Kinect:计算头部';s俯仰角、偏航角、滚转角
本文关键字:仰角 计算 头部 Kinect | 更新日期: 2023-09-27 17:57:52
我正在尝试使用Kinect传感器和SDK来计算用户头部的方向,但在谷歌上找不到任何好的帮助。有人有什么好的样本、教程或类似的东西可以帮助我吗?
我想我已经找到了一个解决方案,尽管它是有限的,但它只有在Kinect SDK能够检测到人脸的情况下才能工作,因为我使用的是FaceTrackFrame
对象。
如果有人能在Kinect SDK无法检测到人脸时找到追踪更极端角度的解决方案,我会很乐意看到它。
我的解决方案如下:
FaceTrackFrame faceFrame = faceTracker.Track(
kinectSensor.ColorStream.Format, colorPixelData,
kinectSensor.DepthStream.Format, depthPixelData, skeleton);
// Only works if face is detected
if (faceFrame.TrackSuccessful)
{
txtTracked.Content = "TRACKED";
txtRoll.Content = faceFrame.Rotation.Z;
txtPitch.Content = faceFrame.Rotation.X;
txtYaw.Content = faceFrame.Rotation.Y;
}
我使用图像中的深度数据手动计算了这些值。
首先你需要得到深度点
private EnumIndexableCollection<FeaturePoint, Vector3DF> depthPoints;
然后,如果您查看SDK附带的FaceTracking查看器代码,并搜索DrawFaceModel函数。您可以在第一个for循环中提取这样的代码。
faceModelPts3D.Add(new Point3D(this.depthPoints[i].X + 0.5f, this.depthPoints[i].Y + 0.5f, this.depthPoints[i].Z + 0.5f));
FaceDataPoints.DepthXPointInfo[i] = this.depthPoints[i].X;
FaceDataPoints.DepthYPointInfo[i] = this.depthPoints[i].Y;
FaceDataPoints.DepthZPointInfo[i] = this.depthPoints[i].Z;
然后,我将点0和点9放入以下函数中,以获得Pitch。然后我把点120和116放进去,得到哈欠的角度。
public static double FacePitch(double FirstXPos, double FirstYPos, double FirstZPos, double SecXPos, double SecYPos, double SecZPos)
{
double PitchAngle = 0;
double r = 0;
double XDifference, YDifference, ZDifference = 0;
double DifferenceSquared = 0;
XDifference = FirstXPos - SecXPos;//Calculates distance from Points
YDifference = FirstYPos - SecYPos;
ZDifference = FirstZPos - SecZPos;
DifferenceSquared = Math.Pow(XDifference, 2) + Math.Pow(YDifference, 2) + Math.Pow(ZDifference, 2);
r = Math.Sqrt(DifferenceSquared);
PitchAngle = (Math.Acos(ZDifference / r));
PitchAngle = ((PitchAngle * 180 / Math.PI) - 90) * -1; //Converts to Degrees as easier to recognise visually
return PitchAngle;
}
对于卷,我再次放置点0和9,并再次使用上述函数。但我更改了
PitchAngle = (Math.Acos(ZDifference / r));
至
RollAngle = Math.Acos(XDifference / r);