///<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; }