Hello unti,
I have been trying to map the Kinect’s ‘absolute’ rotations to ‘relative’ rotations that could be used in skeletal animation too, for a while. It took me quite some trial and error to get there, but I think I am close to a usable version.
I attached a patch that first creates matrix transforms from the 3 Kinect’s rotation vectors, and then tries to get the ‘relative’ rotations out of it.
I hope this helps (i don’t know if this is more efficient), but I am also curious about your approach, so I’d be glad if you posted a patch of yours, so I can see how you managed to do it.
kinect skeleton.zip (251.9 kB)