private void processFrame(Bgr <byte>[,] img, out long matchTimeMs)
{
var grayIm = img.ToGray();
linPyr = LinearizedMapPyramid.CreatePyramid(grayIm); //prepare linear-pyramid maps
/******************************* match templates + particle filter stuff ******************************/
matchTimeMs = Diagnostics.MeasureTime(() =>
{
predict();
update();
});
/******************************* match templates + particle filter stuff ******************************/
/******************************* reset tracking (if necessary) ******************************/
var p = particleFilter.MaxBy(x => x.Weight);
if (p.Weight == 0)
{
if (resetClock.ElapsedMilliseconds > MAX_NONOBJ_TIME)
{
particleFilter = initialParticles;
}
return;
}
resetClock.Restart();
/******************************* reset tracking (if necessary) ******************************/
/********************************* output **************************************/
var metaData = getData(p.MetaDataRef);
var text = String.Format("S:{0:00}, A:{1:00}",
p.ModelParameters.Scale, p.ModelParameters.Angle);
if (metaData != null)
{
//img.Draw(p.MetaData, new Bgr(Color.Blue), 1);
img.Draw(metaData.Points.ToArray(), Bgr <byte> .Blue, 3);
img.DrawAnnotation(metaData.BoundingRect, text, DotImaging.Font.Small);
}
Console.WriteLine(text);
/********************************* output **************************************/
}