#include <visp3/core/vpXmlParserCamera.h>

Inheritance diagram for vpXmlParserCamera:

Public Types
enum	vpXmlCodeType { CODE_XML_BAD = -1, CODE_XML_OTHER, CODE_XML_CAMERA, CODE_XML_CAMERA_NAME, CODE_XML_HEIGHT, CODE_XML_WIDTH, CODE_XML_SUBSAMPLING_WIDTH, CODE_XML_SUBSAMPLING_HEIGHT, CODE_XML_FULL_HEIGHT, CODE_XML_FULL_WIDTH, CODE_XML_MODEL, CODE_XML_MODEL_TYPE, CODE_XML_U0, CODE_XML_V0, CODE_XML_PX, CODE_XML_PY, CODE_XML_KUD, CODE_XML_KDU }

enum	vpXmlCodeSequenceType { SEQUENCE_OK, SEQUENCE_ERROR }

Public Member Functions
	vpXmlParserCamera ()

	vpXmlParserCamera (vpXmlParserCamera &twinParser)

vpXmlParserCamera &	operator= (const vpXmlParserCamera &twinparser)

	~vpXmlParserCamera ()

int	parse (vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width=0, const unsigned int image_height=0)

int	save (const vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const unsigned int image_width=0, const unsigned int image_height=0)

std::string	getCameraName ()

unsigned int	getWidth ()

unsigned int	getHeight ()

unsigned int	getSubsampling_width ()

unsigned int	getSubsampling_height ()

vpCameraParameters	getCameraParameters ()

void	setCameraName (const std::string &name)

void	setWidth (const unsigned int width)

void	setHeight (const unsigned int height)

void	setSubsampling_width (const unsigned int subsampling)

void	setSubsampling_height (const unsigned int subsampling)

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

std::string	main_tag

Detailed Description

XML parser to load and save intrinsic camera parameters.

To have a complete description of the camera parameters and the corresponding projection model implemented in ViSP, see vpCameraParameters.

Example of an XML file "myXmlFile.xml" containing intrinsic camera parameters:

<?xml version="1.0"?>
<root>
  <camera>
    <name>myCamera</name>
    <image_width>640</image_width>
    <image_height>480</image_height>
    <model>
      <type>perspectiveProjWithoutDistortion</type>
      <px>1129.0</px>
      <py>1130.6</py>
      <u0>317.9</u0>
      <v0>229.1</v0>
    </model>
    <model>
      <type>perspectiveProjWithDistortion</type>
      <px>1089.9</px>
      <py>1090.1</py>
      <u0>326.1</u0>
      <v0>230.5</v0>
      <kud>-0.196</kud>
      <kdu>0.204</kdu>
    </model>
  </camera>
</root>

Example of loading existing camera parameters from an XML file:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
  vpCameraParameters cam; // Create a camera parameter container
#ifdef VISP_HAVE_XML2
  vpXmlParserCamera p; // Create a XML parser
  vpCameraParameters::vpCameraParametersProjType projModel; // Projection model
  // Use a perspective projection model without distortion
  projModel = vpCameraParameters::perspectiveProjWithoutDistortion;
  // Parse the xml file "myXmlFile.xml" to find the intrinsic camera 
  // parameters of the camera named "myCamera" for the image sizes 640x480,
  // for the projection model projModel. The size of the image is optional
  // if camera parameters are given only for one image size.
  if (p.parse(cam, "myXmlFile.xml", "myCamera", projModel,640,480) != vpXmlParserCamera::SEQUENCE_OK) {
    std::cout << "Cannot found myCamera" << std::endl;
  }
  // cout the parameters
  cam.printParameters();
  // Get the camera parameters for the model without distortion
  double px = cam.get_px();
  double py = cam.get_py();
  double u0 = cam.get_u0();
  double v0 = cam.get_v0();
  // Now we modify the principal point (u0,v0) for example to add noise
  u0 *= 0.9;
  v0 *= 0.8;
  // Set the new camera parameters
  cam.initPersProjWithoutDistortion(px, py, u0, v0);
  // Save the parameters in a new file "myXmlFileWithNoise.xml"
  p.save(cam,"myXmlFileWithNoise.xml",p.getCameraName(),p.getWidth(),p.getHeight());
  // Clean up memory allocated by the xml library
  vpXmlParser::cleanup();
#endif
}

