79 lines
2.6 KiB
C#
79 lines
2.6 KiB
C#
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using System.Collections.Generic;
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public class Smoother
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{
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// Max allowed size of history list.
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private int maxSize = 100;
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// In case smoother has enough frames in history to perform smooth action.
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private bool hasEnoughForSmoothing = false;
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// Number of the latest frames used to smooth current position; default 5.
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public int NumberSmoothingFrames { get; set; } = 5;
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// Holds received data about moves.
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private List<SkeletonPosition> rawData = new List<SkeletonPosition>();
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// Holds received which are smoothened a little bit.
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private List<SkeletonPosition> smoothenedData = new List<SkeletonPosition>();
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// Process skeleton position and sends back smoothened or raw based on passed parameter.
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public SkeletonPosition ReceiveNewSensorData(SkeletonPosition newData, bool smoothing)
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{
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// In case list is too big.
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if(rawData.Count > maxSize)
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{
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Resize();
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}
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// Add new frame data to raw data used for smoothing.
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rawData.Add(newData);
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// In case value for smoothing is invalid just return original raw frame.
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if (NumberSmoothingFrames <= 1)
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{
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return rawData[rawData.Count - 1];
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}
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// Mark that smoother has enough frames for smoothing.
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if (rawData.Count > NumberSmoothingFrames)
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{
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hasEnoughForSmoothing = true;
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}
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if (smoothenedData.Count == 0)
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{
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smoothenedData.Add(newData);
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}
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else
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{
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SkeletonPosition temp = smoothenedData[smoothenedData.Count - 1] + newData;
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if(hasEnoughForSmoothing)
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{
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temp = temp - rawData[rawData.Count - NumberSmoothingFrames];
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}
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smoothenedData.Add(temp);
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}
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// Smoothened timestamp has the same timestamp as the latest received.
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smoothenedData[smoothenedData.Count - 1].Timestamp = rawData[rawData.Count - 1].Timestamp;
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return smoothing && hasEnoughForSmoothing
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? smoothenedData[smoothenedData.Count - 1] / (float)NumberSmoothingFrames
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: rawData[rawData.Count - 1];
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}
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// Deletes old position data from list which do not have more impact on smoothing algorithm.
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public void Resize()
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{
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if (rawData.Count > NumberSmoothingFrames)
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{
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rawData.RemoveRange(0, rawData.Count - NumberSmoothingFrames);
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}
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if (smoothenedData.Count > NumberSmoothingFrames)
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{
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smoothenedData.RemoveRange(0, smoothenedData.Count - NumberSmoothingFrames);
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}
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}
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}
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