/// <summary>
/// Create a Kalman smoothing joint with default configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
public KalmanJoint(JointType jointType)
: base(jointType)
{
var parms = new KalmanSmoothingParameters();
_measurementUncertainty = new Vector3(parms.MeasurementUncertainty);
_jitterRadius = parms.JitterRadius;
}
/// <summary>
/// Create a Kalman smoothing joint with default configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
public KalmanJoint(JointType jointType)
: base(jointType)
{
var parms = new KalmanSmoothingParameters();
_measurementUncertainty = new Vector3(parms.MeasurementUncertainty);
_jitterRadius = parms.JitterRadius;
}
/// <summary>
/// Create a Kalman smoothing joint with custom configuration values.
/// </summary>
/// <param name="jointType">The joint type to create</param>
/// <param name="parameters">An <c>ExponentialSmoothingParameters</c> object</param>
public KalmanJoint(JointType jointType, ISmootherParameters parameters = null)
: base(jointType)
{
var parms = parameters as KalmanSmoothingParameters;
if (parms == null)
{
parms = new KalmanSmoothingParameters();
}
_measurementUncertainty = new Vector3(parms.MeasurementUncertainty);
_jitterRadius = parms.JitterRadius;
}
private void InitBody(float aJitterRadius, float aMeasurementUncertainty)
{
log.Info("InitBody");
KalmanSmoothingParameters smoothingParam = new KalmanSmoothingParameters();
smoothingParam.JitterRadius = aJitterRadius;
smoothingParam.MeasurementUncertainty = aMeasurementUncertainty;
_smoothedBodies = new SmoothedBody<KalmanSmoother>[this.KinectSensor.BodyFrameSource.BodyCount];
for (int i = 0; i < this.KinectSensor.BodyFrameSource.BodyCount; i++)
{
_smoothedBodies[i] = new SmoothedBody<KalmanSmoother>(smoothingParam);
}
// get the coordinate mapper
this.coordinateMapper = this.KinectSensor.CoordinateMapper;
// get total number of bodies from BodyFrameSource
this.bodies = new Body[this.KinectSensor.BodyFrameSource.BodyCount];
// sets total number of possible tracked bodies
this.bodyCount = this.KinectSensor.BodyFrameSource.BodyCount;
// open the reader for the body frames
this.bodyFrameReader = this.KinectSensor.BodyFrameSource.OpenReader();
// wire handler for frame arrival
this.bodyFrameReader.FrameArrived += this.Reader_BodyFrameArrived;
}