private static Rectangle process(Gray<byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria, out CentralMoments centralMoments)
{
Rectangle imageArea = new Rectangle(0, 0, probabilityMap.Width(), probabilityMap.Height());
Rectangle searchWindow = roi;
RawMoments moments = new RawMoments(order: 1);
// Mean shift with fixed number of iterations
int i = 0;
double shift = Byte.MaxValue;
while (termCriteria.ShouldTerminate(i, shift) == false && !searchWindow.IsEmptyArea())
{
// Locate first order moments
moments.Compute(probabilityMap, searchWindow);
int shiftX = (int)(moments.CenterX - searchWindow.Width / 2f);
int shiftY = (int)(moments.CenterY - searchWindow.Height / 2f);
// Shift the mean (centroid)
searchWindow.X += shiftX;
searchWindow.Y += shiftY;
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
shift = System.Math.Abs((double)shiftX) + System.Math.Abs((double)shiftY); //for term criteria only
i++;
}
if (searchWindow.IsEmptyArea() == false)
{
// Locate second order moments and perform final shift
moments.Order = 2;
moments.Compute(probabilityMap, searchWindow);
searchWindow.X += (int)(moments.CenterX - searchWindow.Width / 2f);
searchWindow.Y += (int)(moments.CenterY - searchWindow.Height / 2f);
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
}
centralMoments = new CentralMoments(moments); // moments to be used by camshift
return searchWindow;
}
internal override void Compute(IImage image)
{
RawMoments rawMoments = new RawMoments(Order);
rawMoments.Compute(image);
this.Compute(rawMoments);
}
/// <summary>
/// Computes moments for the provided image.
/// </summary>
/// <param name="image">Image.</param>
/// <param name="area">Area</param>
public void Compute(Gray <float>[,] image, Rectangle area)
{
RawMoments rawMoments = new RawMoments(Order);
rawMoments.Compute(image, area);
this.Compute(rawMoments);
}
/// <summary>
/// Computes moments for the provided image.
/// </summary>
/// <param name="image">Image.</param>
/// <param name="area">Area</param>
public void Compute(Gray <float>[,] image, Rectangle area)
{
RawMoments raw = new RawMoments(Order);
raw.Compute(image, area);
CentralMoments center = new CentralMoments(raw);
this.Compute(center);
}
/// <summary>
/// Computes the center moments from the specified raw moments.
/// </summary>
///
/// <param name="moments">The raw moments to use as base of calculations.</param>
///
public void Compute(RawMoments moments)
{
float x = moments.CenterX;
float y = moments.CenterY;
Mu00 = moments.M00;
Mu01 = Mu10 = 0;
Mu11 = moments.M11 - moments.M01 * x;
Mu20 = moments.M20 - moments.M10 * x;
Mu02 = moments.M02 - moments.M01 * y;
Mu21 = moments.M21 - 2 * x * moments.M11 - y * moments.M20 + 2 * x * x * moments.M01;
Mu12 = moments.M12 - 2 * y * moments.M11 - x * moments.M02 + 2 * y * y * moments.M10;
Mu30 = moments.M30 - 3 * x * moments.M20 + 2 * x * x * moments.M10;
Mu03 = moments.M03 - 3 * y * moments.M02 + 2 * y * y * moments.M01;
invM00 = moments.InvM00;
}
/// <summary>
/// Initializes a new instance of the <see cref="CentralMoments"/> class.
/// </summary>
///
/// <param name="moments">The raw moments to construct central moments.</param>
///
public CentralMoments(RawMoments moments)
: base(moments.Order)
{
Compute(moments);
}
internal override void Compute(IImage image)
{
RawMoments rawMoments = new RawMoments(Order);
rawMoments.Compute(image);
this.Compute(rawMoments);
}
/// <summary>
/// Computes the center moments from the specified raw moments.
/// </summary>
///
/// <param name="moments">The raw moments to use as base of calculations.</param>
///
public void Compute(RawMoments moments)
{
float x = moments.CenterX;
float y = moments.CenterY;
Mu00 = moments.M00;
Mu01 = Mu10 = 0;
Mu11 = moments.M11 - moments.M01 * x;
Mu20 = moments.M20 - moments.M10 * x;
Mu02 = moments.M02 - moments.M01 * y;
Mu21 = moments.M21 - 2 * x * moments.M11 - y * moments.M20 + 2 * x * x * moments.M01;
Mu12 = moments.M12 - 2 * y * moments.M11 - x * moments.M02 + 2 * y * y * moments.M10;
Mu30 = moments.M30 - 3 * x * moments.M20 + 2 * x * x * moments.M10;
Mu03 = moments.M03 - 3 * y * moments.M02 + 2 * y * y * moments.M01;
invM00 = moments.InvM00;
}
/// <summary>
/// Initializes a new instance of the <see cref="CentralMoments"/> class.
/// </summary>
///
/// <param name="moments">The raw moments to construct central moments.</param>
///
public CentralMoments(RawMoments moments)
: base(moments.Order)
{
Compute(moments);
}
/// <summary>
/// Computes moments for the provided image.
/// </summary>
/// <param name="image">Image.</param>
/// <param name="area">Area</param>
public void Compute(Gray<float>[,] image, Rectangle area)
{
RawMoments raw = new RawMoments(Order);
raw.Compute(image, area);
CentralMoments center = new CentralMoments(raw);
this.Compute(center);
}
/// <summary>
/// Computes moments for the provided image.
/// </summary>
/// <param name="image">Image.</param>
/// <param name="area">Area</param>
public void Compute(Gray<float>[,] image, Rectangle area)
{
RawMoments rawMoments = new RawMoments(Order);
rawMoments.Compute(image, area);
this.Compute(rawMoments);
}
