void LocateObstacle()
{
int[] index = new int[4000 * sizeof(double)];
int[] nonzero = new int[4000 * sizeof(double)];
int[] depth = new int[4000 * sizeof(double)];
int i = 0, temp = 0;
if (mode != "Spiral")
{
graph = new Form1();
graph.Show();
for (i = 11; i < (0x1FFF / 4); i++)
{
if (count[i] != 0)
{
nonzero[temp] = count[i];
depth[temp] = i;
temp++;
}
}
graph.DrawChart(count); //use count to plot original
graph.DrawChart2(nonzero);
}
//textBox3.Text = Convert.ToString(Array.BinarySearch(count, count.Max()));
//textBox3.Text = Convert.ToString(Array.Find(count, EqualToMax));
if (mode == "AllObstacles")
{
GetLocalMin(count);
}
else if (mode == "Cloud")
{
window1 = new Window1();
window1.Show();
window1.DrawCloud(distancepixel);
}
else
{
DrawObstacle(source, colorframe);
}
}
