public processstereo()
{
disparities = new float[MAX_FEATURES * 3];
tracking = new sentienceTracking();
radar = new sentienceRadar();
robot_head = new stereoHead(1);
stereo_model = new stereoModel();
}
/// <summary>
/// initialise variables prior to performing test routines
/// </summary>
private void init()
{
grid_layer = new float[grid_dimension, grid_dimension, 3];
pos3D_x = new float[4];
pos3D_y = new float[4];
stereo_model = new stereoModel();
robot_head = new stereoHead(4);
stereo_features = new float[900];
stereo_uncertainties = new float[900];
img_rays = new byte[standard_width * standard_height * 3];
imgOutput.Pixbuf = GtkBitmap.createPixbuf(standard_width, standard_height);
GtkBitmap.setBitmap(img_rays, imgOutput);
}
private void gaussianFunctionToolStripMenuItem_Click(object sender, EventArgs e)
{
grid_layer = new float[grid_dimension, grid_dimension, 3];
pos3D_x = new float[4];
pos3D_y = new float[4];
stereo_model = new stereoModel();
robot_head = new stereoHead(4);
stereo_features = new float[900];
stereo_uncertainties = new float[900];
img_rays = new Byte[standard_width * standard_height * 3];
rays = new Bitmap(standard_width, standard_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
picRays.Image = rays;
stereo_model.showDistribution(img_rays, standard_width, standard_height);
BitmapArrayConversions.updatebitmap_unsafe(img_rays, (Bitmap)picRays.Image);
}
private void multipleStereoRaysToolStripMenuItem_Click(object sender, EventArgs e)
{
grid_layer = new float[grid_dimension, grid_dimension, 3];
pos3D_x = new float[4];
pos3D_y = new float[4];
stereo_model = new stereoModel();
robot_head = new stereoHead(4);
stereo_features = new float[900];
stereo_uncertainties = new float[900];
img_rays = new Byte[standard_width * standard_height * 3];
rays = new Bitmap(standard_width, standard_height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
picRays.Image = rays;
bool mirror = false;
stereo_model.showProbabilities(grid_layer, grid_dimension, img_rays, standard_width, standard_height, false, true, mirror);
BitmapArrayConversions.updatebitmap_unsafe(img_rays, (Bitmap)picRays.Image);
}
