_hand_angle _hand_angle_estimation _hand_angle_prediction _hand_bounding_box _hand_center _hand_center_estimation _hand_center_prediction _hand_contour _hand_convexity_defects _hand_finger_line_origin _hand_fingertips _hand_found _hand_gesture _hand_hull _hand_num_fingers _hand_ROI _hand_rotated_bounding_box _max_circle_incribed_center _max_circle_inscribed_radius _min_enclosing_circle_center _min_enclosing_circle_radius angleControl angleExtraction boundingBoxExtraction centerExtraction contourExtraction defectsExtraction fingerExtraction gestureExtraction getBoundingBox getCenterHand getCenterHandEstimated getCenterHandPredicted getContours getGesture getHandAngle getHandAngleEstimated getHandAnglePredicted getNumFingers HandDescriptor handFound handPalmExtraction kalmanFilterAngle kalmanFilterCenter operator() plotBoundingRectangle plotCenter plotComplexHull plotContours plotConvexityDefects plotFingertips plotHandInterface plotMaxInscribedCircle plotMinEnclosingCircle ROIExtraction update

void HandDescriptor::centerExtraction ( ) [private] Extracts the hand center and applies a Kalman Filter for improved stability. { //-- Predict next center position with kalman filter: cv::Mat prediction = kalmanFilterCenter.predict(); _hand_center_prediction = cv::Point( prediction.at<float>(0), prediction.at<float>(1) ); //-- Measure actual point (uncomment the selected method): //-------------------- With RotatedRect -------------------------------------- // cv::Point2f rect_points[4]; _hand_rotated_bounding_box.points( rect_points ); // for( int j = 0; j < 4; j++ ) // { // cog.first += rect_points[j].x; // cog.second += rect_points[j].y; // } // cog.first /= 4; // cog.second /= 4; //-------------------- With Bounding Rectangle -------------------------------- //-- (This is more stable than the rotated rectangle) // _hand_center.first = _hand_bounding_box.x + _hand_bounding_box.width / 2; // _hand_center.second = _hand_bounding_box.y + _hand_bounding_box.height / 2; //-------------------- Using Max. Inscribed Circle ----------------------------- _hand_center = _max_circle_incribed_center; //-- Create matrix for storing the measurement (measured position of hand) cv::Mat_<float> measurement(2, 1); measurement(0) = _hand_center.x; measurement(1) = _hand_center.y; //-- Correct estimation: cv::Mat estimation = kalmanFilterCenter.correct( measurement); _hand_center_estimation = cv::Point( estimation.at<float>(0), estimation.at<float>(1) ); }