private void FindBinocularBoundaries()
{
boundaries.Clear();
int start = 0;
for (int i = 0; i < LBoundaries.Count; i++)
{
for (int j = start; j < RBoundaries.Count; j++)
{
ColorInt cLL = LBoundaries[i].colorL;
ColorInt cLR = LBoundaries[i].colorR;
ColorInt cRL = RBoundaries[j].colorL;
ColorInt cRR = RBoundaries[j].colorR;
if (cLL == cRL || cLR == cRR)
{
//find distance and error
int l1 = LBoundaries[i].direction;
int r1 = RBoundaries[j].direction;
PointPlus leftPoint = FindDepth(l1, r1);
PointPlus leftPointError = FindDepth(l1 - 1, r1);
float error = leftPointError.R - leftPoint.R;
if (error < 0)
{
break;
}
leftPoint.Conf = error;
PointPlus pp = new PointPlus()
{
R = leftPoint.R, Theta = leftPoint.Theta, Conf = leftPoint.Conf
};
//if both sides of the point match...this creates two boundaries, one for each color
if (cLL == cRL)
{
BinocularBoundary bb = new BinocularBoundary()
{
p = leftPoint,
theColor = cLL,
changed = LBoundaries[i].changed,
};
boundaries.Add(bb);
}
if (cLR == cRR)
{
BinocularBoundary bb = new BinocularBoundary()
{
p = pp,
theColor = cLR,
changed = LBoundaries[i].changed,
};
boundaries.Add(bb);
}
start = j;
break;
}
}
}
}
//an area must appear in both eyes to count
//partial areas as the edge of the field of view will have only one endpoint
//this relies on having only one area per color in the visual field
private void FindAreasOfColor()
{
areas.Clear();
if (boundaries.Count == 0)
{
return;
}
BinocularBoundary bb1 = boundaries[0];
for (int i = 1; i < boundaries.Count; i++)
{
BinocularBoundary bb2 = boundaries[i];
if (bb1.theColor == bb2.theColor)
{
Area aa = new Area()
{
PL = bb1.p,
PR = bb2.p,
lChanged = bb1.changed,
RChanged = bb2.changed,
theColor = bb1.theColor,
};
//aa.angleFromTexture = GetAngleFromTexture(aa);
Segment s = new Segment()
{
P1 = aa.PL, P2 = aa.PR, theColor = aa.theColor,
};
Module2DModel nmModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (nmModel != null)
{
aa.t = nmModel.MostLikelySegment(s);
}
areas.Add(aa);
}
bb1 = bb2;
}
}
