public static Planes GetPlanes(Dictionary <JointType, Joint> joints)
{
CameraSpacePoint spineBase = joints[JointType.SpineBase].Position;
CameraSpacePoint spineMid = joints[JointType.SpineMid].Position;
CameraSpacePoint horizontalPlane = LinearAlgebra.Normalize(LinearAlgebra.Sub(spineMid, spineBase));
CameraSpacePoint hipToHip = LinearAlgebra.Normalize(LinearAlgebra.Sub(joints[JointType.HipLeft].Position, joints[JointType.HipRight].Position)); // difference between both hips
CameraSpacePoint sagittalPlane = LinearAlgebra.Normalize(LinearAlgebra.CrossProduct(horizontalPlane, hipToHip));
CameraSpacePoint frontalPlane = LinearAlgebra.Normalize(LinearAlgebra.CrossProduct(horizontalPlane, sagittalPlane));
Planes planes = new Planes(horizontalPlane, sagittalPlane, frontalPlane);
return(planes);
}
