Detector.Motion.Form1.tmrCheckMotion_Tick C# (CSharp) Method

        private void tmrCheckMotion_Tick(object sender, EventArgs e)
        {
            int N = 7;
            int aperature_size = N;

            //CVImage cv_out;
            DateTime start = DateTime.Now;
            //using (CVImage nextframe = cam.QueryFrame())
            //{

                //pbCurrent.Image = nextframe.ToBitmap();
            //}
            try
            {
                Image<Bgr, byte> frame = cam.QuerySmallFrame();
                HiResFrame = frame.ToBitmap(); //cam.QueryFrame().ToBitmap();
                pbCurrent.Image = frame.ToBitmap();
            }
            catch { return; }

            tracker.SetFrameSize(pbCurrent.Width, pbCurrent.Height);

            if (pbCurrent.Image == null || pbLast.Image == null)
                return;

            Color[] cols = {
                               Color.Blue,
                               Color.Green,
                               Color.Orange,
                               Color.Purple,
                               Color.Yellow,
                               Color.Violet,
                               Color.DarkGreen,
                               Color.DarkBlue,
                               Color.DarkMagenta,
                               Color.DarkSeaGreen
                           };

            Bitmap blur = new Bitmap(pbLast.Image);
            Bitmap __cur = new Bitmap(pbCurrent.Image);
            if(Count % 25 == 0)
                helper.MotionBlur(ref blur, ref __cur, 5);
            Count++;
            pbLast.Image = blur;

            Bitmap cur_img = new Bitmap(pbCurrent.Image);
            //if (frames[frames.Length - 1] != null)
            //{
            Bitmap bmp = new Bitmap(pbCurrent.Image);
            detector.SetNextImages(pbLast.Image, pbCurrent.Image);
            Target[] targs = new List<Target>(detector.GetTargets()).ToArray();
            tracker.UpdateTargets(targs);

            bmp = detector.motionpic;
            string lable_data = "";
            #region DrawTargets
            LinkedList<ObjectTracked> objs = tracker.GetObjects();
            lable_data += "Tracking " + objs.Count.ToString() + " objects\n";
            int count = 0;

            foreach (Target t in targs)
            {
                //helper.DrawBox(t, ref bmp, Color.Red);
                //lable_data += "TARGET\n";
            }

            foreach (ObjectTracked obj in objs)
            {
                double a = 255 - (((DateTime.Now - obj.LastSeen)).TotalMilliseconds / tracker.UnseenRemovalLimit)*255 ;
                a = Math.Min(255, Math.Max(0, a));
                Color col;
                col = cols[Math.Min(cols.Length - 1, obj.ID)];
                if( (DateTime.Now - obj.LastSeen).TotalMilliseconds > 500) // hell, we are no longer activeley tracking this guy
                    col = Color.FromArgb((int)a, 255, 0, 0);
                count++;
                //lable_data += obj.ID.ToString() + " " + obj.Score.ToString() + "\n";
                helper.DrawBox(obj, ref bmp, col);
                //helper.DrawBox(obj.Position.X, obj.Position.Y, obj.Size.X, obj.Size.Y, ref bmp, col);
            }
             #endregion

            /*
            #region MoveServo

            if (besttarget != null)
            {
                double per_x = ((double)besttarget.Position.X / (double)bmp.Width);
                double per_y = ((double)besttarget.Position.Y / (double)bmp.Height);

                double pitch = Scale(per_y, 0, 1, MinY, MaxY);
                double yaw = Scale(per_x, 0, 1, MinX, MaxX);

                SetServoPos((int)yaw, (int)pitch);
            }
            #endregion
            */
            double ms = ( DateTime.Now - start ).TotalMilliseconds;
            lblData.Text = "Frametime: " + ms.ToString() + " (" + ( Math.Round( 1000 / ms ) ).ToString() + ") " + lable_data + " Ammount of noise: " + detector.BadTargets.ToString();

            pbMotion.Image = bmp;

            AvgMisses[AvgMisses_pos] = detector.BadTargets;
            AvgMisses_pos = (AvgMisses_pos + 1) % AvgMisses.Length;

            float avg = 0f;
            if (cbAuto.Checked && tracker.ObjectsTracked.Count == 0)
            {
                foreach (int value in AvgMisses)
                    avg += (float)value;
                avg /= (float)AvgMisses.Length;

                if (avg == 0)
                    detector.Difference--;
                else if (avg > 0.15)
                    detector.Difference++;
                tbDifference.Value = Math.Max(1, Math.Min(159, detector.Difference));
                lblData.Text += " Avg Noise: " + avg.ToString("0.00");
            }
        }