示例#1
0
文件: robot.cs 项目: iManbot/monoslam
        /// <summary>
        /// Initialise a known feature, in this case by loading an image file. The name of
        /// the file is read from the Settings Section passed to this function, with the
        /// entry Identifier.
        /// </summary>
        /// <param name="fmm"></param>
        /// <param name="v"></param>
        /// <param name="section"></param>
        /// <returns></returns>
        public override classimage_mono initialise_known_feature(Feature_Measurement_Model fmm,
                                                            Vector v, Settings.Section section,
                                                            String path)
        {
            ArrayList values = section.get_entry("Identifier");
            String name = (String)values[0];            

            //cout << "Reading patch " << name << endl;

            classimage_mono patch = new classimage_mono();
            if (!(patch.loadFromBitmapMono(path + name, (int)Camera_Constants.BOXSIZE, (int)Camera_Constants.BOXSIZE)))
            {
                patch = null;
            }

            return patch;
        }
示例#2
0
文件: robot.cs 项目: iManbot/monoslam
        /// <summary>
        /// Initialise a known feature. In this case it is assumed that a known feature
        /// is an image patch to be loaded from a file <code>known_patch?.bmp</code>.
        /// </summary>
        /// <param name="fmm"></param>
        /// <param name="v"></param>
        /// <param name="known_feature_label"></param>
        /// <returns></returns>
        public override classimage_mono initialise_known_feature(Feature_Measurement_Model fmm,
                                                   Vector v, uint known_feature_label, String path)
        {
            String name = Camera_Constants.known_point_patch_stem + known_feature_label + ".bmp";

            

            classimage_mono patch = new classimage_mono();
            if (!patch.loadFromBitmapMono(path + name, (int)Camera_Constants.BOXSIZE, (int)Camera_Constants.BOXSIZE))
            {
                patch = null;
            }

            return patch;
        }