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 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]);
}
