/**
* @brief Event handler. Called by button7 for click events.
* @param sender An object - Source of the event
* @param e An EventArgs - Event Information
*/
private void button7_Click(object sender, EventArgs e)
{
SphereRecognition sr = new SphereRecognition();
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
sr = new SphereRecognition();
hm = new HeightMap(RangeImage.Read(openFileDialog1.FileName));
hm.createMap();
heightMap = hm.bool_grid;
detectedSpheres = sr.FindSpheres(RangeImage.Read(openFileDialog1.FileName), null, 35, 7, 0.2f, 70f);
spherePositions.Clear();
sphereRadii.Clear();
detectedDrones.Clear();
prepareSpheres();
findDrones();
}
}
/**
* @brief Process the range image.
*/
public void processRangeImage()
{
//Are these two line crashing the program because we are trying to do the detection after each scan?
//SphereRecognition sr = new SphereRecognition();
//detectedSpheres = sr.FindSpheres(m_Robot.LatestRangeImage, null, 35, 7, 0.2f, 65f);
SphereRecognition2 sr = new SphereRecognition2();
detectedSpheres = sr.FindSpheres(m_Robot.LatestRangeImage);
hm = new HeightMap(m_Robot.LatestRangeImage);
hm.createMap();
heightMap = hm.bool_grid;
UpdateMap();
MapCanvas.Invalidate();
if (m_RangeImageViewer != null)
{
if (m_Robot.LatestRangeImage.Height > 2)
m_RangeImageViewer.RangeImage = m_Robot.LatestRangeImage;
}
spherePositions.Clear();
sphereRadii.Clear();
detectedDrones.Clear();
prepareSpheres();
findDrones();
}
