internal Dictionary <TrackingMarker, Point2D> IdentifyMarkers(Frame frame)
{
int x0 = searchSpace.RangeX.Low, x1 = searchSpace.RangeX.High;
int y0 = searchSpace.RangeY.Low, y1 = searchSpace.RangeY.High;
int clipWidth = x1 - x0;
int clipHeight = y1 - y0;
var output = new Dictionary <TrackingMarker, Point2D>();
foreach (TrackingMarker marker in this.markers)
{
// threshold
var hueTolerance = marker.HueTolerance;
var thresh = ClipAndThreshold(
frame.Colour,
FormatConvertor.PixelWidth(frame.ColourFormat),
FormatConvertor.PixelHeight(frame.ColourFormat),
x0, x1, y0, y1,
marker.Hue - hueTolerance,
marker.Hue + hueTolerance);
if (DebugSettings.Default.DebugMode)
{
ImageWriter.WritePPM(
thresh, clipWidth, clipHeight, DebugSettings.Default.LogRoot + @"\cv\" +
marker.Name.ToString() + ".thresh" + frame.FrameNumber + ".ppm", 1);
}
// remove outliers
var cleanThresh = CleanImage(thresh, clipWidth, clipHeight);
if (DebugSettings.Default.DebugMode)
{
ImageWriter.WritePPM(
cleanThresh, clipWidth, clipHeight, DebugSettings.Default.LogRoot + @"\cv\" +
marker.Name.ToString() + ".thresh" + frame.FrameNumber + ".clean.ppm", 1);
}
// calculate centre
var momentX = CalcMomentXOrder1(cleanThresh, clipWidth, clipHeight);
var momentY = CalcMomentYOrder1(cleanThresh, clipWidth, clipHeight);
var momentAv = CalcMomentXYOrder00(cleanThresh, clipWidth, clipHeight);
int x = (int)(momentX / momentAv); int y = (int)(momentY / momentAv);
var pointXY = new Point2D(x0 + x, y0 + y);
// test confidence
var count = CountPixelsSet(cleanThresh);
if (count > ImageAnalysis.Settings.Default.MinimumThresholdPixels)
{
output.Add(marker, pointXY);
}
}
return(output);
}