//filtering
void filtering()
{
int anglesarraysize = anglesMid.Count;
double[] preProcessedData = new double[anglesarraysize];
for (int i = 0; i < anglesMid.Count; i++)
{
preProcessedData[i] = anglesMid[i];
}
MathNet.Filtering.OnlineFilter lowPass = MathNet.Filtering.OnlineFilter.CreateLowpass(MathNet.Filtering.ImpulseResponse.Infinite, 400, 10000, 3);
preProcessedData = lowPass.ProcessSamples(preProcessedData);
anglesMid.Clear();
for (int i = 0; i < preProcessedData.Length; i++)
{
anglesMid.Add((float)preProcessedData[i]);
}
}
//filtering
void filtering()
{
MathNet.Filtering.OnlineFilter lowPass = MathNet.Filtering.OnlineFilter.CreateLowpass(MathNet.Filtering.ImpulseResponse.Finite, 200000, 5000, 10);
double[] flexAnglesMidArray = new double[flexAnglesMid.Count];
for (int i = 0; i < flexAnglesMid.Count; ++i)
{
flexAnglesMidArray[i] = flexAnglesMid[i];
}
flexAnglesMidArray = lowPass.ProcessSamples(flexAnglesMidArray);
for (int i = 0; i < flexAnglesMidArray.Length; i++)
{
flexAnglesMidCorrected.Add(flexAnglesMidArray[i]);
}
flexAnglesMid.Clear();
copyListByValue(flexAnglesMidCorrected, flexAnglesMid);
//Kinect
double[] KinectAnglesArray = new double[kinectFeedback.flexAngles.Count];
MathNet.Filtering.OnlineFilter lowPassKin = MathNet.Filtering.OnlineFilter.CreateLowpass(MathNet.Filtering.ImpulseResponse.Finite, 200000, 15000, 10);
for (int i = 0; i < kinectFeedback.flexAngles.Count; ++i)
{
KinectAnglesArray[i] = kinectFeedback.flexAngles[i];
}
KinectAnglesArray = lowPassKin.ProcessSamples(KinectAnglesArray);
for (int i = 0; i < KinectAnglesArray.Length; i++)
{
kinectFlexAnglesCorrected.Add(KinectAnglesArray[i]);
}
kinectFeedback.flexAngles.Clear();
copyListByValue(kinectFlexAnglesCorrected, kinectFeedback.flexAngles);
}
