private List <Head> DetectHeads(CameraSpacePoint[] noiseFilteredFrame)
{
_stopwatch.Restart();
var haarDetector = new HaarDetector(noiseFilteredFrame);
List <int> headCandidatesHaar = haarDetector.GetHeadCandidates();
if (Logger.LogTimeHaar)
{
_stopwatch.Stop();
Console.WriteLine("Haar: {0}", _stopwatch.ElapsedMilliseconds);
}
_stopwatch.Restart();
var candidatesHighestConnectingPoints = new List <int>();
for (int i = 0; i < headCandidatesHaar.Count; i++)
{
if (Logger.ShowCandidateHeadpixel)
{
GraphicsUtils.DrawPoint(headCandidatesHaar[i]);
}
int headCandidateIndex = headCandidatesHaar[i];
if (headCandidateIndex != -1)
{
int highestPointIndex = ClassificationUtils.GetHighestConnectingPoint(headCandidateIndex, Thresholds.ClassificationHighestPointSearchDepth);
candidatesHighestConnectingPoints.Add(highestPointIndex);
if (Logger.ShowTopHeadpixel)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
}
}
var groupedHighestIndexes = ClassificationUtils.GroupCandidatesHighestPoints(candidatesHighestConnectingPoints, Thresholds.ClassificationHighestPointGroupingDistance);
List <Head> validatedCandidateHeads = ValidateCandidateHeads(groupedHighestIndexes);
GlobVar.ValidatedCandidateHeads = validatedCandidateHeads;
if (Logger.LogTimeClassificationValidation)
{
_stopwatch.Stop();
Console.WriteLine("ClassificationValidation: {0}", _stopwatch.ElapsedMilliseconds);
}
return(validatedCandidateHeads);
}
private static List <Head> ValidateCandidateHeads(IReadOnlyList <int> groupedHighestIndexes)
{
List <Head> validatedCandidateHeads = new List <Head>();
foreach (var highestPointIndex in groupedHighestIndexes)
{
if (Logger.ShowTopHeadPixelAfterGrouping)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
var headPointIndexes = ClassificationUtils.ConnectedComponentLabeling(highestPointIndex, Thresholds.ClassificationLabelingMaxPoints);
if (Logger.ShowHeadpixelsBeforeValidation)
{
foreach (var index in headPointIndexes)
{
GraphicsUtils.DrawPoint(index);
}
}
if (Validators.EvaluateSizeOfHeadRegion(headPointIndexes))
{
if (Logger.ShowValidatedTopHeadpixel)
{
GraphicsUtils.DrawPoint(highestPointIndex);
}
var head = new Head(highestPointIndex);
var success = head.AddHeadPixels(headPointIndexes);
if (success != -1)
{
validatedCandidateHeads.Add(head);
}
if (Logger.ShowValidatedHeadPixels)
{
foreach (var p in head.HeadPointIndexes)
{
GraphicsUtils.DrawPoint(p);
}
}
}
}
return(validatedCandidateHeads);
}
