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 Ángulos de los huesos (incluido en Danzante)

 

Tras considerable esfuerzo (sobre todo para entender la jerarquía y significado de estos datos), obtengo algunos ángulos de esqueleto real, que copio de la ventana de inspección en Visual Basic, la que proporciona valores en un momento dado de la ejecución:

 

Los datos numéricos son , números de simple precisión con coma flotante. Elimino esas palabras y Microsoft Kinect, así como repeticiones

 

+ skel_actual {Skeleton} Skeleton - rotacion_absoluta {BoneRotation} Object - BoneRotation {BoneRotation} BoneRotation + Matrix {Matrix4} Matrix4 + Quaternion {Vector4} Vector4 - rotacion_jerarquica {BoneRotation} Object - BoneRotation {BoneRotation} BoneRotation + Matrix {Matrix4} Matrix4 + Quaternion {Vector4} Vector4 - skel_actual.BoneOrientations {BoneOrientationCollection} BoneOrientationCollection Count 20 Integer IsValid True Boolean Item Para evaluar una propiedad indizada, ésta debe estar calificada y el usuario debe proporcionar explícitamente los argumentos. BoneOrientation + arti_inicial ElbowRight {9} {JointType} Object + arti_final WristRight {10} {JointType} Object cuadro 217 Long iihue 10 Byte

 

Ahora los ampliamos PARA VER LOS ÁNGULOS EN FORMA DE MATRIZ Y CAUTERNA: e

 

- rotacion_absoluta {BoneRotation} Object
- BoneRotation {BoneRotation} BoneRotation
- Matrix {Matrix4} Matrix4

M11 0.427998751 Single
M12 0.561167359 Single
M13 -0.7084549 Single
M14 0.0 Single
M21 -0.671970665 Single
M22 -0.326610684 Single
M23 -0.664666 Single
M24 0.0 Single
M31 -0.6043778 Single
M32 0.760537148 Single
M33 0.23729904 Single
M34 0.0 Single
M41 0.0 Single
M42 0.0 Single
M43 0.0 Single
M44 1.0 Single
- Quaternion {Vector4} Vector4
W 0.578508258 Single
X -0.615895748 Single
Y 0.0449765 Single
Z 0.5328956 Single
- rotacion_jerarquica {BoneRotation} Object
- BoneRotation {BoneRotation} BoneRotation
- Matrix {Matrix4} Matrix4
+ Identity {Matrix4} Matrix4
M11 1.00000012 Single
M12 0.0 Single
M13 0.0 Single
M14 0.0 Single
M21 0.0 Single
M22 0.570322454 Single
M23 0.821421 Single
M24 0.0 Single
M31 0.0 Single
M32 -0.821420968 Single
M33 0.5703225 Single
M34 0.0 Single
M41 0.0 Single
M42 0.0 Single
M43 0.0 Single
M44 1.0 Single
- Quaternion {Vector4} Vector4
W 0.8860933 Single
X 0.4635071 Single
Y 0.0 Single
Z 0.0 Single
- skel_actual.BoneOrientations

Count 20 Integer
IsValid True Boolean
+ arti_inicial ElbowRight {9} {JointType} Object
+ arti_final WristRight {10} {JointType} Object
cuadro 217 Long
iihue 10 Byte
 

 

 

 

 

 

 

 

