public void GroundPlaneUpdate()
{
int image_width = 320;
int image_height = 240;
Hpolar map = new Hpolar();
map.footline = new ushort[image_width / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[image_width / map.SVS_HORIZONTAL_SAMPLING];
// create a footline
for (int x = image_width * 20 / 100; x < image_width * 40 / 100; x++)
{
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(image_height / 2);
}
for (int x = image_width * 60 / 100; x < image_width * 80 / 100; x++)
{
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(image_height / 2);
}
map.GroundPlaneUpdate();
Assert.AreEqual(image_height / 2, map.footline[(image_width / 2) / map.SVS_HORIZONTAL_SAMPLING]);
Assert.AreEqual(image_height / 2, map.footline[(image_width - 1) / map.SVS_HORIZONTAL_SAMPLING]);
Assert.AreEqual(image_height / 2, map.footline[0]);
}
public void FootlineUpdate()
{
Hpolar map = new Hpolar();
map.imgWidth = 320;
map.imgHeight = 240;
map.footline = new ushort[map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.svs_ground_y_percent = 50;
// create a footline
for (int x = 0; x < (int)map.imgWidth / 2; x++)
{
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(map.imgHeight * 70 / 100);
}
for (int x = (int)map.imgWidth / 2; x < (int)map.imgWidth; x++)
{
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(map.imgHeight * 60 / 100);
}
map.FootlineUpdate(40);
Console.WriteLine("dist0: " + map.footline_dist_mm[0].ToString());
Console.WriteLine("dist1: " + map.footline_dist_mm[(map.imgWidth - 1) / map.SVS_HORIZONTAL_SAMPLING].ToString());
Assert.IsTrue(map.footline_dist_mm[0] > 0);
Assert.IsTrue(map.footline_dist_mm[(map.imgWidth - 1) / map.SVS_HORIZONTAL_SAMPLING] > 0);
Assert.IsTrue(map.footline_dist_mm[(map.imgWidth - 1) / map.SVS_HORIZONTAL_SAMPLING] > map.footline_dist_mm[0]);
}
private void SaveHpolarLookup()
{
int cartesian_dimension_cells_width = 40;
int cartesian_dimension_cells_range = 40;
float cartesian_cell_size_mm = 100;
int[] HpolarLookup = null;
float scale_down_factor = 10;
Hpolar.CreateHpolarLookupSRV(
cartesian_dimension_cells_width,
cartesian_dimension_cells_range,
cartesian_cell_size_mm,
scale_down_factor,
ref HpolarLookup);
Hpolar.ShowHpolar(
cartesian_dimension_cells_width,
cartesian_dimension_cells_range,
cartesian_cell_size_mm,
HpolarLookup,
1000,
scale_down_factor,
"Hpolar.jpg");
Hpolar.SaveHpolar(HpolarLookup, "HpolarLookup.txt");
Hpolar.SaveTrigLookup("TrigLookup.txt");
}
public void MapUpdate()
{
int max_disparity_percent = 40;
int map_x = 60;
int map_y = 60;
byte[] cartesian_map = new byte[map_x * map_y * 3];
int stereo_matches = 0;
Hpolar map = new Hpolar();
map.imgWidth = 320;
map.imgHeight = 240;
map.footline = new ushort[(int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[(int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
// create a footline
for (int x = 0; x < (int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING; x++)
{
map.footline[x] = (ushort)(map.imgHeight / 2);
}
map.FootlineUpdate(max_disparity_percent);
/* create a map */
drawing.drawLine(cartesian_map, map_x, map_y, (map_x / 2) - 2, (map_y / 2) - 6, (map_x / 2) - 2, (map_y / 2) - 29, 255, 0, 0, 0, false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x / 2) + 2, (map_y / 2) - 6, (map_x / 2) + 2, (map_y / 2) - 29, 255, 0, 0, 0, false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x / 2) - 2, (map_y / 2) - 6, (map_x / 2) - 10, (map_y / 2) - 6, 255, 0, 0, 0, false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x / 2) + 2, (map_y / 2) - 6, (map_x / 2) + 10, (map_y / 2) - 6, 255, 0, 0, 0, false);
Bitmap bmp = new Bitmap(map_x, map_y, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(cartesian_map, bmp);
bmp.Save("HpolarTests_MapUpdate0.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
/* convert map to stereo view */
map.SimulateStereoView(
max_disparity_percent,
map_x, map_y,
cartesian_map,
