/// <summary>
/// Initializes a new instance of the ImageAnalysis class.
/// </summary>
/// <param name="game">The game associated with the class</param>
/// <param name="screenSize">The size of the sceen to analze</param>
/// <param name="viewPortList1">A list of the view ports</param>
public ImageAnalysis(Game game, Vector2 screenSize, List <Viewport> viewPortList1)
: base(game)
{
this.screenWidth = (int)screenSize.X;
this.screenHeight = (int)screenSize.Y;
// Creates the image drawing analysis object.
this.drawAnalysis = new DrawImageAnalysis(game, this.screenWidth, this.screenHeight, UpdateSquareDimForDrawing, UpdateSquareDimForAnalysis, NumberofLinesToFind, ThetaIncrement, RhoIncrement, viewPortList1, this);
this.drawAnalysis.DrawOrder = game.Components.Count;
Game.Components.Add(this.drawAnalysis);
}
/// <summary>
/// Called when the class is initialized. Creates many of the arrays and sets many of the values.
/// </summary>
public override void Initialize()
{
this.totalWhiteCnt = 0;
// Create the arrays needed. Building them now will save CPU later.
this.clearPathTrueFalseMap = new bool[this.screenWidth, this.screenHeight];
this.trueFalseMapB = new bool[this.screenWidth, this.screenHeight];
this.findWhiteTrueFalseMap = new bool[this.screenWidth, this.screenHeight];
this.accum2 = new short[360 / ThetaIncrement, AccumLength / RhoIncrement]; // Build the accumlator array. Make is smaller or shorter based on the size of the rho and theta increments
this.accum1 = new short[360 / ThetaIncrement, AccumLengthOld / RhoIncrement];
this.colorArray1D = new Color[this.screenWidth * this.screenHeight]; // Create a 1D array of color
this.colorArrayDirectlyFromRobotCamera = new Color[this.screenWidth, this.screenHeight]; // Create a 2D array of color
//this.houghInfo = new double[(11 * numberOfLinesToFind) + 5]; // Make the array to store hough information. Must be double so that slopes which are fractions can be stored
// Set the color thresholds
this.redGood = ((SimulationMain)Game).config.whiteParam;
this.blueGood = ((SimulationMain)Game).config.whiteParam;
this.greenGood = ((SimulationMain)Game).config.whiteParam;
//this.houghLineStartandStopVectors = new Vector3[numberOfLinesToFind * 4];
// for (int i = 0; i < numberOfLinesToFind * 4; i++)
// {
// this.houghLineStartandStopVectors[i] = Vector3.Zero;
//}
this.middleValues = new int[this.screenHeight]; // Steering desisions are based off the average middle clear value for each row
// Creates the image drawing analysis object.
this.drawAnalysis = new DrawImageAnalysis(Game);
this.Game.Components.Add(this.drawAnalysis);
// Great a some Hough lines (the number that of lines we are trying to find)
for (int i = 0; i < numberOfLinesToFind; i++)
{
HoughLines houghLine = new HoughLines(Game);
this.Game.Components.Add(houghLine);
this.houghLineList.Add(houghLine);
}
this.debugText = new DebugText(Game);
this.debugText.imageAnalysisLinked = this;
this.Game.Components.Add(this.debugText);
this.lineErrorAnalysis = new LineErrorAnalysis(Game);
// base.Initialize();
}
/// <summary>
/// Initializes a new instance of the ImageAnalysis class.
/// </summary>
/// <param name="game">The game associated with the class</param>
/// <param name="screenSize">The size of the sceen to analze</param>
/// <param name="viewPortList1">A list of the view ports</param>
public ImageAnalysis(Game game, Vector2 screenSize, List<Viewport> viewPortList1)
: base(game)
{
this.screenWidth = (int)screenSize.X;
this.screenHeight = (int)screenSize.Y;
// Creates the image drawing analysis object.
this.drawAnalysis = new DrawImageAnalysis(game, this.screenWidth, this.screenHeight, UpdateSquareDimForDrawing, UpdateSquareDimForAnalysis, NumberofLinesToFind, ThetaIncrement, RhoIncrement, viewPortList1, this);
this.drawAnalysis.DrawOrder = game.Components.Count;
Game.Components.Add(this.drawAnalysis);
}