- rotacion_jerarquica {BoneRotation} Object	- rotacion_absoluta {BoneRotation} Object
Comparamos valores homólogos de ambas rotaciones
-  Matrix4 M11 -0.8824772 M12 -0.009340509 M13 0.4702625 M14 0.0 M21 0.07386108 M22 0.9846468 M23 0.158162341 M24 0.0 M31 -0.464519739 M32 0.174308747 M33 -0.8682384 M34 0.0 M41 0.0 M42 0.0 M43 0.0 M44 1.0   - Quaternion  Vector4 W -0.241832167 X 0.0166917462 Y 0.9663543 Z 0.0860116854	- Matrix {Matrix4} Matrix4 M11 -0.8824772 M12 -0.009340509 M13 0.4702625 M14 0.0 M21 0.07386108 M22 0.9846468 M23 0.158162341 M24 0.0 M31 -0.464519739 M32 0.174308747 M33 -0.8682384 M34 0.0 M41 0.0 M42 0.0 M43 0.0 M44 1.0 - Quaternion {Vector4} Vector4 W -0.241832167 X 0.0166917462 Y 0.9663543 Z 0.0860116854
- BoneOrientations {BoneOrientationCollection} BoneOrientationCollection Count 20 Integer IsValid True Boolean Item Para evaluar una propiedad indizada, ésta debe estar calificada y el usuario debe proporcionar explícitamente los argumentos. BoneOrientation ClippedEdges None {0} FrameEdges - Joints {JointCollection} JointCollection Count 20 Integer Item Para evaluar una propiedad indizada, ésta debe estar calificada y el usuario debe proporcionar explícitamente los argumentos. TrackingId 2 Integer TrackingState Tracked {2} SkeletonTrackingState   - Position {SkeletonPoint} SkeletonPoint X -0.058648672 Y -0.46514082 Z 2.46152	Joint - JointTypeValues {JointType()} System.Array - JointType() {Length=20} Joint - JointTypeValues {JointType()} System.Array - JointType() {Length=20} JointType() (0) HipCenter {0} JointType (1) Spine {1} JointType (2) ShoulderCenter {2} JointType (3) Head {3} JointType (4) ShoulderLeft {4} JointType (5) ElbowLeft {5} JointType (6) WristLeft {6} JointType (7) HandLeft {7} JointType (8) ShoulderRight {8} JointType (9) ElbowRight {9} JointType (10) WristRight {10} JointType (11) HandRight {11} JointType (12) HipLeft {12} JointType (13) KneeLeft {13} JointType (14) AnkleLeft {14} JointType (15) FootLeft {15} JointType (16) HipRight {16} JointType (17) KneeRight {17} JointType (18) AnkleRight {18} JointType (19) FootRight {19} JointType

 

Observamos que son iguales: esto quiere decir que este hueso cuelga de una referencia absoluta.

necesitamos un hueso que dEpenda de otro.

 

otra

arti_final = osamenta2(iihue).EndJoint        arti_inicial = ShoulderCenter {2} {JointType}
- - rotacion_jerarquica {BoneRotation} Object - BoneRotation {BoneRotation} BoneRotation - Matrix {Matrix4} Matrix4 + Identity {Matrix4} Matrix4 M11 0.995876 M12 -0.0798004344 M13 -0.0431640148 M14 0.0 M21 0.09072615 M22 0.87594676 M23 0.473799467 M24 0.0 M31 0.0 M32 -0.4757616 M33 0.8795743 M34 0.0 M41 0.0 M42 0.0 M43 0.0 M44 1.0 - Quaternion {Vector4} Vector4 W 0.968426168 X 0.245129958 Y 0.0111428257 Z -0.04402158	- rotacion_absoluta {BoneRotation} Object - BoneRotation {BoneRotation} BoneRotation - Matrix {Matrix4} Matrix4 + Identity {Matrix4} Matrix4 M11 -0.8646814 M12 -0.09540108 M13 0.4931783 M14 0.0 M21 -0.235454589 M22 0.944238067 M23 -0.230163977 M24 0.0 M31 -0.443719864 M32 -0.3151396 M33 -0.838927746 M34 0.0 M41 0.0 M42 0.0 M43 0.0 M44 1.0 - Quaternion {Vector4} Vector4 W -0.24526979 X -0.08661443 Y 0.9549669 Z -0.14275457

 

Ya no coinciden las rotaciones

 

Veamos la interpretación geométrica de estos datos en Ángulos de los huesos II.

 

 

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