public EnsembleData(string ensembleFile)
{
XElement root = XElement.Load(ensembleFile);
// Deserialize ensemble file
try {
XNamespace ns = root.Name.Namespace;
name = root.Element(ns + "name").Value;
cameras =
(from camera in root.Descendants(ns + "ProjectorCameraEnsemble.Camera")
select new CameraData {
calibration = MakeCalibration(camera, ns),
hostNameOrAddress = camera.Element(ns + "hostNameOrAddress").Value,
name = camera.Element(ns + "name").Value,
pose = CalibrationMatrix.ToMatrix4x4(camera.Element(ns + "pose"))
}).ToList();
projectors =
(from projector in root.Descendants(ns + "ProjectorCameraEnsemble.Projector")
select new ProjectorData {
cameraMatrix = CalibrationMatrix.ToMatrix4x4(projector.Element(ns + "cameraMatrix")),
displayIndex = Convert.ToInt32(projector.Element(ns + "displayIndex").Value),
width = Convert.ToInt32(projector.Element(ns + "width").Value),
height = Convert.ToInt32(projector.Element(ns + "height").Value),
hostNameOrAddress = projector.Element(ns + "hostNameOrAddress").Value,
lensDistortion = CalibrationMatrix.ToMatrix4x4(projector.Element(ns + "lensDistortion")),
lockIntrinsics = Convert.ToBoolean(projector.Element(ns + "lockIntrinsics").Value),
name = projector.Element(ns + "name").Value,
pose = CalibrationMatrix.ToMatrix4x4(projector.Element(ns + "pose"))
}).ToList();
} catch (NullReferenceException) {
throw new NullReferenceException("File incorrect format.");
}
}
CameraCalibration MakeCalibration(XElement cameraNode, XNamespace ns)
{
XElement calibration = cameraNode.Element(ns + "calibration");
return(new CameraCalibration(CalibrationMatrix.ToMatrix4x4(calibration.Element(ns + "colorCameraMatrix")),
CalibrationMatrix.ToMatrix4x4(calibration.Element(ns + "colorLensDistortion")),
CalibrationMatrix.ToMatrix4x4(calibration.Element(ns + "depthCameraMatrix")),
CalibrationMatrix.ToMatrix4x4(calibration.Element(ns + "depthLensDistortion")),
CalibrationMatrix.ToMatrix4x4(calibration.Element(ns + "depthToColorTransform"))));
}
