/// <summary>
/// Called when the class is initialized. Creates many of the arrays and sets many of the values.
/// </summary>
public override void Initialize()
{
// Create the arrays needed. Building them now will save CPU later.
this.trueFalseMap = new bool[this.screenWidth, this.screenHeight];
this.trueFalseMapB = new bool[this.screenWidth, this.screenHeight];
this.trueFalseMapC = new bool[this.screenWidth, this.screenHeight];
this.accum2 = new short[360 / ThetaIncrement, AccumLength / RhoIncrement]; // Build the accumlator array. Make is smaller or shorter based on the size of the rho and theta increments
this.accum1 = new short[360 / ThetaIncrement, AccumLengthOld / RhoIncrement];
this.colorArray1D = new Color[this.screenWidth * this.screenHeight]; // Create a 1D array of color
this.colorArray = new Color[this.screenWidth, this.screenHeight]; // Create a 2D array of color
this.houghInfo = new double[(11 * NumberofLinesToFind) + 5]; // Make the array to store hough information. Must be double so that slopes which are fractions can be stored
this.houghInformation = new HoughInformation(NumberofLinesToFind);
this.lineArray = new Line[NumberofLinesToFind];
for (int i = 0; i < NumberofLinesToFind; i++)
{
this.lineArray[i] = new Line();
}
// Set the color thresholds
this.redGood = this.whiteParam;
this.blueGood = this.whiteParam;
this.greenGood = this.whiteParam;
this.houghLineStartandStopVectors = new Vector3[NumberofLinesToFind * 4];
for (int i = 0; i < NumberofLinesToFind * 4; i++)
{
this.houghLineStartandStopVectors[i] = Vector3.Zero;
}
this.middleValues = new int[this.screenHeight]; // Steering desisions are based off the average middle clear value for each row
base.Initialize();
}
/// <summary>
/// Called when the class is initialized. Creates many of the arrays and sets many of the values.
/// </summary>
public override void Initialize()
{
// Create the arrays needed. Building them now will save CPU later.
this.trueFalseMap = new bool[this.screenWidth, this.screenHeight];
this.trueFalseMapB = new bool[this.screenWidth, this.screenHeight];
this.trueFalseMapC = new bool[this.screenWidth, this.screenHeight];
this.accum2 = new short[360 / ThetaIncrement, AccumLength / RhoIncrement]; // Build the accumlator array. Make is smaller or shorter based on the size of the rho and theta increments
this.accum1 = new short[360 / ThetaIncrement, AccumLengthOld / RhoIncrement];
this.colorArray1D = new Color[this.screenWidth * this.screenHeight]; // Create a 1D array of color
this.colorArray = new Color[this.screenWidth, this.screenHeight]; // Create a 2D array of color
this.houghInfo = new double[(11 * NumberofLinesToFind) + 5]; // Make the array to store hough information. Must be double so that slopes which are fractions can be stored
this.houghInformation = new HoughInformation(NumberofLinesToFind);
this.lineArray = new Line[NumberofLinesToFind];
for (int i = 0; i < NumberofLinesToFind; i++)
{
this.lineArray[i] = new Line();
}
// Set the color thresholds
this.redGood = this.whiteParam;
this.blueGood = this.whiteParam;
this.greenGood = this.whiteParam;
this.houghLineStartandStopVectors = new Vector3[NumberofLinesToFind * 4];
for (int i = 0; i < NumberofLinesToFind * 4; i++)
{
this.houghLineStartandStopVectors[i] = Vector3.Zero;
}
this.middleValues = new int[this.screenHeight]; // Steering desisions are based off the average middle clear value for each row
base.Initialize();
}