private void ExtractCalibLinesFromRaw(XmlNode extractorNode)
{
// TODO: Move Extractor initialization to other method
// <PointsExtractor type="CalibShape">
// <Parameters>....
CalibrationModule.CalibrationPointsFinder pointsExtractor;
CalibrationModule.ICalibrationLinesExtractor linesExtractor;
if(extractorNode == null)
{
pointsExtractor = new CalibrationModule.ShapesGridCPFinder();
linesExtractor = pointsExtractor.LinesExtractor;
pointsExtractor.InitParameters();
pointsExtractor.UpdateParameters();
pointsExtractor.PrimaryShapeChecker = new CalibrationModule.RedNeighbourhoodChecker();
}
else
{
// Get type of extractor
string extractorType = extractorNode.Attributes["type"].Value;
if(extractorType == "CalibShape") { }
pointsExtractor = new CalibrationModule.ShapesGridCPFinder();
linesExtractor = pointsExtractor.LinesExtractor;
pointsExtractor.InitParameters();
XmlNode paramsNode = extractorNode.FirstChildWithName("Parameters");
if(paramsNode != null)
{
AlgorithmParameter.ReadParametersFromXml(pointsExtractor.Parameters, paramsNode);
}
pointsExtractor.UpdateParameters();
}
for(int i = 0; i < _calibImagesIndices.Count; ++i)
{
ImageIndex idx = _calibImagesIndices[i];
ColorImage image = _rawCalibImages[idx.ListIndex];
pointsExtractor.Image = image;
pointsExtractor.FindCalibrationPoints();
linesExtractor.ExtractLines();
}
}
public static DisparityMap CreateFromNode(XmlNode mapNode)
{
int rows = int.Parse(mapNode.Attributes["rows"].Value);
int cols = int.Parse(mapNode.Attributes["cols"].Value);
DisparityMap map = new DisparityMap(rows, cols);
XmlNode rowNode = mapNode.FirstChildWithName("Row");
for(int r = 0; r < rows; ++r)
{
XmlNode dispNode = rowNode.FirstChildWithName("Disparity");
for(int c = 0; c < cols; ++c)
{
Disparity disp = Disparity.CreateFromNode(dispNode);
map.Disparities[r, c] = disp;
dispNode = dispNode.NextSibling;
}
rowNode = rowNode.NextSibling;
}
return map;
}