public void Configure(ITrackingClient client)
{
XmlElement root = this.doc.DocumentElement;
//Get Driver
String nodepath;
XmlNode node;
XmlNodeList nodeList;
nodepath = "//Configuration/Tracking/Cameras";
node = root.SelectSingleNode(nodepath);
int cameracount = Convert.ToInt32(node.Attributes["Count"].Value);
float finvert = Convert.ToSingle(node.Attributes["Invert"].Value);
try
{
String sdriver = node.Attributes["Driver"].Value;
eCameraDriver driver = (eCameraDriver)Enum.Parse(typeof(eCameraDriver), sdriver);
client.CameraSettings.SetDriver(driver);
}
catch
{
client.CameraSettings.SetDriver(eCameraDriver.Cmu);
}
client.CameraSettings.SetInvertImage(finvert >= 0.5);
client.CameraSettings.Clear();
for (int i = 0; i < cameracount; i++)
{
nodepath = "//Configuration/Tracking/Cameras/Camera[@ID='" + i + "']";
node = root.SelectSingleNode(nodepath);
client.CameraSettings.CreateCamera(i);
CameraSettings cam = client.CameraSettings.GetCamera(i);
//Size and fps
XmlNode subnode = node.SelectSingleNode("Settings");
int sx = Convert.ToInt32(subnode.Attributes["SizeX"].Value);
int sy = Convert.ToInt32(subnode.Attributes["SizeY"].Value);
int fps = Convert.ToInt32(subnode.Attributes["Fps"].Value);
cam.SetSize(sx, sy);
cam.SetFrameRate(fps);
//Light settings
subnode = node.SelectSingleNode("Light");
float b = Convert.ToSingle(subnode.Attributes["Brightness"].Value);
float g = Convert.ToSingle(subnode.Attributes["Gain"].Value);
float s = Convert.ToSingle(subnode.Attributes["Shutter"].Value);
cam.SetLight(b, s, g);
//Stitch Settings
subnode = node.SelectSingleNode("Stitch");
int stitchx = Convert.ToInt32(subnode.Attributes["X"].Value);
int stitchy = Convert.ToInt32(subnode.Attributes["Y"].Value);
cam.SetOrigin(stitchx, stitchy);
//Flip Settings (Keep for later)
subnode = node.SelectSingleNode("Flip");
double flipx = Convert.ToDouble(subnode.Attributes["X"].Value);
double flipy = Convert.ToDouble(subnode.Attributes["Y"].Value);
//Barrel settings
nodepath = "//Configuration/Tracking/Barrel/Camera[@ID='" + i + "']";
node = root.SelectSingleNode(nodepath);
//Focal
subnode = node.SelectSingleNode("Focal");
float focalx = Convert.ToSingle(subnode.Attributes["X"].Value);
float focaly = Convert.ToSingle(subnode.Attributes["Y"].Value);
cam.Barrel.SetFocal(focalx, focaly);
//Principal
subnode = node.SelectSingleNode("Principal");
float principalx = Convert.ToSingle(subnode.Attributes["X"].Value);
float principaly = Convert.ToSingle(subnode.Attributes["Y"].Value);
cam.Barrel.SetPrincipal(principalx, principaly);
//Distortion
subnode = node.SelectSingleNode("Distorsion");
float d0 = Convert.ToSingle(subnode.Attributes["D0"].Value);
float d1 = Convert.ToSingle(subnode.Attributes["D1"].Value);
float d2 = Convert.ToSingle(subnode.Attributes["D2"].Value);
float d3 = Convert.ToSingle(subnode.Attributes["D3"].Value);
cam.Barrel.SetBarrel(d0, d1, d2, d3);
//Border
subnode = node.SelectSingleNode("Border");
int border = Convert.ToInt32(subnode.Attributes["Size"].Value);
cam.Barrel.SetBorder(border);
//Perspective
nodepath = "//Configuration/Tracking/Perspective/Camera[@ID='" + i + "']/Point";
nodeList = root.SelectNodes(nodepath);
List<float> origx = new List<float>();
List<float> origy = new List<float>();
List<float> screenx = new List<float>();
List<float> screeny = new List<float>();
for (int p = 0; p < nodeList.Count; p++)
{
float ptorigx = Convert.ToSingle(nodeList[p].Attributes["OrigX"].Value);
float ptorigy = Convert.ToSingle(nodeList[p].Attributes["OrigY"].Value);
if (flipx >= 0.5)
{
ptorigx = sx - ptorigx;
}
if (flipy >= 0.5)
{
