I've been busy figuring out how to get the colorhistogram to work. I have to put the grassHistogram.hist file in
D:\...\Usar\UsarCommander\bin\Debug\
The grassHistogram.hist uses a binsize of 20, i've found that number in "D:\Doas Gideon\Usar gideon working version" in the file SkinDetector.vb
The pictures above are some results i've gotten with the grassHistogram.hist. They are quite bad though.
The red dots are free space detected by the histogram and the white dots on the 2nd picture is what the rangefinder detects as the boundaries of an object, as i said it works really bad.
I am going to normalize the image in order to get the colorhistogram to work better. I am also going to send Gideon an email about what his newest grasshistogram is, hopefully he has a more updated version of the histogram because the results are quite bad now. I am going to try and implement the the normalisation of RGB in visual basic tonight.
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