Example of writing an XML file containing intrinsic camera parameters:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
  // Create a camera parameter container. We want to set these parameters 
  // for a 320x240 image, and we want to use the perspective projection 
  // modelisation without distortion.
  vpCameraParameters cam; 
  // Set the principal point coordinates (u0,v0)
  double u0 = 162.3;
  double v0 = 122.4;
  // Set the pixel ratio (px, py)
  double px = 563.2;
  double py = 564.1;
  
  // Set the camera parameters for a model without distortion
  cam.initPersProjWithoutDistortion(px, py, u0, v0);
#ifdef VISP_HAVE_XML2
  // Create a XML parser
  vpXmlParserCamera p;
  // Save the camera parameters in an XML file.
  if (p.save(cam, "myNewXmlFile.xml", "myNewCamera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
    std::cout << "Cannot save camera parameters" << std::endl;
  }
  // Clean up memory allocated by the xml library
  vpXmlParser::cleanup();
#endif
}

Examples:: tutorial-undistort.cpp.

Definition at line 185 of file vpXmlParserCamera.h.

Member Enumeration Documentation

enum vpXmlParserCamera::vpXmlCodeSequenceType

Enumerator
SEQUENCE_OK
SEQUENCE_ERROR

Definition at line 213 of file vpXmlParserCamera.h.

enum vpXmlParserCamera::vpXmlCodeType

Enumerator
CODE_XML_BAD
CODE_XML_OTHER
CODE_XML_CAMERA
CODE_XML_CAMERA_NAME
CODE_XML_HEIGHT
CODE_XML_WIDTH
CODE_XML_SUBSAMPLING_WIDTH
CODE_XML_SUBSAMPLING_HEIGHT
CODE_XML_FULL_HEIGHT
CODE_XML_FULL_WIDTH
CODE_XML_MODEL
CODE_XML_MODEL_TYPE
CODE_XML_U0
CODE_XML_V0
CODE_XML_PX
CODE_XML_PY
CODE_XML_KUD
CODE_XML_KDU

Definition at line 191 of file vpXmlParserCamera.h.

Constructor & Destructor Documentation

vpXmlParserCamera::vpXmlParserCamera ( )

Default constructor

Definition at line 79 of file vpXmlParserCamera.cpp.

vpXmlParserCamera::vpXmlParserCamera ( vpXmlParserCamera & twinParser )

Copy constructor

Parameters

twinParser : parser object to copy

Definition at line 89 of file vpXmlParserCamera.cpp.

vpXmlParserCamera::~vpXmlParserCamera ( )

inline

Definition at line 238 of file vpXmlParserCamera.h.

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-detection-object-mbt.cpp, tutorial-detection-object-mbt2.cpp, tutorial-mb-edge-tracker.cpp, tutorial-mb-hybrid-tracker.cpp, tutorial-mb-klt-tracker.cpp, and tutorial-mb-tracker-full.cpp.

Definition at line 216 of file vpXmlParser.h.

std::string vpXmlParserCamera::getCameraName ( )

inline

Definition at line 249 of file vpXmlParserCamera.h.

vpCameraParameters vpXmlParserCamera::getCameraParameters ( )

inline

Definition at line 254 of file vpXmlParserCamera.h.

unsigned int vpXmlParserCamera::getHeight ( )

inline

Definition at line 251 of file vpXmlParserCamera.h.

unsigned int vpXmlParserCamera::getSubsampling_height ( )

inline

Definition at line 253 of file vpXmlParserCamera.h.

unsigned int vpXmlParserCamera::getSubsampling_width ( )

inline

Definition at line 252 of file vpXmlParserCamera.h.

unsigned int vpXmlParserCamera::getWidth ( )

inline

Definition at line 250 of file vpXmlParserCamera.h.

vpXmlParserCamera & vpXmlParserCamera::operator= ( const vpXmlParserCamera & twinParser )

Copy operator

Parameters

twinParser : parser object to copy

Returns: a copy of the input.

