How to Smooth the Tracking in CamShift

Question

I'm Doing Project on hand Tracking using OpenCV library function. By using Camshift() function I could able to track my hands but it wasn't not stable, even I make my hand stable there is little movement in tracking. So I couldn't able to perform mouse click operation at correct position. Someone please help me to figure out this.

void TrackingObjects::drawRectangle(CvRect objectLocation){
CvPoint p1, p2,mou;
CvRect crop;
p1.x = objectLocation.x;
p2.x = objectLocation.x + objectLocation.width;

p1.y = objectLocation.y;
p2.y = objectLocation.y + objectLocation.height;

cvRectangle(image,p1,p2,CV_RGB(0,255,0),1,CV_AA,0);

mou.x=(p2.x-p1.x)/2;
mou.x=p1.x+mou.x;
mou.y=(p2.y-p1.y)/2;
mou.y=p1.y+mou.y;

SetCursorPos(mou.x,mou.y);

}

In above code I get the tracked object location by obectLocation parameter and I've drawn rectangle over the tracked region. By getting its center I did mouse movement.

While closing the palm in order to do MouseDown event, the position of tracked object has being changed.

Answer 1

The answer is Kalman filters. You can use this code. As you can see in the figure below, the filtered results (green line) ignore tracker's sudden displacements (where cyan depicts the original tracking results).