/// <summary>
/// Converts camera space point to color space, shows position to calling process and applies ARMA filter if the case.
/// </summary>
/// <param name="joint">Body joint</param>
/// <param name="filter">ARMA filter reference to this joint</param>
/// <returns></returns>
private ColorSpacePoint ConvertJoint2ColorSpace(Joint joint, FilterARMA filter)
{
ColorSpacePoint point = new ColorSpacePoint();
if (joint.TrackingState == TrackingState.Tracked)
{
switch (joint.JointType)
{
case JointType.HipRight:
_callingProcess.HipRightPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
case JointType.HipLeft:
_callingProcess.HipLeftPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
case JointType.KneeRight:
_callingProcess.KneeRightPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
case JointType.KneeLeft:
_callingProcess.KneeLeftPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
case JointType.AnkleRight:
_callingProcess.AnkleRightPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
case JointType.AnkleLeft:
_callingProcess.AnkleLeftPosition = new Vector3(joint.Position.X, joint.Position.Y, joint.Position.Z);
break;
}
point = _sensor.CoordinateMapper.MapCameraPointToColorSpace(joint.Position);
historyTrackedJoints[(int)joint.JointType] = point;
if (filter != null)
{
filter.UpdateSerie(joint.Position);
}
}
else
{
if (filter != null)
{
joint.Position = filter.PredictNextPoint();
point = _sensor.CoordinateMapper.MapCameraPointToColorSpace(joint.Position);
}
else
{
point = historyTrackedJoints[(int)joint.JointType];
}
_notTracked++;
}
return(point);
}
private void InitializeFilterARMA()
{
filtersARMA = new FilterARMA[Body.JointCount];
for (int i = 0; i < Body.JointCount; i++)
{
filtersARMA[i] = new FilterARMA(N);
}
}