/// <summary>
/// show results
/// </summary>
/// <param name="left_bmp">left image data</param>
/// <param name="image_width">width of the image</param>
/// <param name="image_height">height of the image</param>
/// <param name="output_bmp">image to be displayed</param>
public virtual void Show(byte[] left_bmp, int image_width, int image_height,
byte[] output_bmp)
{
if (left_bmp.Length == output_bmp.Length)
{
Buffer.BlockCopy(left_bmp, 0, output_bmp, 0, left_bmp.Length);
}
else
{
if (left_bmp.Length == output_bmp.Length / 3)
{
int n = 0;
for (int i = 0; i < output_bmp.Length; i += 3, n++)
{
for (int col = 0; col < 3; col++)
{
output_bmp[i + col] = left_bmp[n];
}
}
}
}
for (int i = 0; i < features.Count; i++)
{
StereoFeature f = features[i];
drawing.drawSpotBlended(output_bmp, image_width, image_height, (int)f.x, (int)f.y, (int)(f.disparity * feature_scale), 100, 255, 100);
}
}
/// <summary>
/// receive incoming stereo feature data and turn it into a list of stereo feature objects
/// </summary>
/// <param name="data">received data</param>
/// <param name="no_of_bytes">received number of bytes</param>
private void Receive(byte[] data, int no_of_bytes)
{
if ((data.Length > 1) && (!receive_busy))
{
receive_busy = true;
// create a list to store the features
List <StereoFeature> new_features = new List <StereoFeature>();
// read the first byte, which determines whether
// the stereo features have colour info or not
if (data[0] == 1)
{
ColourFeatures = true;
}
else
{
ColourFeatures = false;
}
if (!ColourFeatures)
{
// stereo features with no colour information
float[] feats = ReadData(data, no_of_bytes);
for (int i = 0; i < feats.Length; i += 3)
{
StereoFeature f =
new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
new_features.Add(f);
}
}
else
{
// stereo features with colour information
float[] feats = null;
byte[] colour = null;
ReadDataColour(data, no_of_bytes, ref feats, ref colour);
for (int i = 0; i < feats.Length; i += 3)
{
StereoFeature f =
new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
f.SetColour(colour[i], colour[i + 1], colour[i + 2]);
new_features.Add(f);
}
}
features = new_features;
FeaturesArrived(features);
receive_busy = false;
}
}
/// <summary>
/// update the colours of stereo features
/// </summary>
/// <param name="left_img_colour">left colour image</param>
/// <param name="right_img_colour">right colour image</param>
private void UpdateFeatureColours(byte[] left_img_colour, byte[] right_img_colour)
{
for (int f = 0; f < features.Count; f++)
{
StereoFeature feature = features[f];
int n = (((int)feature.y * image_width) + (int)feature.x) * 3;
feature.colour = new byte[3];
for (int col = 0; col < 3; col++)
{
feature.colour[col] = left_img_colour[n + col];
}
}
}
/// <summary>
/// receive incoming stereo feature data and turn it into a list of stereo feature objects
/// </summary>
/// <param name="data">received data</param>
/// <param name="no_of_bytes">received number of bytes</param>
private void Receive(byte[] data, int no_of_bytes)
{
if ((data.Length > 1) && (!receive_busy))
{
receive_busy = true;
// create a list to store the features
List<StereoFeature> new_features = new List<StereoFeature>();
// read the first byte, which determines whether
// the stereo features have colour info or not
if (data[0] == 1)
ColourFeatures = true;
else
ColourFeatures = false;
if (!ColourFeatures)
{
// stereo features with no colour information
float[] feats = ReadData(data, no_of_bytes);
for (int i = 0; i < feats.Length; i += 3)
{
StereoFeature f =
new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
new_features.Add(f);
}
}
else
{
// stereo features with colour information
float[] feats = null;
byte[] colour = null;
ReadDataColour(data, no_of_bytes, ref feats, ref colour);
for (int i = 0; i < feats.Length; i += 3)
{
StereoFeature f =
new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
f.SetColour(colour[i], colour[i + 1], colour[i + 2]);
new_features.Add(f);
}
}
features = new_features;
FeaturesArrived(features);
receive_busy = false;
}
}
