ForeFingerDetection is more stable.

bbiwarg/DataSource/ForeFingerDetection.cs

@@ -12,6 +12,7 @@ namespace bbiwarg.DataSource
 {
     class ForeFingerDetection
     {
+
         /*
          * Returns the forefinger's position
          * all fingers (except der forefinger) have to be inactive
@@ -31,6 +32,9 @@ namespace bbiwarg.DataSource
         private Vector foreFingerPosition;
         private float foreFingerDistance;
 
+        private int pixelWidth;
+        private int pixelHeight;
+
 
         public ForeFingerDetection(IInputProvider inputProvider, IVideoHandle videoHandle)
         {
@@ -40,6 +44,9 @@ namespace bbiwarg.DataSource
 
         public Vector getForeFingerPosition3D(uint handIndex)
         {
+            pixelWidth = videoHandle.getWidth();
+            pixelHeight = videoHandle.getHeight();
+
             Vector palmPosition2D = inputProvider.getPalmPosition2D(handIndex);
             palmPosition = new DenseVector(3);
             palmPosition[0] = palmPosition2D[0];
@@ -58,6 +65,12 @@ namespace bbiwarg.DataSource
                 checkPoint(points[i]);
             }
 
+
+            if (points.Count() <= 10)
+            {
+                Console.WriteLine(palmPosition[2]);
+            }
+
             return videoHandle.pixel2VertexPosition(foreFingerPosition);
         }
 
@@ -79,15 +92,16 @@ namespace bbiwarg.DataSource
         private void addNeighbours(Vector point)
         {
             Vector currentPoint;
-            for (int y = -(int)Math.Min(TOLERANCE_2D, point[1]); y <= TOLERANCE_2D && point[1] + y < videoHandle.getHeight(); y++)
+            int x_start = -(int)Math.Min(TOLERANCE_2D, point[0]);
+            for (int y = -(int)Math.Min(TOLERANCE_2D, point[1]); y <= TOLERANCE_2D && point[1] + y < pixelHeight; y++)
             {
-                for (int x = -(int)Math.Min(TOLERANCE_2D, point[0]); x <= TOLERANCE_2D && point[0] + x < videoHandle.getWidth(); x++)
+                for (int x = x_start; x <= TOLERANCE_2D && point[0] + x < pixelWidth; x++)
                 {
                     currentPoint = new DenseVector(3);
                     currentPoint[0] = point[0] + x;
                     currentPoint[1] = point[1] + y;
                     currentPoint[2] = videoHandle.getDepth((int)currentPoint[0], (int)currentPoint[1]);
-                    if (Math.Abs(currentPoint[2] - point[2]) <= TOLERANCE_Z && point[1] <= palmPosition[1] && !seenPoints.Contains(currentPoint))
+                    if (point == palmPosition || (Math.Abs(currentPoint[2] - point[2]) <= TOLERANCE_Z && point[1] <= palmPosition[1] && !seenPoints.Contains(currentPoint)))
                     {
                         points.Add(currentPoint);
                         seenPoints.Add(currentPoint);