Kinect v2.0 FaceFrameResult.FaceRotationQuaternion 返回 NAN

Question

我正在尝试使用 kinect 获取人脸的偏航俯仰和滚动。为了计算这些值，我试图获得 FaceRotationQuaternion。然而，Y 和 Z 值似乎 return NaN。

旋转四元数值示例：

X: 0 Y: NaN Z: NaN W: 2.80259692864963E-45

新人脸框到达时使用的代码。

    void FaceReader_FrameArrived(object sender, FaceFrameArrivedEventArgs e)
    {
        using (var frame = e.FrameReference.AcquireFrame())
        {
            if (frame != null)
            {
                // 4) Get the face frame result
                FaceFrameResult result = frame.FaceFrameResult;

                if (result != null)
                {
                    System.Diagnostics.Debug.WriteLine("Found Face");

                    faceRotation = result.FaceRotationQuaternion;
                    double x = result.FaceRotationQuaternion.X;
                    double y = result.FaceRotationQuaternion.Y;
                    double z = result.FaceRotationQuaternion.Z;
                    double w = result.FaceRotationQuaternion.W;

                    System.Diagnostics.Debug.WriteLine("X: " + x + " Y: " + y + " Z: " + z + " W: " + w);

                }
             }
         }
     }

面部已注册 body。

  void BodyReader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
        {

            //Sent the data over bluetooth.
            //btc.sendKinectData(kinectData);

            using (var frame = e.FrameReference.AcquireFrame())
            {
                if (frame != null)
                {
                    bodies = new Body[frame.BodyFrameSource.BodyCount];
                    frame.GetAndRefreshBodyData(bodies);

                    Body body = bodies.Where(b => b.IsTracked).FirstOrDefault();

                    if (!faceFrameSource.IsTrackingIdValid)
                    {
                        if (body != null)
                        {
                            // 4) Assign a tracking ID to the face source
                            faceFrameSource.TrackingId = body.TrackingId;
                        }
                    }
                }
            }
        }

如何使用 FaceRotationQuaternion 获得正确的值？

Answer 1

我找到了解决办法。看来头部的方向也是一个特征，所以需要先载入才能生效。

faceFrameSource = new FaceFrameSource(kinectSensor,0,FaceFrameFeatures.RotationOrientation);

Kinect v2.0 FaceFrameResult.FaceRotationQuaternion 返回 NAN

Kinect v2.0 FaceFrameResult.FaceRotationQuaternion returning NAN

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