///<summary>Called when the reference vedio stream is specified, before the robot starts, in order to generate Support Vector Machines and Dictionaries.</summary>
/// <param name="loc">url where the image series are stored.</param>
public static Hallway_Controller GetPrepController(string loc)
{
Console.WriteLine("Start Making SVMs");
Hallway_Controller con = new Hallway_Controller();
p_searcher= new Search4Match.PrepSearcher.Prep_BOFMaster(loc);l_searcher = null;
con.prefix = loc;
return con;
}
///<summary>Called when the SVMs and dictionaries are prepared and stored, in order to predict and trigger SURF module.</summary>
/// <param name="loc">url where the image series are stored.</param>
public static Hallway_Controller GetLoadController(string loc)
{
Console.WriteLine("Loading Prepared SVMs for prediction");
Hallway_Controller con = new Hallway_Controller();
int num = loc.Split('_').Length;
string status = loc.Split('_')[num - 1];
bool isBack = status == "back\\" ? true : false;
l_searcher = new LoadSearcher.Load_BOFMaster(isBack);p_searcher = null;
con.prefix = loc;
con._statusQ = new Matcher.StatusQueueChecker(4);
con._centerQ = new Matcher.CenterPositionChecker(10, 600, 400);
con.finishVote = 0;
return con;
}