、z 坐标检查手推、手拉的链接？

我对坐标检查感到困惑。

Answer 1

这些值在 Kinect v2 中以米为单位“Camera Space”（链接页面上有一张漂亮的图片）：

Camera space refers to the 3D coordinate system used by Kinect. The coordinate system is defined as follows:

The origin (x=0, y=0, z=0) is located at the center of the IR sensor on Kinect

X grows to the sensor’s left

Y grows up (note that this direction is based on the sensor’s tilt)

Z grows out in the direction the sensor is facing

1 unit = 1 meter

因此，当您站在相机前并将手推向它时，Z 值应该会减小。
要根据用户的位置和方向获取坐标，您必须自己旋转和平移坐标。

kinect骨骼的XYZ坐标的本质是什么

What is the nature of XYZ cordinates of skeleton with kinect

c#

windows

gesture-recognition

kinect

kinect-sdk