Accord.Vision.Tracking.Camshift.meanShift C# (CSharp) Method

        private CentralMoments meanShift(UnmanagedImage frame)
        {
            // Variable initialization
            int width = frame.Width;
            int height = frame.Height;

            // (assume all frames have equal dimensions)
            if (map == null) map = new float[height, width];


            // Grab the current region of interest in the current frame
            Rectangle roi = conservative ? searchWindow : new Rectangle(0, 0, frame.Width, frame.Height);

            // Compute the histogram for the current frame
            float[] currentHistogram = createHistogram(frame, roi);

            // Use the previous histogram to compute a ratio histogram (storing in current)
            computeHistogramRatio(originalHistogram, currentHistogram, currentHistogram);

            // Compute the back-projection map using the ratio histogram
            lock (sync) generateBackprojectionMap(frame, currentHistogram);


            RawMoments moments = new RawMoments(1);

            // Mean shift with fixed number of iterations
            for (int i = 0; i < MAX_ITERATIONS - 1; i++)
            {
                // Locate first order moments
                moments.Compute(map, searchWindow);

                // Shift the mean (centroid)
                searchWindow.X += (int)(moments.CenterX - searchWindow.Width / 2f);
                searchWindow.Y += (int)(moments.CenterY - searchWindow.Height / 2f);
            }

            // Locate second order moments and perform final shift
            moments.Order = 2; moments.Compute(map, 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.X = Math.Max(0, Math.Min(searchWindow.X, width));
            searchWindow.Y = Math.Max(0, Math.Min(searchWindow.Y, height));

            return new CentralMoments(moments); // moments to be used by Camshift
        }