protected virtual void Dispose(bool disposing)
{
if (_bgModel != null)
{
_bgModel.Dispose();
_bgModel = null;
}
if (_calc != null)
{
_calc.Dispose();
_calc = null;
}
if (_foreground != null)
{
_foreground.Dispose();
_foreground = null;
}
if (_markerBuffer != null)
{
Marshal.FreeHGlobal((IntPtr)_markerBuffer);
_markerBuffer = null;
}
if (_momentState != null)
{
ip.ippiMomentFree_64s(_momentState);
_momentState = null;
}
}
private void Dispose(bool disposing)
{
if (_bgModel != null)
{
_bgModel.Dispose();
_bgModel = null;
}
if (_calc != null)
{
_calc.Dispose();
_calc = null;
}
if (_foreground != null)
{
_foreground.Dispose();
_foreground = null;
}
if (_bgSubtracted != null)
{
_bgSubtracted.Dispose();
_bgSubtracted = null;
}
if (_markerBuffer != null)
{
Marshal.FreeHGlobal((IntPtr)_markerBuffer);
_markerBuffer = null;
}
if (_momentState != null)
{
Marshal.FreeHGlobal((IntPtr)_momentState);
_momentState = null;
}
if (_strel3x3 != null)
{
_strel3x3.Dispose();
_strel3x3 = null;
}
}
/// <summary>
/// Tracks fish on a multiwell plate
/// </summary>
/// <param name="image">The current image to track and update the background with</param>
/// <param name="updateBackground">If true the current image will be used to update the background</param>
/// <param name="forceFullFrame">If set to true background updates won't exclude fish locations</param>
/// <returns>A list of fish-blobs, one for each well or null if no fish was detected</returns>
public BlobWithMoments[] TrackMultiWell(Image8 image, bool updateBackground = true, bool forceFullFrame = false)
{
if (_frame == 0)
{
ip.ippiSet_8u_C1R(0, Foreground.Image, Foreground.Stride, Foreground.Size);
ip.ippiSet_8u_C1R(0, _calc.Image, _calc.Stride, _calc.Size);
}
BlobWithMoments[] currentFish = new BlobWithMoments[_wellnumber];
if (_frame > FramesInitialBackground && !forceFullFrame)
{
//do global stuff (everything except labelMarkers if we don't do parallel tracking otherwise only the inherently parallel background subtraction)
//cache 8-bit representation of the background
Image8 bg = _bgModel.Background;
//Perform background subtraction
if (DoMedianFiltering)
{
IppHelper.IppCheckCall(cv.ippiAbsDiff_8u_C1R(image.Image, image.Stride, bg.Image, bg.Stride, _calc.Image, _calc.Stride, image.Size));
}
else
{
IppHelper.IppCheckCall(cv.ippiAbsDiff_8u_C1R(image.Image, image.Stride, bg.Image, bg.Stride, _foreground.Image, _foreground.Stride, image.Size));
}
if (_trackMethod == TrackMethods.Parallel && _parallelChunks > 1)
{
if (!Parallel.For(0, _parallelChunks, TrackChunk).IsCompleted)
{
System.Diagnostics.Debug.WriteLine("Error in parallel tracking. Not all regions completed");
}
//copy our result into currentFish
for (int i = 0; i < _wellnumber; i++)
{
currentFish[i] = _parallelTrackResults[i];
}
}
else
{
if (DoMedianFiltering)
{
//remove noise via median filtering
IppHelper.IppCheckCall(ip.ippiFilterMedianWeightedCenter3x3_8u_C1R(_calc[1, 1], _calc.Stride,
_foreground[1, 1], _foreground.Stride, new IppiSize(image.Width - 2, image.Height - 2), 1));
}
//Threshold and close
Im2Bw(_foreground, new IppiROI(new IppiPoint(0, 0), image.Size));
Close3x3(_foreground, new IppiROI(new IppiPoint(0, 0), image.Size));
//label markers and extract - depending on the method selector
//we label components on the whole image (new) or individual wells(old)
if (_trackMethod == TrackMethods.OnWholeImage)
{
currentFish = ExtractAll();
}
else
{
for (int i = 0; i < _wellnumber; i++)
{
currentFish[i] = ExtractFish(_wells[i]);
}
}
}
}//If We are past initial background frames
//create/update background and advance frame counter
if (_frame == 0)
{
_bgModel = new SelectiveUpdateBGModel(image, 1.0f / FramesInBackground);
}
else if (updateBackground || _frame <= FramesInitialBackground)//only allow reduction of background update rate AFTER initial background has been created
{
if (currentFish == null || forceFullFrame)
{
_bgModel.UpdateBackground(image);
}
else
{
_bgModel.UpdateBackground(image, currentFish);
}
}
_frame++;
return(currentFish);
}
/// <summary>
/// Given an image identifies a fish in it and returns
/// it's properties such as position and heading
/// </summary>
/// <param name="image">The image to be tracked.</param>
/// <returns>A blob representation of the fish</returns>
public BlobWithMoments Track(Image8 image)
{
if (IsDisposed)
{
throw new ObjectDisposedException("Tracker90mmDish", "Can't track after disposal!");
}
BlobWithMoments currentFish = null;
if (RemoveCMOSISBrightLineArtefact)
{
//Do as two step to get information back into image
_strel3x3.Erode(image, _calc, _imageROI);
_strel3x3.Dilate(_calc, image, _imageROI);
}
if (_frame > FramesInitialBackground)
{
//if _previousFish is present we only check an area around it
if (_previousFish != null)
{
//compute search region
//top-left
tl_x = _previousFish.Centroid.x - _searchRegionSize;
tl_y = _previousFish.Centroid.y - _searchRegionSize;
tl_x = tl_x < 0 ? 0 : tl_x;
tl_y = tl_y < 0 ? 0 : tl_y;
//bottom-right
br_x = _previousFish.Centroid.x + _searchRegionSize;
br_y = _previousFish.Centroid.y + _searchRegionSize;
br_x = br_x >= image.Width ? image.Width - 1 : br_x;
br_y = br_y >= image.Height ? image.Height - 1 : br_y;
//update search region
_searchRegion.X = tl_x;
_searchRegion.Y = tl_y;
_searchRegion.Width = br_x - tl_x + 1;
_searchRegion.Height = br_y - tl_y + 1;
//extract fish within region
currentFish = ExtractFish(image, _searchRegion);
}
else
{
currentFish = ExtractFish(image, _imageROI);
}
}//If We are past initial background frames
//create/update background and advance frame counter
if (_frame == 0)
{
//Blank images - necessary specifically because of the median filter step
//which otherwise will leave pixels in _bgSubtracted un-initialized
ip.ippiSet_8u_C1R(0, Foreground.Image, Foreground.Stride, Foreground.Size);
ip.ippiSet_8u_C1R(0, _calc.Image, _calc.Stride, _calc.Size);
ip.ippiSet_8u_C1R(0, _bgSubtracted.Image, _bgSubtracted.Stride, _bgSubtracted.Size);
_bgModel = new SelectiveUpdateBGModel(image, 1.0f / FramesInBackground);
}
else
{
//update background every nth frame only
if (_frame % BGUpdateEvery == 0)
{
if (currentFish == null)
{
_bgModel.UpdateBackground(image);
}
else
{
_bgModel.UpdateBackground(image, currentFish);
}
}
}
//Update knowledge about previous fish
//if current fish is trustworthy
if (currentFish != null && currentFish.Area > FullTrustMinArea)
{
_previousFish = currentFish;
}
else
{
_previousFish = null;
}
_frame++;
return(currentFish);
}