ptorigy = sy - ptorigy;
}
origx.Add(ptorigx);
origy.Add(ptorigy);
float ptscreenx = Convert.ToSingle(nodeList[p].Attributes["ScreenX"].Value);
float ptscreeny = Convert.ToSingle(nodeList[p].Attributes["ScreenY"].Value);
screenx.Add(ptscreenx);
screeny.Add(ptscreeny);
}
cam.Perspective.SetMapping(origx, origy, screenx, screeny);
}
//Barrel perspective enabled
nodepath = "//Configuration/Tracking/Barrel";
node = root.SelectSingleNode(nodepath);
double enablebarrel = Convert.ToDouble(node.Attributes["Enabled"].Value);
nodepath = "//Configuration/Tracking/Perspective";
node = root.SelectSingleNode(nodepath);
double enableperspective = Convert.ToDouble(node.Attributes["Enabled"].Value);
client.CameraSettings.SetBarrelEnabled(enablebarrel >= 0.5);
client.CameraSettings.SetPerspectiveEnabled(enableperspective >= 0.5);
client.CameraSettings.Invalidate();
//Background Settings
nodepath = "//Configuration/Tracking/Background";
node = root.SelectSingleNode(nodepath);
client.BackgroundSettings.SetAbsolute(Convert.ToSingle(node.Attributes["Absolute"].Value) >= 0.5);
client.BackgroundSettings.SetMotionMode(false);
client.BackgroundSettings.SetEnabled(true);
//Highpass settings
nodepath = "//Configuration/Tracking/HighPass";
node = root.SelectSingleNode(nodepath);
client.HighpassSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.HighpassSettings.SetKernelSize(Convert.ToSingle(node.Attributes["Force"].Value));
client.HighpassSettings.SetScale(Convert.ToSingle(node.Attributes["Scale"].Value));
client.HighpassSettings.EnableHQNoiseReduction(Convert.ToSingle(node.Attributes["HQ"].Value) >= 0.5);
//Hotspots settings
nodepath = "//Configuration/Tracking/HotSpots";
node = root.SelectSingleNode(nodepath);
client.HotspotSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.HotspotSettings.SetMagnification(Convert.ToSingle(node.Attributes["BlowUp"].Value));
client.HotspotSettings.SetThreshold(Convert.ToSingle(node.Attributes["Threshold"].Value));
client.HotspotSettings.SetConfigurationMode(false);
//Threshold settings
nodepath = "//Configuration/Tracking/Threshold";
node = root.SelectSingleNode(nodepath);
String thrmode = node.Attributes["Mode"].Value;
eThresholdMode ethrmode = (eThresholdMode)Enum.Parse(typeof(eThresholdMode), thrmode);
client.ThresholdSettings.SetMode(ethrmode);
client.ThresholdSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.ThresholdSettings.SetOffset(Convert.ToSingle(node.Attributes["Offset"].Value));
client.ThresholdSettings.SetScale(Convert.ToSingle(node.Attributes["Scale"].Value));
//Blobs settings
nodepath = "//Configuration/Tracking/Blobs";
node = root.SelectSingleNode(nodepath);
client.TrackingSettings.SetEnabled(true);
client.TrackingSettings.SetMinSize(Convert.ToSingle(node.Attributes["MinSize"].Value));
client.TrackingSettings.SetMaxSize(Convert.ToSingle(node.Attributes["MaxSize"].Value));
client.TrackingSettings.SetMaxRejectDistance(Convert.ToSingle(node.Attributes["MaxRejectDist"].Value));
client.TrackingSettings.SetMaxInvisible(Convert.ToSingle(node.Attributes["MaxInvisible"].Value));
try
{
client.TrackingSettings.SetMinMovementThreshold(Convert.ToSingle(node.Attributes["MinMoveThreshold"].Value));
}
catch
{
client.TrackingSettings.SetMinMovementThreshold(0.0f);
}
try
{
client.TrackingSettings.SetMergeDistance(Convert.ToSingle(node.Attributes["MinMerge"].Value));
}
catch
{
client.TrackingSettings.SetMergeDistance(0.0f);
}
try
{
client.TrackingSettings.SetMaxHolds(Convert.ToInt32(node.Attributes["MaxHolds"].Value));
}
catch
{
client.TrackingSettings.SetMaxHolds(0);
}
}
