Visual Servoing Platform  version 3.2.0 under development (2018-12-12)
vpXmlParser Class Referenceabstract

#include <visp3/core/vpXmlParser.h>

+ Inheritance diagram for vpXmlParser:

Public Member Functions

Public Member Functions Inherited from vpXmlParser
 vpXmlParser ()
 
 vpXmlParser (const vpXmlParser &_twin)
 
virtual ~vpXmlParser ()
 
void parse (const std::string &filename)
 
void save (const std::string &filename, const bool append=false)
 
void setMap (const std::map< std::string, int > &_map)
 
void setMainTag (const std::string &tag)
 

Static Public Member Functions

Static Public Member Functions Inherited from vpXmlParser
static void cleanup ()
 

Protected Member Functions

Protected Member Functions Inherited from vpXmlParser
virtual void readMainClass (xmlDocPtr doc, xmlNodePtr node)=0
 
virtual void writeMainClass (xmlNodePtr node)=0
 
bool xmlReadBoolChild (xmlDocPtr doc, xmlNodePtr node)
 
char * xmlReadCharChild (xmlDocPtr doc, xmlNodePtr node)
 
double xmlReadDoubleChild (xmlDocPtr doc, xmlNodePtr node)
 
float xmlReadFloatChild (xmlDocPtr doc, xmlNodePtr node)
 
int xmlReadIntChild (xmlDocPtr doc, xmlNodePtr node)
 
std::string xmlReadStringChild (xmlDocPtr doc, xmlNodePtr node)
 
unsigned int xmlReadUnsignedIntChild (xmlDocPtr doc, xmlNodePtr node)
 
void xmlWriteBoolChild (xmlNodePtr node, const char *label, const bool value)
 
void xmlWriteCharChild (xmlNodePtr node, const char *label, const char *value)
 
void xmlWriteDoubleChild (xmlNodePtr node, const char *label, const double value)
 
void xmlWriteFloatChild (xmlNodePtr node, const char *label, const float value)
 
void xmlWriteIntChild (xmlNodePtr node, const char *label, const int value)
 
void xmlWriteStringChild (xmlNodePtr node, const char *label, const std::string &value)
 
void xmlWriteUnsignedIntChild (xmlNodePtr node, const char *label, const unsigned int value)
 

Protected Attributes

std::map< std::string, int > nodeMap
 
std::string main_tag
 

Detailed Description

This class intends to simplify the creation of xml parser based on the libxml2 third party library.

This class can be useful to manage external data parameters (for example for configuration of an experiment, ...).

Warning
This class is only available if libxml2 is installed and detected by ViSP. Installation instructions are provided here https://visp.inria.fr/3rd_xml2.

In order to use this class, you have to create a new class inheriting from this one. In the child class, you have to implement the methods:

These two methods depends on the data to parse, and must not be directly called (they are called from the parse() and the save() methods).

Following is an example of implementation for the document:

<config>
<range>5</range>
<step>7</step>
<size_filter>3</size_filter>
</config>

A class to parse this document is declared as follows:

class vpDataParser: public vpXmlParser
{
private:
int m_range;
int m_step;
int m_size_filter
public:
typedef enum{
config,
range,
step,
size_filter
}dataToParse
vpDataParser(){
nodeMap["config"] = config;
nodeMap["range"] = range;
nodeMap["step"] = step;
nodeMap["size_filter"] = size_filter;
}
virtual void writeMainClass(xmlNodePtr node);
virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
// additionals methods specific to the data to parse
// such as: accessors
}

The readMainClass function implementation is:

void
vpDataParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
for (xmlNodePtr tmpNode = node->xmlChildrenNode; tmpNode != NULL; tmpNode = tmpNode->next) {
if(tmpNode->type == XML_ELEMENT_NODE) {
std::map<std::string, int>::iterator iter = this->nodeMap.find((char*)tmpNode->name);
if(iter == nodeMap.end()) {
continue;
}
switch (iter->second){
case range:
this->m_range = xmlReadIntChild(doc, tmpNode);
break;
case step:
this->m_step = xmlReadIntChild(doc, tmpNode);
break;
case size_filter:
this->m_size_filter = xmlReadIntChild(doc, tmpNode);
break;
default:
std::cout << "problem in the readMainClass (" << iter->second
<< " , " << iter->first << " )" << std::endl; break;
}
}
}
}

Data can now be accessed through the internal variables of the class vpDataParser.

To store the data in a xml file, the function save has to be called. This function needs the implementation of the writeMainClass function.

