private Point3D getJointError(Point3D jointPosition, KinectBase.TrackingState trackingState)
{
//TODO: Update this method once I have better information on how good the skeleton measurements of the Kinect v2 are
//Note, the error is likely depth dependent, thus the joint position is passed in, inspite of not being used in the current implementation
Point3D error = new Point3D();
if (trackingState == KinectBase.TrackingState.NotTracked)
{
//Set the error really high when the joint isn't tracked so it doesn't messup the the filter if it accidently gets included
error.X = 1000;
error.Y = 1000;
error.Z = 1000;
}
else
{
double tempError = 0.005; //Set the tracked error to 5 millimeters
if (trackingState == KinectBase.TrackingState.Inferred)
{
error.X = 10 * tempError;
error.Y = 10 * tempError;
error.Z = 10 * tempError;
}
else
{
error.X = tempError;
error.Y = tempError;
error.Z = tempError;
}
}
return(error);
}
private Point3D getJointError(Point3D jointPosition, KinectBase.TrackingState trackingState)
{
Point3D error = new Point3D();
if (trackingState != KinectBase.TrackingState.NotTracked)
{
double depthDepError = 0.0004946 * Math.Exp(0.7 * jointPosition.Z); //Based on "Performance Measurements for the Microsoft Kinect Skeleton" by Livingston, et al.
if (trackingState == KinectBase.TrackingState.Inferred)
{
error.X = 10 * depthDepError;
error.Y = 10 * depthDepError;
error.Z = 10 * depthDepError;
}
else //tracked or position only
{
error.X = depthDepError;
error.Y = depthDepError;
error.Z = depthDepError;
//These are for making the error dependent on the direction
//However, these directional errors are not preserved in the coordinate system transformation
//Also, I am not 100% sure the ratios are derived from the paper correctly
//error.X = 0.669 * depthDepError;
//error.Y = 1.011 * depthDepError;
//error.Z = 1.321 * depthDepError;
}
}
else
{
//If the joint isn't tracked, set the error really high so if the filter tries to use it, it doesn't significantly contribute to the estimate
error.X = 1000;
error.Y = 1000;
error.Z = 1000;
}
return(error);
}