public void Configure(ITrackingClient client)
{
XmlElement root = this.doc.DocumentElement;
//Get Driver
String nodepath;
XmlNode node;
XmlNodeList nodeList;
nodepath = "//Configuration/Tracking/Cameras";
node = root.SelectSingleNode(nodepath);
int cameracount = Convert.ToInt32(node.Attributes["Count"].Value);
float finvert = Convert.ToSingle(node.Attributes["Invert"].Value);
try
{
String sdriver = node.Attributes["Driver"].Value;
eCameraDriver driver = (eCameraDriver)Enum.Parse(typeof(eCameraDriver), sdriver);
client.CameraSettings.SetDriver(driver);
}
catch
{
client.CameraSettings.SetDriver(eCameraDriver.Cmu);
}
client.CameraSettings.SetInvertImage(finvert >= 0.5);
client.CameraSettings.Clear();
for (int i = 0; i < cameracount; i++)
{
nodepath = "//Configuration/Tracking/Cameras/Camera[@ID='" + i + "']";
node = root.SelectSingleNode(nodepath);
client.CameraSettings.CreateCamera(i);
CameraSettings cam = client.CameraSettings.GetCamera(i);
//Size and fps
XmlNode subnode = node.SelectSingleNode("Settings");
int sx = Convert.ToInt32(subnode.Attributes["SizeX"].Value);
int sy = Convert.ToInt32(subnode.Attributes["SizeY"].Value);
int fps = Convert.ToInt32(subnode.Attributes["Fps"].Value);
cam.SetSize(sx, sy);
cam.SetFrameRate(fps);
//Light settings
subnode = node.SelectSingleNode("Light");
float b = Convert.ToSingle(subnode.Attributes["Brightness"].Value);
float g = Convert.ToSingle(subnode.Attributes["Gain"].Value);
float s = Convert.ToSingle(subnode.Attributes["Shutter"].Value);
cam.SetLight(b, s, g);
//Stitch Settings
subnode = node.SelectSingleNode("Stitch");
int stitchx = Convert.ToInt32(subnode.Attributes["X"].Value);
int stitchy = Convert.ToInt32(subnode.Attributes["Y"].Value);
cam.SetOrigin(stitchx, stitchy);
//Flip Settings (Keep for later)
subnode = node.SelectSingleNode("Flip");
double flipx = Convert.ToDouble(subnode.Attributes["X"].Value);
double flipy = Convert.ToDouble(subnode.Attributes["Y"].Value);
//Barrel settings
nodepath = "//Configuration/Tracking/Barrel/Camera[@ID='" + i + "']";
node = root.SelectSingleNode(nodepath);
//Focal
subnode = node.SelectSingleNode("Focal");
float focalx = Convert.ToSingle(subnode.Attributes["X"].Value);
float focaly = Convert.ToSingle(subnode.Attributes["Y"].Value);
cam.Barrel.SetFocal(focalx, focaly);
//Principal
subnode = node.SelectSingleNode("Principal");
float principalx = Convert.ToSingle(subnode.Attributes["X"].Value);
float principaly = Convert.ToSingle(subnode.Attributes["Y"].Value);
cam.Barrel.SetPrincipal(principalx, principaly);
//Distortion
subnode = node.SelectSingleNode("Distorsion");
float d0 = Convert.ToSingle(subnode.Attributes["D0"].Value);
float d1 = Convert.ToSingle(subnode.Attributes["D1"].Value);
float d2 = Convert.ToSingle(subnode.Attributes["D2"].Value);
float d3 = Convert.ToSingle(subnode.Attributes["D3"].Value);
cam.Barrel.SetBarrel(d0, d1, d2, d3);
//Border
subnode = node.SelectSingleNode("Border");
int border = Convert.ToInt32(subnode.Attributes["Size"].Value);
cam.Barrel.SetBorder(border);
//Perspective
nodepath = "//Configuration/Tracking/Perspective/Camera[@ID='" + i + "']/Point";
nodeList = root.SelectNodes(nodepath);
List <float> origx = new List <float>();
List <float> origy = new List <float>();
List <float> screenx = new List <float>();
List <float> screeny = new List <float>();
for (int p = 0; p < nodeList.Count; p++)
{
float ptorigx = Convert.ToSingle(nodeList[p].Attributes["OrigX"].Value);
float ptorigy = Convert.ToSingle(nodeList[p].Attributes["OrigY"].Value);
if (flipx >= 0.5)
{
ptorigx = sx - ptorigx;
}
if (flipy >= 0.5)
{
ptorigy = sy - ptorigy;
