public float loadGlimpseSentience(robot rob, String path, String TrackName, String track, int distance_index, int pathPoints, String index) { float matching_score = 0; Byte[] left_bmp = null; Byte[] right_bmp = null; String image_filename; bool mapping = true; if (index != "M") { mapping = false; } int stereo_cam_index = 0; bool left_camera = true; for (int i = 0; i < rob.head.no_of_cameras * 2; i++) { if (left_camera) { image_filename = path + TrackName + "_left_" + Convert.ToString(distance_index + (stereo_cam_index * pathPoints)) + ".bmp"; if (!File.Exists(image_filename)) { errorMessage = image_filename + " not found"; } rob.head.imageFilename[i] = image_filename; left_bmp = util.loadFromBitmap(image_filename, rob.head.image_width, rob.head.image_height, 3); } else { image_filename = path + TrackName + "_right_" + Convert.ToString(distance_index + (stereo_cam_index * pathPoints)) + ".bmp"; if (!File.Exists(image_filename)) { errorMessage = image_filename + " not found"; } rob.head.imageFilename[i] = image_filename; right_bmp = util.loadFromBitmap(image_filename, rob.head.image_width, rob.head.image_height, 3); matching_score += rob.loadRectifiedImages(stereo_cam_index, left_bmp, right_bmp, 3, mapping); // store images and features for later display if (stereo_cam_index == 0) { image_filenames_stereoCamera0.Add(rob.head.imageFilename[i - 1]); image_filenames_stereoCamera0.Add(rob.head.imageFilename[i]); features_stereoCamera0.Add(rob.head.features[stereo_cam_index]); } else { image_filenames_stereoCamera1.Add(rob.head.imageFilename[i - 1]); image_filenames_stereoCamera1.Add(rob.head.imageFilename[i]); features_stereoCamera1.Add(rob.head.features[stereo_cam_index]); } stereo_cam_index++; } left_camera = !left_camera; } return(matching_score); }