public float loadGlimpseSentience(robot rob, String path, String TrackName, String track, int distance_index, int pathPoints, String index)
{
float matching_score = 0;
Byte[] left_bmp = null;
Byte[] right_bmp = null;
String image_filename;
bool mapping = true;
if (index != "M")
{
mapping = false;
}
int stereo_cam_index = 0;
bool left_camera = true;
for (int i = 0; i < rob.head.no_of_cameras * 2; i++)
{
if (left_camera)
{
image_filename = path + TrackName + "_left_" + Convert.ToString(distance_index + (stereo_cam_index * pathPoints)) + ".bmp";
if (!File.Exists(image_filename))
{
errorMessage = image_filename + " not found";
}
rob.head.imageFilename[i] = image_filename;
left_bmp = util.loadFromBitmap(image_filename, rob.head.image_width, rob.head.image_height, 3);
}
else
{
image_filename = path + TrackName + "_right_" + Convert.ToString(distance_index + (stereo_cam_index * pathPoints)) + ".bmp";
if (!File.Exists(image_filename))
{
errorMessage = image_filename + " not found";
}
rob.head.imageFilename[i] = image_filename;
right_bmp = util.loadFromBitmap(image_filename, rob.head.image_width, rob.head.image_height, 3);
matching_score += rob.loadRectifiedImages(stereo_cam_index, left_bmp, right_bmp, 3, mapping);
// store images and features for later display
if (stereo_cam_index == 0)
{
image_filenames_stereoCamera0.Add(rob.head.imageFilename[i - 1]);
image_filenames_stereoCamera0.Add(rob.head.imageFilename[i]);
features_stereoCamera0.Add(rob.head.features[stereo_cam_index]);
}
else
{
image_filenames_stereoCamera1.Add(rob.head.imageFilename[i - 1]);
image_filenames_stereoCamera1.Add(rob.head.imageFilename[i]);
features_stereoCamera1.Add(rob.head.features[stereo_cam_index]);
}
stereo_cam_index++;
}
left_camera = !left_camera;
}
return(matching_score);
}
