/// <summary> /// Function to find non-overlapping region over without prediction /// this is really the service function called by both the above /// </summary> /// <param name="safe_feature_search_ustart"></param> /// <param name="safe_feature_search_vstart"></param> /// <param name="safe_feature_search_ufinish"></param> /// <param name="safe_feature_search_vfinish"></param> /// <param name="scene"></param> /// <param name="init_feature_search_ustart"></param> /// <param name="init_feature_search_vstart"></param> /// <param name="init_feature_search_ufinish"></param> /// <param name="init_feature_search_vfinish"></param> /// <param name="rnd"></param> /// <returns></returns> public static bool FindNonOverlappingRegionNoPredict( int safe_feature_search_ustart, int safe_feature_search_vstart, int safe_feature_search_ufinish, int safe_feature_search_vfinish, Scene_Single scene, ref int init_feature_search_ustart, ref int init_feature_search_vstart, ref int init_feature_search_ufinish, ref int init_feature_search_vfinish, Random rnd) { int i, j; //if (Camera_Constants.DEBUGDUMP) cout << "FNOLRNP timer start: " << timerlocal << endl; int INIT_FEATURE_SEARCH_WIDTH = 80; int INIT_FEATURE_SEARCH_HEIGHT = 60; // Within this, choose a random region // Check that we've got some room for manouevre if ((safe_feature_search_ufinish - safe_feature_search_ustart > INIT_FEATURE_SEARCH_WIDTH) && (safe_feature_search_vfinish - safe_feature_search_vstart > INIT_FEATURE_SEARCH_HEIGHT)) { // Try a few times to get one that's not overlapping with any features // we know about int NUMBER_OF_RANDOM_INIT_FEATURE_SEARCH_REGION_TRIES = 5; int FEATURE_SEPARATION_MINIMUM = (int)Camera_Constants.BOXSIZE*3; // Build vectors of feature positions so we only have to work them out once ArrayList u_array = new ArrayList(); ArrayList v_array = new ArrayList(); Feature it; for (j = 0; j < scene.get_feature_list().Count; j++) { it = (Feature)(scene.get_feature_list())[j]; //Vector z = it.get_z(); //u_array.Add(z[0]); //v_array.Add(z[1]); if (it.get_feature_measurement_model().fully_initialised_flag) { //Vector z = it.get_z(); //u_array.Add(z[0]); //v_array.Add(z[1]); Fully_Initialised_Feature_Measurement_Model fifmm = (Fully_Initialised_Feature_Measurement_Model)(it.get_feature_measurement_model()); fifmm.func_hi_and_dhi_by_dxp_and_dhi_by_dyi(it.get_y(), scene.get_motion_model().get_xpRES()); // Check that this is not a feature behind the camera if (it.get_feature_measurement_model().feature_graphics_type == "THREED_POINT") { fifmm.func_zeroedyigraphics_and_Pzeroedyigraphics(it.get_y(), scene.get_xv(), scene.get_Pxx(), it.get_Pxy(), it.get_Pyy()); if (fifmm.get_zeroedyigraphicsRES()[2] > 0) { u_array.Add(fifmm.get_hiRES()[0]); v_array.Add(fifmm.get_hiRES()[1]); } } } } //if (Camera_Constants.DEBUGDUMP) cout << "FNOLRNP timer after functions: " << timerlocal << endl; bool feature_found = false; i = 0; while (i < NUMBER_OF_RANDOM_INIT_FEATURE_SEARCH_REGION_TRIES) { int u_offset = (int)((safe_feature_search_ufinish - safe_feature_search_ustart - INIT_FEATURE_SEARCH_WIDTH) * (rnd.Next(10000) / 10000.0f)); int v_offset = (int)((safe_feature_search_vfinish - safe_feature_search_vstart - INIT_FEATURE_SEARCH_HEIGHT) * (rnd.Next(10000) / 10000.0f)); init_feature_search_ustart = safe_feature_search_ustart + u_offset; init_feature_search_ufinish = init_feature_search_ustart + INIT_FEATURE_SEARCH_WIDTH; init_feature_search_vstart = safe_feature_search_vstart + v_offset; init_feature_search_vfinish = init_feature_search_vstart + INIT_FEATURE_SEARCH_HEIGHT; bool found_a_feature_in_region_flag = false; // These arrays will be the same size float uit, vit; for (j = 0; j < u_array.Count; j++) { uit = (float)u_array[j]; vit = (float)v_array[j]; if ((uit >= init_feature_search_ustart - FEATURE_SEPARATION_MINIMUM) && (uit < init_feature_search_ufinish + FEATURE_SEPARATION_MINIMUM) && (vit >= init_feature_search_vstart - FEATURE_SEPARATION_MINIMUM) && (vit < init_feature_search_vfinish + FEATURE_SEPARATION_MINIMUM)) { found_a_feature_in_region_flag = true; feature_found = true; break; } } if (!found_a_feature_in_region_flag) break; i++; } if (!feature_found) { return false; } } else { return false; } return true; }