AForge.Vision.Motion.SimpleBackgroundModelingDetector.ProcessFrame C# (CSharp) Method

        public unsafe void ProcessFrame( UnmanagedImage videoFrame )
        {
            lock ( sync )
            {
                // check background frame
                if ( backgroundFrame == null )
                {
                    lastTimeMeasurment = DateTime.Now;

                    // save image dimension
                    width  = videoFrame.Width;
                    height = videoFrame.Height;

                    // alocate memory for previous and current frames
                    backgroundFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );
                    motionFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );

                    frameSize = motionFrame.Stride * height;

                    // temporary buffer
                    if ( suppressNoise )
                    {
                        tempFrame = UnmanagedImage.Create( width, height, PixelFormat.Format8bppIndexed );
                    }

                    // convert source frame to grayscale
                    Tools.ConvertToGrayscale( videoFrame, backgroundFrame );

                    return;
                }

                // check image dimension
                if ( ( videoFrame.Width != width ) || ( videoFrame.Height != height ) )
                    return;

                // convert current image to grayscale
                Tools.ConvertToGrayscale( videoFrame, motionFrame );

                // pointers to background and current frames
                byte* backFrame;
                byte* currFrame;
                int diff;

                // update background frame
                if ( millisecondsPerBackgroundUpdate == 0 )
                {
                    // update background frame using frame counter as a base
                    if ( ++framesCounter == framesPerBackgroundUpdate )
                    {
                        framesCounter = 0;

                        backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
                        currFrame = (byte*) motionFrame.ImageData.ToPointer( );

                        for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
                        {
                            diff = *currFrame - *backFrame;
                            if ( diff > 0 )
                            {
                                ( *backFrame )++;
                            }
                            else if ( diff < 0 )
                            {
                                ( *backFrame )--;
                            }
                        }
                    }
                }
                else
                {
                    // update background frame using timer as a base

                    // get current time and calculate difference
                    DateTime currentTime = DateTime.Now;
                    TimeSpan timeDff = currentTime - lastTimeMeasurment;
                    // save current time as the last measurment
                    lastTimeMeasurment = currentTime;

                    int millisonds = (int) timeDff.TotalMilliseconds + millisecondsLeftUnprocessed;

                    // save remainder so it could be taken into account in the future
                    millisecondsLeftUnprocessed = millisonds % millisecondsPerBackgroundUpdate;
                    // get amount for background update 
                    int updateAmount = (int) ( millisonds / millisecondsPerBackgroundUpdate );

                    backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
                    currFrame = (byte*) motionFrame.ImageData.ToPointer( );

                    for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
                    {
                        diff = *currFrame - *backFrame;
                        if ( diff > 0 )
                        {
                            ( *backFrame ) += (byte) ( (  diff < updateAmount ) ? diff :  updateAmount );
                        }
                        else if ( diff < 0 )
                        {
                            ( *backFrame ) += (byte) ( ( -diff < updateAmount ) ? diff : -updateAmount );
                        }
                    }
                }

                backFrame = (byte*) backgroundFrame.ImageData.ToPointer( );
                currFrame = (byte*) motionFrame.ImageData.ToPointer( );

                // 1 - get difference between frames
                // 2 - threshold the difference
                for ( int i = 0; i < frameSize; i++, backFrame++, currFrame++ )
                {
                    // difference
                    diff = (int) *currFrame - (int) *backFrame;
                    // treshold
                    *currFrame = ( ( diff >= differenceThreshold ) || ( diff <= differenceThresholdNeg ) ) ? (byte) 255 : (byte) 0;
                }

                if ( suppressNoise )
                {
                    // suppress noise and calculate motion amount
                    AForge.SystemTools.CopyUnmanagedMemory( tempFrame.ImageData, motionFrame.ImageData, frameSize );
                    erosionFilter.Apply( tempFrame, motionFrame );

                    if ( keepObjectEdges )
                    {
                        AForge.SystemTools.CopyUnmanagedMemory( tempFrame.ImageData, motionFrame.ImageData, frameSize );
                        dilatationFilter.Apply( tempFrame, motionFrame );
                    }
                }

                // calculate amount of motion pixels
                pixelsChanged = 0;
                byte* motion = (byte*) motionFrame.ImageData.ToPointer( );

                for ( int i = 0; i < frameSize; i++, motion++ )
                {
                    pixelsChanged += ( *motion & 1 );
                }
            }
        }