Arnoud has helped me with understanding how the code works. He has also showed me the place where I can put in my code. I have also been given an older revision(rev1251 merged with Dialogs from rev1323) of the code where I can easily pop omnicam images from the sensor.
Arnoud has also shown me how to mask the omnicamrangefinder data into LaserRangeData.vb which is very helpful. "D:\Doas\Gideon\Usar" tells me how Gideon used the color histogram for free spacedetection.
The codeline: "observers.notifysensorupdate in agent.vb/camerasensor.vb" will update all sensors with a new omnicam image. The skindetector will now pop images but I can throw the skindetector out and put in the omnicam rangefinder so that my program will get the images.
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