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.");
}
}
public static void CalibrateTouchscreen(VirtualCanvas canvas)
{
try {
//var sd = new SDCardReader();
//sd.Initialize(SPI.SPI_module.SPI1,Pins.GPIO_PIN_D10);
var calibrationDataFilename = @"SD\TouchscreenCalibration.bin";
// If the touchscreen calibration data was previously retrieved from the display module and was stored to an SD card,
// the calibration data can be sent to the display module instead of calling TouchscreenCalibration() before using
// the touchscreen for the first time.
if (File.Exists(calibrationDataFilename))
{
using (var calibrationDataFile = new FileStream(calibrationDataFilename, FileMode.Open)) {
var context = new BasicTypeDeSerializerContext(calibrationDataFile);
var matrix = new CalibrationMatrix();
matrix.Get(context);
canvas.SetTouchscreenCalibrationMatrix(matrix);
}
}
else
{
// No pre-existing calibration data, create it...
using (var calibrationDataFile = new FileStream(calibrationDataFilename, FileMode.Create)) {
var matrix = canvas.GetTouchscreenCalibrationMatrix();
var context = new BasicTypeSerializerContext(calibrationDataFile);
matrix.Put(context);
}
}
//sd.Dispose();
} catch (Exception) {
Debug.Print("SD Card or file I/O error: manual calibration required.");
canvas.TouchscreenCalibration();
}
}
public static void CalibrateTouchscreen(VirtualCanvas canvas)
{
var sd = new SDCardReader();
try {
sd.Initialize(SDSocket);
var calibrationDataFilename = @"SD\TouchscreenCalibration.bin";
if (File.Exists(calibrationDataFilename))
{
using (var calibrationDataFile = new FileStream(calibrationDataFilename, FileMode.Open)) {
var context = new BasicTypeDeSerializerContext(calibrationDataFile);
var matrix = new CalibrationMatrix();
matrix.Get(context);
canvas.SetTouchscreenCalibrationMatrix(matrix);
}
}
else
{
using (var calibrationDataFile = new FileStream(calibrationDataFilename, FileMode.Create)) {
var matrix = canvas.GetTouchscreenCalibrationMatrix();
var context = new BasicTypeSerializerContext(calibrationDataFile);
matrix.Put(context);
}
}
} catch (Exception e) {
Debug.Print(e.Message);
Debug.Print("SD Card or file I/O error: manual calibration required.");
canvas.TouchscreenCalibration();
}
sd.Dispose();
}
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"))));
}
public CalibrationMatrix GetTouchscreenCalibrationMatrix() {
BasicTypeSerializer.Put(SendContext, (byte)Command.TouchscreenGetCalibrationMatrix);
Execute();
Receive();
TouchScreenDataType eventType = (TouchScreenDataType)BasicTypeDeSerializer.Get(ReceiveContext);
if (eventType != TouchScreenDataType.CalibrationMatrix) {
throw new ApplicationException("eventType");
}
var matrix = new CalibrationMatrix();
matrix.Get(ReceiveContext);
return matrix;
}
/// <summary>
/// Updates the calibration matrix using the 6 Affine Transformation parameters
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="c"></param>
/// <param name="d"></param>
/// <param name="e"></param>
/// <param name="f"></param>
public void SetCalibration(double a, double b, double c, double d, double e, double f)
{
CalibrationMatrix = new CalibrationMatrix(DateTime.Now, a, b, c, d, e, f);
}
/// <summary>
/// Updates the calibration matrix using the 6 Affine Transformation parameters
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="c"></param>
/// <param name="d"></param>
/// <param name="e"></param>
/// <param name="f"></param>
public void SetCalibration(double a, double b, double c, double d, double e, double f)
{
CalibrationMatrix = new CalibrationMatrix(DateTime.Now, a, b, c, d, e, f);
}
public void SetTouchscreenCalibrationMatrix(CalibrationMatrix matrix)
{
BasicTypeSerializer.Put(SendContext, (byte)Command.TouchscreenSetCalibrationMatrix);
matrix.Put(SendContext);
Execute();
}