ref stereo_matches);
map.SaveDisparities(
"HpolarTests_MapUpdate1.bmp",
stereo_matches);
map.MapUpdate(stereo_matches, 40);
map.Show("HpolarTests_MapUpdate2.bmp");
Assert.IsTrue(stereo_matches > 0);
}
public void FootlineUpdate()
{
Hpolar map = new Hpolar();
map.imgWidth = 320;
map.imgHeight = 240;
map.footline = new ushort[map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.svs_ground_y_percent = 50;
// create a footline
for (int x = 0; x < (int)map.imgWidth/2; x++)
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(map.imgHeight*70/100);
for (int x = (int)map.imgWidth/2; x < (int)map.imgWidth; x++)
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(map.imgHeight*60/100);
map.FootlineUpdate(40);
Console.WriteLine("dist0: " + map.footline_dist_mm[0].ToString());
Console.WriteLine("dist1: " + map.footline_dist_mm[(map.imgWidth-1) / map.SVS_HORIZONTAL_SAMPLING].ToString());
Assert.IsTrue(map.footline_dist_mm[0] > 0);
Assert.IsTrue(map.footline_dist_mm[(map.imgWidth-1) / map.SVS_HORIZONTAL_SAMPLING] > 0);
Assert.IsTrue(map.footline_dist_mm[(map.imgWidth-1) / map.SVS_HORIZONTAL_SAMPLING] > map.footline_dist_mm[0]);
}
public void Recenter()
{
int max_disparity_percent = 40;
int map_x = 60;
int map_y = 60;
byte[] cartesian_map = new byte[map_x * map_y * 3];
int stereo_matches = 0;
Hpolar map = new Hpolar();
map.imgWidth = 320;
map.imgHeight = 240;
map.footline = new ushort[(int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[(int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING];
// create a footline
for (int x = 0; x < (int)map.imgWidth / map.SVS_HORIZONTAL_SAMPLING; x++)
map.footline[x] = (ushort)(map.imgHeight/2);
map.FootlineUpdate(max_disparity_percent);
/* create a map */
drawing.drawLine(cartesian_map, map_x, map_y, (map_x/2) - 2, (map_y/2)-6, (map_x/2) - 2, (map_y/2)-29, 255,0,0,0,false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x/2) + 2, (map_y/2)-6, (map_x/2) + 2, (map_y/2)-29, 255,0,0,0,false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x/2) - 2, (map_y/2)-6, (map_x/2) - 10, (map_y/2)-6, 255,0,0,0,false);
drawing.drawLine(cartesian_map, map_x, map_y, (map_x/2) + 2, (map_y/2)-6, (map_x/2) + 10, (map_y/2)-6, 255,0,0,0,false);
Bitmap bmp = new Bitmap(map_x,map_y,System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapArrayConversions.updatebitmap_unsafe(cartesian_map, bmp);
bmp.Save("HpolarTests_Recenter0.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
/* convert map to stereo view */
map.SimulateStereoView(
max_disparity_percent,
map_x, map_y,
cartesian_map,
ref stereo_matches);
map.SaveDisparities(
"HpolarTests_Recenter1.bmp",
stereo_matches);
map.MapUpdate(stereo_matches, 40);
map.Show("HpolarTests_Recenter2.bmp");
Assert.IsTrue(stereo_matches > 0);
map.robot_y_mm -= 200;
map.Recenter();
map.Show("HpolarTests_Recenter3.bmp");
map.robot_y_mm -= 200;
map.Recenter();
map.Show("HpolarTests_Recenter4.bmp");
map.robot_y_mm += 200;
map.Recenter();
map.Show("HpolarTests_Recenter5.bmp");
map.robot_y_mm += 200;
map.Recenter();
map.Show("HpolarTests_Recenter6.bmp");
}
public void GroundPlaneUpdate()
{
int image_width = 320;
int image_height = 240;
Hpolar map = new Hpolar();
map.footline = new ushort[image_width / map.SVS_HORIZONTAL_SAMPLING];
map.footline_dist_mm = new ushort[image_width / map.SVS_HORIZONTAL_SAMPLING];
// create a footline
for (int x = image_width*20/100; x < image_width*40/100; x++)
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(image_height/2);
for (int x = image_width*60/100; x < image_width*80/100; x++)
map.footline[x / map.SVS_HORIZONTAL_SAMPLING] = (ushort)(image_height/2);
map.GroundPlaneUpdate();
Assert.AreEqual(image_height/2, map.footline[(image_width/2) / map.SVS_HORIZONTAL_SAMPLING]);
Assert.AreEqual(image_height/2, map.footline[(image_width-1) / map.SVS_HORIZONTAL_SAMPLING]);
Assert.AreEqual(image_height/2, map.footline[0]);
}
