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microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
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Body Tracking Data - Joint Rotation switching between positive and negative values #195

Closed AswinkarthikeyenAK closed 3 years ago

AswinkarthikeyenAK commented 3 years ago

Hi, I started the body tracking and then captured the rotation of the pelvis joint and noticed that the data was not consistent. Can someone kindly let me know why the data of the pelvis joint data obtained from the camera is not consistent with the rotation?
image Is there a way to fix this? (Does this have any effect?)

Thanks

ooeygui commented 3 years ago

@qm13 do you have any input on this?

zchenpds commented 3 years ago

This is expected. You converted the quaternion to Euler angles and the yaw angle is wrapped to [-pi, pi), causing the discontinuity you observe in the yaw angle. The quaternion still changes continuously with time.

ooeygui commented 3 years ago

@zhenpds Thank you for your input here!