/// <summary>
/// creates a lookup table for sensor models at different visual disparities
/// </summary>
public void createLookupTables(
stereoHead robot_head,
int gridCellSize_mm)
{
int width = 100;
int height = 100;
Byte[] img_result = new Byte[width * height * 3];
for (int cam = 0; cam < robot_head.no_of_stereo_cameras; cam++)
{
// update parameters based upon the calibration data
image_width = robot_head.cameraImageWidth[cam];
image_height = robot_head.cameraImageHeight[cam];
baseline = robot_head.cameraBaseline[cam];
FOV_horizontal = robot_head.cameraFOVdegrees[cam] * (float)Math.PI / 180.0f;
FOV_vertical = FOV_horizontal * image_height / image_width;
// create the lookup
createLookupTable(gridCellSize_mm, img_result, width, height);
// attach the lookup table to the relevant camera
robot_head.sensormodel[cam] = ray_model;
}
}
/// <summary>
/// create a list of rays to be stored within poses
/// </summary>
/// <param name="head">head configuration</param>
/// <param name="stereo_camera_index">index number for the stereo camera</param>
/// <returns>list of evidence rays, centred at (0, 0, 0)</returns>
public List<evidenceRay> createObservation(
stereoHead head,
int stereo_camera_index)
{
List<evidenceRay> result;
if (head.features[stereo_camera_index] != null)
{
result = createObservation(
head.cameraPosition[stereo_camera_index],
head.cameraBaseline[stereo_camera_index],
head.cameraImageWidth[stereo_camera_index],
head.cameraImageHeight[stereo_camera_index],
head.cameraFOVdegrees[stereo_camera_index],
head.features[stereo_camera_index],
head.featureColours[stereo_camera_index],
false);
}
else
{
result = new List<evidenceRay>();
}
return (result);
}
/// <summary>
/// initialise with the given number of stereo cameras
/// </summary>
/// <param name="no_of_stereo_cameras">the number of stereo cameras on the robot (not the total number of cameras)</param>
/// <param name="rays_per_stereo_camera">the number of rays which will be thrown from each stereo camera per time step</param>
private void init(
int no_of_stereo_cameras,
int rays_per_stereo_camera)
{
this.no_of_stereo_cameras = no_of_stereo_cameras;
// head and shoulders
head = new stereoHead(no_of_stereo_cameras);
// sensor model used for mapping
inverseSensorModel = new stereoModel();
// set the number of stereo features to be detected and inserted into the grid
// on each time step. This figure should be large enough to get reasonable
// detail, but not so large that the mapping consumes a huge amount of
// processing resource
inverseSensorModel.no_of_stereo_features = rays_per_stereo_camera;
// add local occupancy grid
createLocalGrid();
// create a motion model for each possible grid
motion = new motionModel(this, LocalGrid, 100);
// zero encoder positions
prev_left_wheel_encoder = 0;
prev_right_wheel_encoder = 0;
}