// Increase age of tracked glyph and remove old ones
private void IncreaseHistoryAge( )
{
List <int> keys = new List <int>(trackedGlyphs.Keys);
for (int i = 0; i < keys.Count; i++)
{
int id = keys[i];
TrackedGlyph trackedGlyph = trackedGlyphs[id];
trackedGlyph.Age++;
if (((trackedGlyph.Age > MaxGlyphAge) && (trackedGlyph.AverageRecentMotion >= StalledAverageMotionLimit)) ||
(trackedGlyph.Age > MaxStalledGlyphAge))
{
trackedGlyphs.Remove(id);
if (prevRotation.ContainsKey(id))
{
prevRotation.Remove(id);
}
}
}
}
// Get ID of the specified glyph
// Note (todo?): glyph tracking needs to be improved since current implementation
// is not reliable enough for the case when several glyphs of the same type are
// found and those do not move smoothely.
private int GetGlyphID(ExtractedGlyphData glyph)
{
int glyphID = -1;
// get CoG of the provided glyph
Point glyphCog = PointsCloud.GetCenterOfGravity(glyph.Quadrilateral);
// distance to the closest simlar glyph kept in history
float minDistance = float.MaxValue;
// name of the passed specifed glyph
string glyphName = (glyph.RecognizedGlyph != null) ?
glyph.RecognizedGlyph.Name : string.Empty;
// check all currently tracked glyphs
foreach (TrackedGlyph trackedGlyph in trackedGlyphs.Values)
{
if (trackedGlyph.Age == 0)
{
// skip glyph whichs were already taken or just added
continue;
}
if (
// recognized case - compare names
((trackedGlyph.Glyph.RecognizedGlyph != null) &&
(trackedGlyph.Glyph.RecognizedGlyph.Name == glyphName)) ||
// unrecognized case - compare raw data
(Glyph.CheckForMatching(glyph.RawData, trackedGlyph.Glyph.RawData) != -1))
{
float distance = glyphCog.DistanceTo(trackedGlyph.Position);
if (distance < minDistance)
{
// get ID of the closest glyph with the same name
minDistance = distance;
glyphID = trackedGlyph.ID;
}
}
}
// if the glyph is further away than the maximum specified limit,
// then it is no way can be treated as smooth motion, so reset ID
// (TODO: should probably depend on glyph size ...)
if ((glyphID != -1) && (minDistance > MaxAllowedDistance))
{
glyphID = -1;
}
// if glyph was not found within tracked glyphs, then add new
// glyph to tracker
if (glyphID == -1)
{
glyphID = counter++;
trackedGlyphs.Add(glyphID, new TrackedGlyph(glyphID,
(ExtractedGlyphData)glyph.Clone( ), glyphCog));
}
else
{
TrackedGlyph trackedGlyph = trackedGlyphs[glyphID];
if ((glyph.RecognizedGlyph != null) &&
(!IsCoordinatesDifferenceSignificant(glyph.RecognizedQuadrilateral,
trackedGlyphs[glyphID].Glyph.RecognizedQuadrilateral)))
{
// correct coordinates of recognized glyphs to eliminate small noisy shaking
glyph.RecognizedQuadrilateral = trackedGlyph.Glyph.RecognizedQuadrilateral;
glyphCog = trackedGlyph.Position;
}
else
{
// update glyph with the latest CoG and recognized info
trackedGlyph.Position = glyphCog;
trackedGlyph.Glyph = (ExtractedGlyphData)glyph.Clone( );
}
// reset age of the tracked glyph
trackedGlyph.Age = 0;
// add glyph's position to history
trackedGlyph.AddMotionHistory(glyphCog);
}
return(glyphID);
}
