Working with kinect accelerometer data (libfreenect)

Question

I access the Kinect accelerometer in C ++ through openFrameworks and ofxKinect , and I have some problems with certain angles. If I set the kindex 90 degrees down, I get nan values. I reviewed the getAccelPitch () method, and this view makes sense, since asin will return 0 when there are values ​​greater than 9.80665 divided by 10.1 / 9.80665.

The main problem is that after I mount the device 90 degrees, the roll does not seem reliable (it does not seem to change much). In my setup, I will need to set the device 90 degrees, but also know its new video.

Any hints, tips on how I can do this? Is there an easy way to get data for drawing the orientation of the kinect with 3 rows (axes).

I am trying to determine the following orientations:

Answer 1

The problem is that you are using Euler angles (roll, pitch and yaw).

Euler angles are evil and they bring stability to your application, see for example

• Strange behavior with an Android orientation sensor ,

• Reduced pitch / roll variations> .

They are not suitable for interpolation .

The solution is to use rotation matrices instead. A tutorial on rotation matrices is given in

Direction Cosine Matrix IMU: Theory

manuscript.