public override AbstractTrackPoint CreateTrackPoint(bool _manual, int _x, int _y, double _fSimilarity, long _t, Bitmap _CurrentImage, List <AbstractTrackPoint> _previousPoints)
{
// Creates a TrackPoint from the input image at the given coordinates.
// Find features in the search window.
// Scale-space image of the search window.
int searchLeft = _x - (m_SearchWindowSize.Width / 2);
int searchTop = _y - (m_SearchWindowSize.Height / 2);
Rectangle searchZone = new Rectangle(searchLeft, searchTop, m_SearchWindowSize.Width, m_SearchWindowSize.Height);
Bitmap searchImage = new Bitmap(m_SearchWindowSize.Width, m_SearchWindowSize.Height, PixelFormat.Format24bppRgb);
Graphics g = Graphics.FromImage(searchImage);
Rectangle rDst = new Rectangle(0, 0, m_SearchWindowSize.Width, m_SearchWindowSize.Height);
g.DrawImage(_CurrentImage, rDst, searchZone, GraphicsUnit.Pixel);
//g.Dispose();
IplImage pIplImage = IplImage.LoadImage(searchImage);
pIplImage = pIplImage.BuildIntegral(null);
List <Ipoint> ipts = new List <Ipoint>();
CFastHessian pCFastHessian = new CFastHessian(pIplImage, ref ipts, m_iOctaves, m_iIntervals, m_iInitSample, m_fThreshold, m_iInterpolationSteps);
// Fill the scale-space image with actual data and finds the local extrema.
pCFastHessian.getIpoints();
// Fill the descriptor field, orientation and laplacian of the feature.
Surf pSurf = new Surf(pIplImage, ipts);
pSurf.getDescriptors(m_bUpright);
// Save algorithm-related data in the point.
TrackPointSURF tps = new TrackPointSURF(_x, _y, _t);
tps.FoundFeatures = ipts;
tps.SearchWindow = new Point(searchLeft, searchTop);
if (_previousPoints.Count == 0 || _manual)
{
// Find the closest point from the user's point.
int iClosest = -1;
double fBestDistance = double.MaxValue;
if (ipts.Count > 0)
{
Point userPoint = new Point(_x, _y);
for (int i = 0; i < ipts.Count; i++)
{
double fDistance = CalibrationHelper.PixelDistance(new PointF((float)_x, (float)_y), new PointF(ipts[i].x + searchLeft, ipts[i].y + searchTop));
if (fDistance < fBestDistance)
{
fBestDistance = fDistance;
iClosest = i;
}
}
tps.MatchedFeature = tps.FoundFeatures[iClosest];
tps.X = (int)(tps.MatchedFeature.x + searchLeft);
tps.Y = (int)(tps.MatchedFeature.y + searchTop);
log.Debug(String.Format("Initializing of the tracking. Closest feature to user's point : {0:0.00}", fBestDistance));
log.Debug(String.Format("Tracking result (init): [{0};{1}], user selection was: [{2};{3}]", tps.X, tps.Y, _x, _y));
}
else
{
// Ouch! The point selected by the user is in a no-feature zone.
tps = null;
log.Debug(String.Format("Tracking impossible from this point. Selected point is in No-feature zone."));
}
}
return(tps);
}