}
origx.Add(ptorigx);
origy.Add(ptorigy);
float ptscreenx = Convert.ToSingle(nodeList[p].Attributes["ScreenX"].Value);
float ptscreeny = Convert.ToSingle(nodeList[p].Attributes["ScreenY"].Value);
screenx.Add(ptscreenx);
screeny.Add(ptscreeny);
}
cam.Perspective.SetMapping(origx, origy, screenx, screeny);
}
//Barrel perspective enabled
nodepath = "//Configuration/Tracking/Barrel";
node = root.SelectSingleNode(nodepath);
double enablebarrel = Convert.ToDouble(node.Attributes["Enabled"].Value);
nodepath = "//Configuration/Tracking/Perspective";
node = root.SelectSingleNode(nodepath);
double enableperspective = Convert.ToDouble(node.Attributes["Enabled"].Value);
client.CameraSettings.SetBarrelEnabled(enablebarrel >= 0.5);
client.CameraSettings.SetPerspectiveEnabled(enableperspective >= 0.5);
client.CameraSettings.Invalidate();
//Background Settings
nodepath = "//Configuration/Tracking/Background";
node = root.SelectSingleNode(nodepath);
client.BackgroundSettings.SetAbsolute(Convert.ToSingle(node.Attributes["Absolute"].Value) >= 0.5);
client.BackgroundSettings.SetMotionMode(false);
client.BackgroundSettings.SetEnabled(true);
//Highpass settings
nodepath = "//Configuration/Tracking/HighPass";
node = root.SelectSingleNode(nodepath);
client.HighpassSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.HighpassSettings.SetKernelSize(Convert.ToSingle(node.Attributes["Force"].Value));
client.HighpassSettings.SetScale(Convert.ToSingle(node.Attributes["Scale"].Value));
client.HighpassSettings.EnableHQNoiseReduction(Convert.ToSingle(node.Attributes["HQ"].Value) >= 0.5);
//Hotspots settings
nodepath = "//Configuration/Tracking/HotSpots";
node = root.SelectSingleNode(nodepath);
client.HotspotSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.HotspotSettings.SetMagnification(Convert.ToSingle(node.Attributes["BlowUp"].Value));
client.HotspotSettings.SetThreshold(Convert.ToSingle(node.Attributes["Threshold"].Value));
client.HotspotSettings.SetConfigurationMode(false);
//Threshold settings
nodepath = "//Configuration/Tracking/Threshold";
node = root.SelectSingleNode(nodepath);
String thrmode = node.Attributes["Mode"].Value;
eThresholdMode ethrmode = (eThresholdMode)Enum.Parse(typeof(eThresholdMode), thrmode);
client.ThresholdSettings.SetMode(ethrmode);
client.ThresholdSettings.SetEnabled(Convert.ToSingle(node.Attributes["Enabled"].Value) >= 0.5);
client.ThresholdSettings.SetOffset(Convert.ToSingle(node.Attributes["Offset"].Value));
client.ThresholdSettings.SetScale(Convert.ToSingle(node.Attributes["Scale"].Value));
//Blobs settings
nodepath = "//Configuration/Tracking/Blobs";
node = root.SelectSingleNode(nodepath);
client.TrackingSettings.SetEnabled(true);
client.TrackingSettings.SetMinSize(Convert.ToSingle(node.Attributes["MinSize"].Value));
client.TrackingSettings.SetMaxSize(Convert.ToSingle(node.Attributes["MaxSize"].Value));
client.TrackingSettings.SetMaxRejectDistance(Convert.ToSingle(node.Attributes["MaxRejectDist"].Value));
client.TrackingSettings.SetMaxInvisible(Convert.ToSingle(node.Attributes["MaxInvisible"].Value));
try
{
client.TrackingSettings.SetMinMovementThreshold(Convert.ToSingle(node.Attributes["MinMoveThreshold"].Value));
}
catch
{
client.TrackingSettings.SetMinMovementThreshold(0.0f);
}
try
{
client.TrackingSettings.SetMergeDistance(Convert.ToSingle(node.Attributes["MinMerge"].Value));
}
catch
{
client.TrackingSettings.SetMergeDistance(0.0f);
}
try
{
client.TrackingSettings.SetMaxHolds(Convert.ToInt32(node.Attributes["MaxHolds"].Value));
}
catch
{
client.TrackingSettings.SetMaxHolds(0);
}
}