Definition at line 111 of file vpXmlParserCamera.cpp.

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 339 of file vpXmlParser.cpp.

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

Referenced by vpMbtEdgeKltXmlParser::parse(), vpMbtXmlParser::parse(), vpMbtKltXmlParser::parse(), vpMbXmlParser::parse(), and vpXmlConfigParserKeyPoint::parse().

int vpXmlParserCamera::parse	(	vpCameraParameters &	cam,
		const std::string &	filename,
		const std::string &	cam_name,
		const vpCameraParameters::vpCameraParametersProjType &	projModel,
		const unsigned int	im_width = `0`,
		const unsigned int	im_height = `0`
	)

Parse an xml file to load camera parameters.

Parameters

cam	: camera parameters to fill.
filename	: name of the xml file to parse
cam_name	: name of the camera : useful if the xml file has multiple camera parameters. Set as "" if the camera name is not ambiguous.
projModel	: camera projection model needed.
im_width	: image width on which camera calibration was performed. Set as 0 if not ambiguous.
im_height	: image height on which camera calibration was performed. Set as 0 if not ambiguous.

Returns: error code.

Examples:: tutorial-undistort.cpp.

Definition at line 138 of file vpXmlParserCamera.cpp.

References SEQUENCE_ERROR.

Referenced by vpViper850::getCameraParameters(), vpViper650::getCameraParameters(), vpAfma6::getCameraParameters(), and vpKinect::start().

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 372 of file vpXmlParser.cpp.

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

int vpXmlParserCamera::save	(	const vpCameraParameters &	cam,
		const std::string &	filename,
		const std::string &	cam_name,
		const unsigned int	im_width = `0`,
		const unsigned int	im_height = `0`
	)

Save camera parameters in an xml file.

Parameters

cam	: camera parameters to save.
filename	: name of the xml file to fill.
cam_name	: name of the camera : useful if the xml file has multiple camera parameters. Set as "" if the camera name is not ambiguous.
im_width	: width of image on which camera calibration was performed. Set as 0 if not ambiguous.
im_height	: height of the image on which camera calibration was performed. Set as 0 if not ambiguous.

Returns: error code.

Definition at line 183 of file vpXmlParserCamera.cpp.

References vpCameraParameters::get_projModel(), SEQUENCE_ERROR, and SEQUENCE_OK.

void vpXmlParserCamera::setCameraName ( const std::string & name )

inline

Definition at line 256 of file vpXmlParserCamera.h.

void vpXmlParserCamera::setHeight ( const unsigned int height )

inline

Definition at line 260 of file vpXmlParserCamera.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 276 of file vpXmlParser.h.

Referenced by vpMbXmlParser::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 267 of file vpXmlParser.h.

void vpXmlParserCamera::setSubsampling_height ( const unsigned int subsampling )

inline

Definition at line 264 of file vpXmlParserCamera.h.

void vpXmlParserCamera::setSubsampling_width ( const unsigned int subsampling )

inline

Definition at line 261 of file vpXmlParserCamera.h.

void vpXmlParserCamera::setWidth ( const unsigned int width )

inline

Definition at line 259 of file vpXmlParserCamera.h.

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 106 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 220 of file vpXmlParser.cpp.

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

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

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 151 of file vpXmlParser.cpp.

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

Referenced by vpMbXmlParser::read_face(), vpMbXmlParser::read_lod(), vpMbtXmlParser::read_sample(), and vpMbtXmlParser::read_sample_deprecated().

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 127 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 185 of file vpXmlParser.cpp.

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

Referenced by vpMbtKltXmlParser::read_klt(), vpMbtXmlParser::read_mask(), and vpMbtXmlParser::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 250 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 316 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 281 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 265 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 298 of file vpXmlParser.cpp.

Member Data Documentation

std::string vpXmlParser::main_tag

protectedinherited

The name of the main tag for the file to parse

Definition at line 198 of file vpXmlParser.h.

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

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

protectedinherited

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation