示例#1
0
        /// <summary>
        /// show results
        /// </summary>
        /// <param name="left_bmp">left image data</param>
        /// <param name="image_width">width of the image</param>
        /// <param name="image_height">height of the image</param>
        /// <param name="output_bmp">image to be displayed</param>
        public virtual void Show(byte[] left_bmp, int image_width, int image_height,
                                 byte[] output_bmp)
        {
            if (left_bmp.Length == output_bmp.Length)
            {
                Buffer.BlockCopy(left_bmp, 0, output_bmp, 0, left_bmp.Length);
            }
            else
            {
                if (left_bmp.Length == output_bmp.Length / 3)
                {
                    int n = 0;
                    for (int i = 0; i < output_bmp.Length; i += 3, n++)
                    {
                        for (int col = 0; col < 3; col++)
                        {
                            output_bmp[i + col] = left_bmp[n];
                        }
                    }
                }
            }

            for (int i = 0; i < features.Count; i++)
            {
                StereoFeature f = features[i];
                drawing.drawSpotBlended(output_bmp, image_width, image_height, (int)f.x, (int)f.y, (int)(f.disparity * feature_scale), 100, 255, 100);
            }
        }
示例#2
0
        /// <summary>
        /// receive incoming stereo feature data and turn it into a list of stereo feature objects
        /// </summary>
        /// <param name="data">received data</param>
        /// <param name="no_of_bytes">received number of bytes</param>
        private void Receive(byte[] data, int no_of_bytes)
        {
            if ((data.Length > 1) && (!receive_busy))
            {
                receive_busy = true;

                // create a list to store the features
                List <StereoFeature> new_features = new List <StereoFeature>();

                // read the first byte, which determines whether
                // the stereo features have colour info or not
                if (data[0] == 1)
                {
                    ColourFeatures = true;
                }
                else
                {
                    ColourFeatures = false;
                }

                if (!ColourFeatures)
                {
                    // stereo features with no colour information
                    float[] feats = ReadData(data, no_of_bytes);
                    for (int i = 0; i < feats.Length; i += 3)
                    {
                        StereoFeature f =
                            new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
                        new_features.Add(f);
                    }
                }
                else
                {
                    // stereo features with colour information
                    float[] feats  = null;
                    byte[]  colour = null;
                    ReadDataColour(data, no_of_bytes, ref feats, ref colour);
                    for (int i = 0; i < feats.Length; i += 3)
                    {
                        StereoFeature f =
                            new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
                        f.SetColour(colour[i], colour[i + 1], colour[i + 2]);
                        new_features.Add(f);
                    }
                }
                features = new_features;
                FeaturesArrived(features);
                receive_busy = false;
            }
        }
示例#3
0
        /// <summary>
        /// update the colours of stereo features
        /// </summary>
        /// <param name="left_img_colour">left colour image</param>
        /// <param name="right_img_colour">right colour image</param>
        private void UpdateFeatureColours(byte[] left_img_colour, byte[] right_img_colour)
        {
            for (int f = 0; f < features.Count; f++)
            {
                StereoFeature feature = features[f];
                int           n       = (((int)feature.y * image_width) + (int)feature.x) * 3;

                feature.colour = new byte[3];
                for (int col = 0; col < 3; col++)
                {
                    feature.colour[col] = left_img_colour[n + col];
                }
            }
        }
示例#4
0
 /// <summary>
 /// receive incoming stereo feature data and turn it into a list of stereo feature objects
 /// </summary>
 /// <param name="data">received data</param>
 /// <param name="no_of_bytes">received number of bytes</param>
 private void Receive(byte[] data, int no_of_bytes)
 {
     if ((data.Length > 1) && (!receive_busy))
     {
         receive_busy = true;
         
         // create a list to store the features
         List<StereoFeature> new_features = new List<StereoFeature>();
         
         // read the first byte, which determines whether
         // the stereo features have colour info or not
         if (data[0] == 1)
             ColourFeatures = true;
         else
             ColourFeatures = false;
         
         if (!ColourFeatures)
         {
             // stereo features with no colour information
             float[] feats = ReadData(data, no_of_bytes);
             for (int i = 0; i < feats.Length; i += 3)
             {
                 StereoFeature f = 
                     new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
                 new_features.Add(f);
             }
         
         }
         else
         {
             // stereo features with colour information
             float[] feats = null;
             byte[] colour = null; 
             ReadDataColour(data, no_of_bytes, ref feats, ref colour);
             for (int i = 0; i < feats.Length; i += 3)
             {
                 StereoFeature f = 
                     new StereoFeature(feats[i], feats[i + 1], feats[i + 2]);
                 f.SetColour(colour[i], colour[i + 1], colour[i + 2]);
                 new_features.Add(f);
             }
         }
         features = new_features;
         FeaturesArrived(features);
         receive_busy = false;
     }
 }