private void update()
{
// load calibration data
stereointerface.loadCalibration(calibration_filename);
// get image data from bitmaps
int bytes_per_pixel = 3;
// load images into the correspondence object
stereointerface.loadImage(fullres_left, image_width, image_height, true, bytes_per_pixel);
stereointerface.loadImage(fullres_right, image_width, image_height, false, bytes_per_pixel);
// set the quality of the disparity map
stereointerface.setDisparityMapCompression(horizontal_compression, vertical_compression);
clock.Start();
// perform stereo matching
stereointerface.stereoMatchRun(0, 8, correspondence_algorithm_type);
long correspondence_time_mS = clock.Stop();
txtStereoCorrespondenceTime.Buffer.Text = correspondence_time_mS.ToString();
// make a bitmap
byte[] depthmap = new byte[image_width * image_height * 3];
stereointerface.getDisparityMap(depthmap, image_width, image_height, 0);
picDepthMap.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(depthmap, picDepthMap);
}
private bool LoadStereoImages()
{
bool success = false;
string left_image_filename = images_directory + "/test_left_" + stereo_image_index.ToString() + ".jpg";
string right_image_filename = images_directory + "/test_right_" + stereo_image_index.ToString() + ".jpg";
if (System.IO.File.Exists(left_image_filename))
{
if (System.IO.File.Exists(right_image_filename))
{
fullres_left = GtkBitmap.Load(left_image_filename, ref image_width, ref image_height);
picLeftImage.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(fullres_left, picLeftImage);
fullres_right = GtkBitmap.Load(right_image_filename, ref image_width, ref image_height);
picRightImage.Pixbuf = GtkBitmap.createPixbuf(image_width, image_height);
GtkBitmap.setBitmap(fullres_right, picRightImage);
success = true;
}
else
{
//MessageBox.Show("Could not find image " + right_image_filename);
}
}
else
{
//MessageBox.Show("Could not find image " + left_image_filename);
}
return(success);
}
/// <summary>
/// perform a test
/// </summary>
/// <param name="test_index">index number of the test to be performed</param>
private void PerformTest(int test_index)
{
// initialise
init();
switch (test_index)
{
case 0: // motion model
{
test_motion_model(true);
break;
}
case 1: // stereo ray models
{
bool mirror = false;
stereo_model.showProbabilities(grid_layer,
grid_dimension,
img_rays, standard_width, standard_height,
false, true, mirror);
break;
}
case 2: // gaussian distribution function
{
stereo_model.showDistribution(img_rays, standard_width, standard_height);
break;
}
case 3: // a single stereo ray model
{
createSingleRayModel(false);
break;
}
case 4: // sensor model lookups
{
createSensorModelLookup();
break;
}
case 5: // path planner
{
test_path_planner(200, 50);
break;
}
}
// make a larger image
byte[] img_large = image.downSample(img_rays, standard_width, standard_height,
standard_width * 2, standard_height * 2);
// display the results
imgOutput.Pixbuf = GtkBitmap.createPixbuf(standard_width * 2, standard_height * 2);
GtkBitmap.setBitmap(img_large, imgOutput);
}
/// <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);
}
