handdetector.py 文件源码

def calculateCoM(self, dpt):
        """
        Calculate the center of mass
        :param dpt: depth image
        :return: (x,y,z) center of mass
        """

        dc = dpt.copy()
        dc[dc < self.minDepth] = 0
        dc[dc > self.maxDepth] = 0
        cc = ndimage.measurements.center_of_mass(dc > 0)
        num = numpy.count_nonzero(dc)
        com = numpy.array((cc[1]*num, cc[0]*num, dc.sum()), numpy.float)

        if num == 0:
            return numpy.array((0, 0, 0), numpy.float)
        else:
            return com/num