/// <summary>
/// Analyzes the image frame, applies filters and creates new <see cref="TrackerResult"/> objects.
/// This method performs a deep analysis over the frame and is computationally expensive.
/// Use this method wisely and never more than once per frame. If you need to get the tracker results
/// multiple times in a frame use <see cref="GetLatestResult"/> instead.
/// </summary>
/// <param name="weightThreshold">The allowed amount of particles distribution to consider a good result.</param>
/// <returns>The latest tracking result.</returns>
public List <TrackerResult> Compute(float weightThreshold = 0.01f)
{
_result.Clear();
if (_input != null && _running)
{
int dstW = _input.width / _downscaleAmount;
int dstH = _input.height / _downscaleAmount;
if (_input.data == null)
{
return(_result);
}
if (_downscaleAmount > 1)
{
int requiredBufferLenght = dstW * dstH * 3;
if (_resizedBuffer == null || _resizedBuffer.Length != requiredBufferLenght)
{
_resizedBuffer = new byte[requiredBufferLenght];
}
ResizeBuffer(_resizedBuffer, _input.data, _input.width, _input.height, dstW, dstH, 3, 3);
}
else
{
_resizedBuffer = _input.data;
}
if (enableColorTrack)
{
for (int i = 0; i < _processors.Count; ++i)
{
ColorProcessor clp = _processors[i];
TrackerResult result = _resultHash[i];
clp.Compute(_resizedBuffer, result, dstW, dstH, weightThreshold, useKalmanFilter);
if (!IsPositionNearToBounds(ref result.center, 10.0f))
{
result.center *= _downscaleAmount;
_result.Add(result);
}
}
}
if (enableColorMap)
{
_colorMap.ComputeColorMap(_resizedBuffer, dstW, dstH, colorTargets, _downscaleAmount, colorMapPointSpacing);
}
if (listener != null && _result.Count > 0)
{
listener.WhenNewResultAvailable(this);
}
}
return(_result);
}
/// <summary>
/// Search the color on the image buffer. When color is found it enables a new <see cref="TrackerResult"/> and sets the
/// proper <see cref="TrackingState"/> to the object. To improve the memory usage the results are cached and persistent so
/// it is safe to store reference to results.
/// </summary>
/// <param name="pixelsRGB">The image buffer in RGB format.</param>
/// <param name="result">A reference to the cached result to write on.</param>
/// <param name="width">The current frame width. (useful for occasional frame dimension changes)</param>
/// <param name="height">The current frame height. (useful for occasional frame dimension changes)</param>
/// <param name="weightThreshold">The allowed amount of particles distribution to consider a good result.</param>
/// <param name="useKalmanFilter">Toggles the use of <see cref="KalmanFilter"/>.</param>
public void Compute(byte[] pixelsRGB, TrackerResult result, int width, int height, float weightThreshold, bool useKalmanFilter)
{
if (target == null || pixelsRGB.Length == 0)
{
return;
}
_particle.colorTolerance = target.tolerance;
_particle.Resample(width, height);
_particle.Predict();
double w = _particle.ComputeWeight(pixelsRGB);
if (w <= weightThreshold)
{
result.state = TrackingState.Lost;
_particle.Reset();
}
else
{
Vector3 prevCenter = result.center;
_particle.Measure(ref result.center);
float depth = ((float)w * 100 / _particle.ParticleCount());
result.center.z = depth;
if (useKalmanFilter)
{
if (result.state == TrackingState.Tracked)
{
_kalman.Predict(ref result.center);
}
else
{
_kalman.ResetTo(result.center);
}
}
Vector2 lvel = (result.center - prevCenter);
lvel.y *= -1;
result.linearVelocity = lvel;
result.state = TrackingState.Tracked;
}
}