For example,

void
vpDataParser::writeMainClass(xmlNodePtr node)
{
xmlWriteIntChild(node, "range", m_range);
xmlWriteIntChild(node, "step", m_step);
xmlWriteIntChild(node, "size_filter", m_size_filter);
}
Examples:
testXmlParser.cpp.

Definition at line 177 of file vpXmlParser.h.

Constructor & Destructor Documentation

vpXmlParser::vpXmlParser ( )

Basic constructor.

Initialise the main tag with default value.

Definition at line 58 of file vpXmlParser.cpp.

vpXmlParser::vpXmlParser ( const vpXmlParser _twin)

Cpoy constructor.

Parameters
_twin: The parser to copy.

Definition at line 85 of file vpXmlParser.cpp.

vpXmlParser::~vpXmlParser ( )
virtual

Basic destructor that does nothing.

Warning
As stated in http://xmlsoft.org/html/libxml-parser.html#xmlCleanupParser to clean up memory allocated by the xml2 library itself, the user should call xmlCleanupParser() only when the process has finished using the xml2 library. In case of doubt abstain from calling this function or do it just before calling exit() to avoid leak reports from valgrind ! That's why in ViSP the destructor doesn't call xmlCleanupParser(). Rather we provide the static function vpXmlParser::cleanup() that calls xmlCleanupParser() that could be called just before exit().
See also
cleanup()

Definition at line 75 of file vpXmlParser.cpp.

Member Function Documentation

static void vpXmlParser::cleanup ( )
inlinestatic

As stated in http://xmlsoft.org/html/libxml-parser.html#xmlCleanupParser to clean up memory allocated by the xml2 library itself, the user should call xmlCleanupParser() only when the process has finished using the xml2 library. In case of doubt abstain from calling this function or do it just before calling exit() to avoid leak reports from valgrind ! That's why in ViSP the destructor doesn't call xmlCleanupParser(). Rather we provide the static function vpXmlParser::cleanup() that calls xmlCleanupParser() that could be called just before exit().

Examples:
mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testXmlParser.cpp, tutorial-detection-object-mbt-deprecated.cpp, tutorial-detection-object-mbt.cpp, tutorial-detection-object-mbt2-deprecated.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-generic-tracker-full.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 310 of file vpXmlParser.h.

void vpXmlParser::parse ( const std::string &  filename)

parse the document. The data in the file are stored in the attributes of the child class. This method calls the readMainClass method which has to be implemented for every child class depending on the content to parse.

Parameters
filename: name of the file to parse

Definition at line 421 of file vpXmlParser.cpp.

References vpException::ioError, readMainClass(), and vpERROR_TRACE.

Referenced by vpXmlParserHomogeneousMatrix::getHomogeneousMatrixName(), vpXmlConfigParserKeyPoint::getUseRansacVVSPoseEstimation(), vpXmlParserCamera::getWidth(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), vpMbEdgeKltTracker::loadConfigFile(), vpMbKltTracker::loadConfigFile(), vpMbEdgeTracker::loadConfigFile(), vpMbTracker::loadConfigFile(), vpXmlConfigParserKeyPoint::parse(), and vpMbGenericTracker::track().

virtual void vpXmlParser::readMainClass ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protectedpure virtual

pure virtual method used to read the document.

As the content of the function depends on the structure of the file to read, data name, data types and data values, it has to be reimplemented for every type of filenam

Parameters
doc: a pointer representing the document
node: the root node of the document

Implemented in vpMbtXmlGenericParser, vpMbXmlParser, vpMbtKltXmlParser, vpXmlParserRectOriented, vpMbtXmlParser, and vpMbtEdgeKltXmlParser.

Examples:
testXmlParser.cpp.

Referenced by vpXmlConfigParserKeyPoint::getUseRansacVVSPoseEstimation(), vpMbXmlParser::hasNearClippingDistance(), vpMbtXmlGenericParser::hasNearClippingDistance(), parse(), vpXmlParserHomogeneousMatrix::setHomogeneousMatrixName(), vpXmlParserRectOriented::setRectangle(), and vpXmlParserCamera::setWidth().

void vpXmlParser::save ( const std::string &  filename,
const bool  append = false 
)

Save the content of the class in the file given in parameters. The data of the class are in the child class. This method calls the write_main_class method which has to be implemented for every class depending on the data to save.

Parameters
filename: the name of the file used to record the data
append: if true and if the file exists, the data will be added to the data already in the file

Definition at line 453 of file vpXmlParser.cpp.

References vpException::ioError, main_tag, vpERROR_TRACE, and writeMainClass().

Referenced by vpXmlParserHomogeneousMatrix::getHomogeneousMatrixName(), and vpXmlParserCamera::getWidth().

void vpXmlParser::setMainTag ( const std::string &  tag)
inline

set the name of the main tag

The main tag corresponds to the name of the root node

Parameters
tag: name of the root node of the document

Definition at line 295 of file vpXmlParser.h.

Referenced by vpMbXmlParser::init(), vpMbtXmlGenericParser::init(), and vpXmlConfigParserKeyPoint::vpXmlConfigParserKeyPoint().

void vpXmlParser::setMap ( const std::map< std::string, int > &  _map)
inline

Set the map describing the data to parse. This map stores the name of each node and an associated key used to simplify the parsing of the file.

If the following file want to be parsed:

<config>
<range>5</range>
<step>7</step>
<size_filter>3</size_filter>
</config>

The following map has to be declared:

std::map dataToParse;
dataToParse["config"] = 0;
dataToParse["range"] = 1;
dataToParse["step"] = 2;
dataToParse["size_filter"] = 3;

Or, you can use keyzord instead of number as key but it implies to declare in the child class an enumeration type of the name. For example:

typedef enum{
config,
range,
step,
size_filter} data_enum;
std::map dataToParse;
dataToParse["config"] = config;
dataToParse["range"] = range;
dataToParse["step"] = step;
dataToParse["size_filter"] = size_filter;
Parameters
_map: the map describing the data to parse

Definition at line 286 of file vpXmlParser.h.

virtual void vpXmlParser::writeMainClass ( xmlNodePtr  node)
protectedpure virtual

pure virtual method used to write the document.

As the content of the function depends on the structure of the file to read, data name and data types, it has to be reimplemented for every type of file to parse.

Parameters
node: the root node of the document

Implemented in vpMbtXmlGenericParser, vpMbXmlParser, vpMbtKltXmlParser, vpXmlParserRectOriented, vpMbtXmlParser, and vpMbtEdgeKltXmlParser.

Examples:
testXmlParser.cpp.

Referenced by vpXmlConfigParserKeyPoint::getUseRansacVVSPoseEstimation(), save(), vpXmlParserHomogeneousMatrix::setHomogeneousMatrixName(), vpMbXmlParser::setNearClippingDistance(), vpMbtXmlGenericParser::setProjectionErrorKernelSize(), vpXmlParserRectOriented::setRectangle(), and vpXmlParserCamera::setWidth().

bool vpXmlParser::xmlReadBoolChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected

read a boolean

Warning
throw a vpException::ioError if the value cannot be parsed to a bool
Parameters
doc: The main xml document
node: a pointer to the node to read value
Returns
the bool value in the node

Definition at line 282 of file vpXmlParser.cpp.

References vpException::fatalError.

char * vpXmlParser::xmlReadCharChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected

Read an array of character.

Warning
The array of characters is allocated and must be explicitly freed to avoid memory leak.
Parameters
doc: The main xml document
node: a pointer to the node to read value
Returns
pointer to an allocated array of character.

Definition at line 100 of file vpXmlParser.cpp.

References vpException::fatalError.

Referenced by vpMbtXmlGenericParser::read_projection_error(), vpXmlParserHomogeneousMatrix::save(), and vpXmlParserCamera::save().

float vpXmlParser::xmlReadFloatChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected

read a float

Warning
throw a vpException::ioError if the value cannot be parsed to a float
Parameters
doc: The main xml document
node: a pointer to the node to read value
Returns
the float value in the node

Definition at line 245 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

int vpXmlParser::xmlReadIntChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected
std::string vpXmlParser::xmlReadStringChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected

Read an array of character.

Parameters
doc: The main xml document
node: a pointer to the node to read value
Returns
std::string representing the value.
Examples:
testXmlParser.cpp.

Definition at line 120 of file vpXmlParser.cpp.

References vpException::fatalError.

Referenced by vpXmlConfigParserKeyPoint::parse().

unsigned int vpXmlParser::xmlReadUnsignedIntChild ( xmlDocPtr  doc,
xmlNodePtr  node 
)
protected

read an int

Warning
throw a vpException::ioError if the value cannot be parsed to an unsigned integer
Parameters
doc: The main xml document
node: a pointer to the node to read value
Returns
the unsigned integer value in the node

Definition at line 178 of file vpXmlParser.cpp.

References vpException::fatalError, and vpException::ioError.

Referenced by vpMbtXmlGenericParser::read_depth_dense_sampling_step(), vpMbtXmlGenericParser::read_depth_normal_sampling_step(), vpMbtXmlGenericParser::read_ecm_mask(), vpMbtXmlGenericParser::read_ecm_range(), vpMbtKltXmlParser::read_klt(), vpMbtXmlGenericParser::read_klt(), vpMbtXmlParser::read_mask(), vpMbtXmlParser::read_range(), and vpXmlParserCamera::save().

void vpXmlParser::xmlWriteBoolChild ( xmlNodePtr  node,
const char *  label,
const bool  value 
)
protected

write a bool.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: boolean to write (true or false)

Definition at line 398 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteCharChild ( xmlNodePtr  node,
const char *  label,
const char *  value 
)
protected

write an array of character.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: pointer to the array of character to write
Examples:
testXmlParser.cpp.

Definition at line 306 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteDoubleChild ( xmlNodePtr  node,
const char *  label,
const double  value 
)
protected

write a double.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: double to write
Examples:
testXmlParser.cpp.

Definition at line 366 of file vpXmlParser.cpp.

Referenced by vpXmlParserRectOriented::writeMainClass().

void vpXmlParser::xmlWriteFloatChild ( xmlNodePtr  node,
const char *  label,
const float  value 
)
protected

write a float.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: float to write

Definition at line 382 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteIntChild ( xmlNodePtr  node,
const char *  label,
const int  value 
)
protected

write an integer.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: integer to write
Examples:
testXmlParser.cpp.

Definition at line 334 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteStringChild ( xmlNodePtr  node,
const char *  label,
const std::string &  value 
)
protected

write an array of character.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: std::string to write;

Definition at line 320 of file vpXmlParser.cpp.

void vpXmlParser::xmlWriteUnsignedIntChild ( xmlNodePtr  node,
const char *  label,
const unsigned int  value 
)
protected

write an unsigned integer.

Parameters
node: a pointer to the node to read value
label: label (name of the data) of the node
value: unsigned integer to write

Definition at line 350 of file vpXmlParser.cpp.

Member Data Documentation

std::string vpXmlParser::main_tag
protected

The name of the main tag for the file to parse

Definition at line 231 of file vpXmlParser.h.

Referenced by save().

std::map<std::string, int> vpXmlParser::nodeMap
protected

The map describing the data to parse

Definition at line 226 of file vpXmlParser.h.

Referenced by vpMbtEdgeKltXmlParser::init(), vpMbtXmlParser::init(), vpMbtKltXmlParser::init(), vpMbXmlParser::init(), vpMbtXmlGenericParser::init(), vpXmlConfigParserKeyPoint::parse(), vpMbXmlParser::read_camera(), vpMbtXmlGenericParser::read_camera(), vpMbtXmlParser::read_contrast(), vpMbtXmlGenericParser::read_depth_dense(), vpMbtXmlGenericParser::read_depth_dense_sampling_step(), vpMbtXmlGenericParser::read_depth_normal(), vpMbtXmlGenericParser::read_depth_normal_PCL(), vpMbtXmlGenericParser::read_depth_normal_sampling_step(), vpMbtXmlParser::read_ecm(), vpMbtXmlGenericParser::read_ecm(), vpMbtXmlGenericParser::read_ecm_contrast(), vpMbtXmlGenericParser::read_ecm_mask(), vpMbtXmlGenericParser::read_ecm_range(), vpMbtXmlGenericParser::read_ecm_sample(), vpMbXmlParser::read_face(), vpMbtXmlGenericParser::read_face(), vpMbtKltXmlParser::read_klt(), vpMbtXmlGenericParser::read_klt(), vpMbXmlParser::read_lod(), vpMbtXmlGenericParser::read_lod(), vpMbtXmlParser::read_mask(), vpMbtXmlGenericParser::read_projection_error(), vpMbtXmlParser::read_range(), vpMbtXmlParser::read_sample(), vpMbtXmlParser::read_sample_deprecated(), vpMbtXmlGenericParser::read_sample_deprecated(), vpMbtEdgeKltXmlParser::readMainClass(), vpMbtXmlParser::readMainClass(), vpXmlParserRectOriented::readMainClass(), vpMbtKltXmlParser::readMainClass(), vpMbXmlParser::readMainClass(), vpMbtXmlGenericParser::readMainClass(), vpXmlConfigParserKeyPoint::vpXmlConfigParserKeyPoint(), and vpXmlParserRectOriented::vpXmlParserRectOriented().