private double measure(ColorParticle p)
{
double[] distanceVector = new double[] { 255, 255, 255 };
var location = p.Position.Round();
//check if a particle got outside the image boundaries
if (location.X >= 0 && location.X < imgSize.Width &&
location.Y >= 0 && location.Y < imgSize.Height)
{
Bgr <byte> particleColor;
unsafe
{
particleColor = frame[location.Y, location.X];
}
distanceVector = new double[] { referenceColor.R - particleColor.R,
referenceColor.G - particleColor.G,
referenceColor.B - particleColor.B };
}
var distance = distanceVector.Multiply(distanceVector.Transpose())[0];
//applied log function on normal distribution:
/*double constAddFactor = -Math.Log(Math.Sqrt(2 * Math.PI) * stdDev);
* double constMulFactor = -1 / (2 * stdDev * stdDev);
* double probability = constAddFactor + constMulFactor * distance;*/
var probability = prob.ProbabilityDensityFunction(Math.Sqrt(distance));
return(probability);
}
private void updateParticleWeight(ColorParticle p)
{
double[] distanceVector = new double[] { 255, 255, 255 };
var location = p.Position.Round();
//check if a particle got outside the image boundaries
if (location.X >= 0 && location.X < imgSize.Width &&
location.Y >= 0 && location.Y < imgSize.Height)
{
Bgr8 particleColor;
unsafe
{
particleColor = *(Bgr8 *)frame.GetData(location.Y, location.X); //much faster than frame[row, col]
}
distanceVector = new double[] { referenceColor.R - particleColor.R,
referenceColor.G - particleColor.G,
referenceColor.B - particleColor.B };
}
var distance = distanceVector.Multiply(distanceVector.Transpose())[0];
//applied log function on normal distribution:
/*double constAddFactor = -Math.Log(Math.Sqrt(2 * Math.PI) * stdDev);
* double constMulFactor = -1 / (2 * stdDev * stdDev);
* double probability = constAddFactor + constMulFactor * distance;*/
var probability = prob.ProbabilityDensityFunction(Math.Sqrt(distance));
p.Weight = probability;
}
private void updateParticleWeight(ColorParticle p)
{
double[] distanceVector = new double[] { 255, 255, 255 };
var location = p.Position.Round();
//check if a particle got outside the image boundaries
if (location.X >= 0 && location.X < imgSize.Width &&
location.Y >= 0 && location.Y < imgSize.Height)
{
Bgr8 particleColor;
unsafe
{
particleColor = *(Bgr8*)frame.GetData(location.Y, location.X); //much faster than frame[row, col]
}
distanceVector = new double[]{referenceColor.R - particleColor.R,
referenceColor.G - particleColor.G,
referenceColor.B - particleColor.B};
}
var distance = distanceVector.Multiply(distanceVector.Transpose())[0];
//applied log function on normal distribution:
/*double constAddFactor = -Math.Log(Math.Sqrt(2 * Math.PI) * stdDev);
double constMulFactor = -1 / (2 * stdDev * stdDev);
double probability = constAddFactor + constMulFactor * distance;*/
var probability = prob.ProbabilityDensityFunction(Math.Sqrt(distance));
p.Weight = probability;
}
private double measure(ColorParticle p)
{
double[] distanceVector = new double[] { 255, 255, 255 };
var location = p.Position.Round();
//check if a particle got outside the image boundaries
if (location.X >= 0 && location.X < imgSize.Width &&
location.Y >= 0 && location.Y < imgSize.Height)
{
Bgr<byte> particleColor;
unsafe
{
particleColor = frame[location.Y, location.X];
}
distanceVector = new double[]{referenceColor.R - particleColor.R,
referenceColor.G - particleColor.G,
referenceColor.B - particleColor.B};
}
var distance = distanceVector.Multiply(distanceVector.Transpose())[0];
//applied log function on normal distribution:
/*double constAddFactor = -Math.Log(Math.Sqrt(2 * Math.PI) * stdDev);
double constMulFactor = -1 / (2 * stdDev * stdDev);
double probability = constAddFactor + constMulFactor * distance;*/
var probability = prob.ProbabilityDensityFunction(Math.Sqrt(distance));
return probability;
}
