/// <summary>
/// returns stereo feature data as a byte array suitable for broadcasting
/// </summary>
/// <returns>byte array containing stereo feature data</returns>
private byte[] SerializedStereoFeatures()
{
byte[] serialized = null;
if (features != null)
{
int n = 0;
// limit the maximum number of features broadcast
int max = features.Count;
if (max > maximum_broadcast_features) max = maximum_broadcast_features;
Random rnd = new Random();
if (BroadcastStereoFeatureColours)
{
// include colour data in the broadcast
for (int i = 0; i < max; i++)
{
int ii = i;
if (features.Count > maximum_broadcast_features)
ii = rnd.Next(features.Count-1);
BroadcastStereoFeatureColour data = new BroadcastStereoFeatureColour();
data.x = features[ii].x;
data.y = features[ii].y;
data.disparity = features[ii].disparity;
data.r = features[ii].colour[0];
data.g = features[ii].colour[1];
data.b = features[ii].colour[2];
byte[] serial_data = RawSerialize(data);
if (serialized == null)
{
serialized = new byte[(max * serial_data.Length) + 1];
serialized[n++] = 1; // first byte indicates colour info
}
for (int j = 0; j < serial_data.Length; j++, n++)
serialized[n] = serial_data[j];
}
}
else
{
// broadcast only the basics for each stereo feature
for (int i = 0; i < max; i++)
{
int ii = i;
if (features.Count > maximum_broadcast_features)
ii = rnd.Next(features.Count-1);
BroadcastStereoFeature data = new BroadcastStereoFeature();
data.x = features[ii].x;
data.y = features[ii].y;
data.disparity = features[ii].disparity;
byte[] serial_data = RawSerialize(data);
if (serialized == null)
{
serialized = new byte[(max * serial_data.Length) + 1];
serialized[n++] = 0; // first byte indicates no colour info
}
for (int j = 0; j < serial_data.Length; j++, n++)
serialized[n] = serial_data[j];
}
}
}
return(serialized);
}
/// <summary>
/// returns stereo feature data as a byte array suitable for broadcasting
/// </summary>
/// <returns>byte array containing stereo feature data</returns>
private byte[] SerializedStereoFeatures()
{
byte[] serialized = null;
if (features != null)
{
int n = 0;
// limit the maximum number of features broadcast
int max = features.Count;
if (max > maximum_broadcast_features)
{
max = maximum_broadcast_features;
}
Random rnd = new Random();
if (BroadcastStereoFeatureColours)
{
// include colour data in the broadcast
for (int i = 0; i < max; i++)
{
int ii = i;
if (features.Count > maximum_broadcast_features)
{
ii = rnd.Next(features.Count - 1);
}
BroadcastStereoFeatureColour data = new BroadcastStereoFeatureColour();
data.x = features[ii].x;
data.y = features[ii].y;
data.disparity = features[ii].disparity;
data.r = features[ii].colour[0];
data.g = features[ii].colour[1];
data.b = features[ii].colour[2];
byte[] serial_data = RawSerialize(data);
if (serialized == null)
{
serialized = new byte[(max * serial_data.Length) + 1];
serialized[n++] = 1; // first byte indicates colour info
}
for (int j = 0; j < serial_data.Length; j++, n++)
{
serialized[n] = serial_data[j];
}
}
}
else
{
// broadcast only the basics for each stereo feature
for (int i = 0; i < max; i++)
{
int ii = i;
if (features.Count > maximum_broadcast_features)
{
ii = rnd.Next(features.Count - 1);
}
BroadcastStereoFeature data = new BroadcastStereoFeature();
data.x = features[ii].x;
data.y = features[ii].y;
data.disparity = features[ii].disparity;
byte[] serial_data = RawSerialize(data);
if (serialized == null)
{
serialized = new byte[(max * serial_data.Length) + 1];
serialized[n++] = 0; // first byte indicates no colour info
}
for (int j = 0; j < serial_data.Length; j++, n++)
{
serialized[n] = serial_data[j];
}
}
}
}
return(serialized);
}
