#include <vpMbtXmlParser.h>

Inheritance diagram for vpMbtXmlParser:

Public Member Functions
	vpMbtXmlParser ()

virtual	~vpMbtXmlParser ()

double	getAngleAppear () const

double	getAngleDisappear () const

void	getCameraParameters (vpCameraParameters &_cam) const

double	getFarClippingDistance () const

bool	getFovClipping () const

void	getMe (vpMe &_ecm) const

double	getNearClippingDistance () const

bool	hasFarClippingDistance () const

bool	hasNearClippingDistance () const

void	parse (const char *filename)

void	readMainClass (xmlDocPtr doc, xmlNodePtr node)

void	read_ecm (xmlDocPtr doc, xmlNodePtr node)

void	read_sample (xmlDocPtr doc, xmlNodePtr node)

void	read_camera (xmlDocPtr doc, xmlNodePtr node)

void	read_mask (xmlDocPtr doc, xmlNodePtr node)

void	read_range (xmlDocPtr doc, xmlNodePtr node)

void	read_contrast (xmlDocPtr doc, xmlNodePtr node)

void	read_face (xmlDocPtr doc, xmlNodePtr node)

void	setAngleAppear (const double &aappear)

void	setAngleDisappear (const double &adisappear)

void	setCameraParameters (const vpCameraParameters &_cam)

void	setFarClippingDistance (const double &fclip)

void	setMovingEdge (const vpMe &_ecm)

void	setNearClippingDistance (const double &nclip)

void	writeMainClass (xmlNodePtr node)

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 void	cleanup ()

Protected Types
enum	dataToParse { conf, ecm, mask, size, nb_mask, range, tracking, contrast, edge_threshold, mu1, mu2, sample, step, nb_sample, face, angle_appear, angle_disappear, near_clipping, far_clipping, fov_clipping, camera, height, width, u0, v0, px, py }

Protected Member Functions
void	init ()

std::string	xmlReadStringChild (xmlDocPtr doc, xmlNodePtr node)

char *	xmlReadCharChild (xmlDocPtr doc, xmlNodePtr node)

int	xmlReadIntChild (xmlDocPtr doc, xmlNodePtr node)

unsigned int	xmlReadUnsignedIntChild (xmlDocPtr doc, xmlNodePtr node)

double	xmlReadDoubleChild (xmlDocPtr doc, xmlNodePtr node)

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

void	xmlWriteCharChild (xmlNodePtr node, const char label, const char value)

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

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

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

Protected Attributes
vpMe	m_ecm

vpCameraParameters	cam

double	angleAppear

double	angleDisappear

bool	hasNearClipping

double	nearClipping

bool	hasFarClipping

double	farClipping

bool	fovClipping

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

std::string	main_tag

Detailed Description

Parse an Xml file to extract configuration parameters of a mbtConfig object.

Data parser for the model based tracker.

Definition at line 72 of file vpMbtXmlParser.h.

Member Enumeration Documentation

enum vpMbtXmlParser::dataToParse

protected

Enumerator
conf
ecm
mask
size
nb_mask
range
tracking
contrast
edge_threshold
mu1
mu2
sample
step
nb_sample
face
angle_appear
angle_disappear
near_clipping
far_clipping
fov_clipping
camera
height
width
u0
v0
px
py

Definition at line 94 of file vpMbtXmlParser.h.

Constructor & Destructor Documentation

vpMbtXmlParser::vpMbtXmlParser ( )

Default constructor.

Definition at line 60 of file vpMbtXmlParser.cpp.

References fovClipping, hasFarClipping, hasNearClipping, and init().

vpMbtXmlParser::~vpMbtXmlParser ( )

virtual

Default destructor.

Definition at line 71 of file vpMbtXmlParser.cpp.

Member Function Documentation

static void vpXmlParser::cleanup ( )

inlinestaticinherited

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:: mbtEdgeKltTracking.cpp, mbtEdgeTracking.cpp, mbtKltTracking.cpp, testXmlParser.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, and tutorial-mb-klt-tracker.cpp.

Definition at line 220 of file vpXmlParser.h.

double vpMbtXmlParser::getAngleAppear ( ) const

inline

Get the angle to determine if a face appeared.

Returns: angleAppear

Definition at line 135 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

double vpMbtXmlParser::getAngleDisappear ( ) const

inline

Get the angle to determine if a face disappeared.

Returns: angleDisappear

Definition at line 142 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::getCameraParameters ( vpCameraParameters & _cam ) const

inline

Definition at line 144 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

double vpMbtXmlParser::getFarClippingDistance ( ) const

inline

Get the far clipping distance.

Returns: farClipping

Definition at line 151 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

bool vpMbtXmlParser::getFovClipping ( ) const

inline

Use FOV clipping

Returns: True if yes, False otherwise.

Definition at line 158 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::getMe ( vpMe & _ecm ) const

inline

Definition at line 160 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

double vpMbtXmlParser::getNearClippingDistance ( ) const

inline

Get the near clipping distance.

Returns: nearClipping

Definition at line 167 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

bool vpMbtXmlParser::hasFarClippingDistance ( ) const

inline

Has Far clipping been specified?

Returns: True if yes, False otherwise.

Definition at line 174 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

bool vpMbtXmlParser::hasNearClippingDistance ( ) const

inline

Has Near clipping been specified?

Returns: True if yes, False otherwise.

Definition at line 181 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::init ( void )

protected

Initialise internal variables (including the map).

Definition at line 79 of file vpMbtXmlParser.cpp.

References angle_appear, angle_disappear, camera, conf, contrast, ecm, edge_threshold, face, far_clipping, fov_clipping, height, mask, mu1, mu2, nb_mask, nb_sample, near_clipping, vpXmlParser::nodeMap, px, py, range, sample, vpXmlParser::setMainTag(), size, step, tracking, u0, v0, and width.

Referenced by vpMbtXmlParser().

void vpMbtXmlParser::parse ( const char * filename )

Parse the file in parameters. This method is deprecated, use parse() instead.

Parameters

filename : File to parse.

Definition at line 120 of file vpMbtXmlParser.cpp.

References vpXmlParser::parse().

Referenced by vpMbEdgeTracker::loadConfigFile().

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

inherited

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 343 of file vpXmlParser.cpp.

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

Referenced by parse(), and vpMbtKltXmlParser::parse().

void vpMbtXmlParser::read_camera	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read camera information.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the camera information.

Definition at line 307 of file vpMbtXmlParser.cpp.

References cam, vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), height, vpCameraParameters::initPersProjWithoutDistortion(), vpXmlParser::nodeMap, px, py, u0, v0, width, vpXmlParser::xmlReadDoubleChild(), and vpXmlParser::xmlReadIntChild().

Referenced by readMainClass().

void vpMbtXmlParser::read_contrast	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read the contrast information from the xml file.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the contrast information.

Definition at line 576 of file vpMbtXmlParser.cpp.

References edge_threshold, vpMe::getMu1(), vpMe::getMu2(), vpMe::getThreshold(), m_ecm, mu1, mu2, vpXmlParser::nodeMap, vpMe::setMu1(), vpMe::setMu2(), vpMe::setThreshold(), and vpXmlParser::xmlReadDoubleChild().

Referenced by read_ecm().

void vpMbtXmlParser::read_ecm	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read ecm information.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the ecm information.

Definition at line 204 of file vpMbtXmlParser.cpp.

References contrast, mask, vpXmlParser::nodeMap, range, read_contrast(), read_mask(), and read_range().

Referenced by readMainClass().

void vpMbtXmlParser::read_face	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read face information.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the camera information.

Definition at line 399 of file vpMbtXmlParser.cpp.

References angle_appear, angle_disappear, angleAppear, angleDisappear, far_clipping, farClipping, fov_clipping, fovClipping, hasFarClipping, hasNearClipping, near_clipping, nearClipping, vpXmlParser::nodeMap, vpXmlParser::xmlReadDoubleChild(), and vpXmlParser::xmlReadIntChild().

Referenced by readMainClass().

void vpMbtXmlParser::read_mask	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read mask information for the vpMeSite.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the mask information.

Definition at line 481 of file vpMbtXmlParser.cpp.

References vpMe::getMaskNumber(), vpMe::getMaskSize(), m_ecm, nb_mask, vpXmlParser::nodeMap, vpMe::setMaskNumber(), vpMe::setMaskSize(), size, and vpXmlParser::xmlReadUnsignedIntChild().

Referenced by read_ecm().

void vpMbtXmlParser::read_range	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read range information for the vpMeSite.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the range information.

Definition at line 534 of file vpMbtXmlParser.cpp.

References vpMe::getRange(), m_ecm, vpXmlParser::nodeMap, vpMe::setRange(), tracking, and vpXmlParser::xmlReadUnsignedIntChild().

Referenced by read_ecm().

void vpMbtXmlParser::read_sample	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

Read sample information.

Exceptions

vpException::fatalError if there was an unexpected number of data.

Parameters

doc	: Pointer to the document.
node	: Pointer to the node of the sample information.

Definition at line 254 of file vpMbtXmlParser.cpp.

References vpMe::getNbTotalSample(), vpMe::getSampleStep(), m_ecm, nb_sample, vpXmlParser::nodeMap, vpMe::setNbTotalSample(), vpMe::setSampleStep(), step, and vpXmlParser::xmlReadIntChild().

Referenced by readMainClass().

void vpMbtXmlParser::readMainClass	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

virtual

Read the parameters of the class from the file given by its document pointer and by its root node.

Parameters

doc	: Document to parse.
node	: Root node.

Implements vpXmlParser.

Definition at line 145 of file vpMbtXmlParser.cpp.

References camera, ecm, face, vpXmlParser::nodeMap, read_camera(), read_ecm(), read_face(), read_sample(), and sample.

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

inherited

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 376 of file vpXmlParser.cpp.

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

void vpMbtXmlParser::setAngleAppear ( const double & aappear )

inline

Set the angle to determine if a face appeared.

Parameters

aappear : New angleAppear

Definition at line 199 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::setAngleDisappear ( const double & adisappear )

inline

Set the angle to determine if a face disappeared.

Parameters

adisappear : New angleDisappear

Definition at line 206 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::setCameraParameters ( const vpCameraParameters & _cam )

inline

Definition at line 208 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::setFarClippingDistance ( const double & fclip )

inline

Set the far clipping distance.

Parameters

fclip : New farClipping

Definition at line 215 of file vpMbtXmlParser.h.

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

inlineinherited

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 280 of file vpXmlParser.h.

Referenced by init(), and vpMbtKltXmlParser::init().

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

inlineinherited

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 271 of file vpXmlParser.h.

void vpMbtXmlParser::setMovingEdge ( const vpMe & _ecm )

inline

Definition at line 217 of file vpMbtXmlParser.h.

Referenced by vpMbEdgeTracker::loadConfigFile().

void vpMbtXmlParser::setNearClippingDistance ( const double & nclip )

inline

Set the near clipping distance.

Parameters

nclip : New nearClipping

Definition at line 224 of file vpMbtXmlParser.h.

void vpMbtXmlParser::writeMainClass ( xmlNodePtr node )

virtual

Write info to file.

Warning: Useless, so not yet implemented => Throw exception.

Implements vpXmlParser.

Definition at line 132 of file vpMbtXmlParser.cpp.

References vpException::notImplementedError.

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

protectedinherited

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 110 of file vpXmlParser.cpp.

References vpException::fatalError.

double vpXmlParser::xmlReadDoubleChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read a double

Warning: throw a vpException::ioError if the value cannot be parsed to an integer

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the double value in the node

Definition at line 224 of file vpXmlParser.cpp.

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

Referenced by read_camera(), vpMbtKltXmlParser::read_camera(), read_contrast(), read_face(), vpMbtKltXmlParser::read_face(), and vpMbtKltXmlParser::read_klt().

int vpXmlParser::xmlReadIntChild	(	xmlDocPtr	doc,
		xmlNodePtr	node
	)

protectedinherited

read an int

Warning: throw a vpException::ioError if the value cannot be parsed to an integer

Parameters

doc	: The main xml document
node	: a pointer to the node to read value

Returns: the integer value in the node

Definition at line 155 of file vpXmlParser.cpp.

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

Referenced by read_camera(), vpMbtKltXmlParser::read_camera(), read_face(), vpMbtKltXmlParser::read_face(), and read_sample().

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

protectedinherited

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.

Definition at line 131 of file vpXmlParser.cpp.

References vpException::fatalError.

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

protectedinherited

read an int

Warning: throw a vpException::ioError if the value cannot be parsed to an 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 189 of file vpXmlParser.cpp.

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

Referenced by vpMbtKltXmlParser::read_klt(), read_mask(), and read_range().

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

protectedinherited

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

Definition at line 254 of file vpXmlParser.cpp.

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

protectedinherited

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

Definition at line 320 of file vpXmlParser.cpp.

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

protectedinherited

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

Definition at line 285 of file vpXmlParser.cpp.

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

protectedinherited

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 269 of file vpXmlParser.cpp.

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

protectedinherited

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 302 of file vpXmlParser.cpp.

Member Data Documentation

double vpMbtXmlParser::angleAppear

protected

Angle to determine if a face appeared.

Definition at line 80 of file vpMbtXmlParser.h.

Referenced by read_face().

double vpMbtXmlParser::angleDisappear

protected

Angle to determine if a face disappeared.

Definition at line 82 of file vpMbtXmlParser.h.

Referenced by read_face().

vpCameraParameters vpMbtXmlParser::cam

protected

Camera parameters.

Definition at line 78 of file vpMbtXmlParser.h.

Referenced by read_camera().

double vpMbtXmlParser::farClipping

protected

Near clipping distance.

Definition at line 90 of file vpMbtXmlParser.h.

Referenced by read_face().

bool vpMbtXmlParser::fovClipping

protected

Fov Clipping.

Definition at line 92 of file vpMbtXmlParser.h.

Referenced by read_face(), and vpMbtXmlParser().

bool vpMbtXmlParser::hasFarClipping

protected

Is far clipping distance specified?

Definition at line 88 of file vpMbtXmlParser.h.

Referenced by read_face(), and vpMbtXmlParser().

bool vpMbtXmlParser::hasNearClipping

protected

Is near clipping distance specified?

Definition at line 84 of file vpMbtXmlParser.h.

Referenced by read_face(), and vpMbtXmlParser().

vpMe vpMbtXmlParser::m_ecm

protected

Moving edges parameters.

Definition at line 76 of file vpMbtXmlParser.h.

Referenced by read_contrast(), read_mask(), read_range(), and read_sample().

std::string vpXmlParser::main_tag

protectedinherited

The name of the main tag for the file to parse

Definition at line 202 of file vpXmlParser.h.

Referenced by vpXmlParser::save(), and vpXmlParser::vpXmlParser().

double vpMbtXmlParser::nearClipping

protected

Near clipping distance.

Definition at line 86 of file vpMbtXmlParser.h.

Referenced by read_face().

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

protectedinherited

The map describing the data to parse

Definition at line 197 of file vpXmlParser.h.

Referenced by init(), vpMbtKltXmlParser::init(), read_camera(), vpMbtKltXmlParser::read_camera(), read_contrast(), read_ecm(), read_face(), vpMbtKltXmlParser::read_face(), vpMbtKltXmlParser::read_klt(), read_mask(), read_range(), read_sample(), readMainClass(), vpMbtKltXmlParser::readMainClass(), and vpXmlParser::vpXmlParser().

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation