vpXmlParserCamera.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * XML parser to load and save camera intrinsic parameters.
 *
 * Authors:
 * Anthony Saunier
 *
 *****************************************************************************/



#ifndef vpXMLPARSERCAMERA_H
#define vpXMLPARSERCAMERA_H

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <string>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParser.h>
#include <libxml/xmlmemory.h>      /* Functions of libxml.                */

class VISP_EXPORT vpXmlParserCamera: public vpXmlParser
{

public:

  /* --- XML Code------------------------------------------------------------ */
  typedef enum 
    {
      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,
      CODE_XML_ADDITIONAL_INFO
    } vpXmlCodeType;

  typedef enum 
    {
      SEQUENCE_OK    ,
      SEQUENCE_ERROR
    } vpXmlCodeSequenceType;

private :

  vpCameraParameters camera;
  std::string camera_name;
  unsigned int image_width;
  unsigned int image_height;
  unsigned int subsampling_width;
  unsigned int subsampling_height;
  unsigned int full_width;
  unsigned int full_height;

  static const int allowedPixelDiffOnImageSize = 15;

public:

  vpXmlParserCamera();
  vpXmlParserCamera(vpXmlParserCamera& twinParser);
  virtual ~vpXmlParserCamera(){}

  // get/set functions
  std::string getCameraName(){return this->camera_name;}
  vpCameraParameters getCameraParameters(){return this->camera;}
  unsigned int getHeight(){ return this->image_height; }
  unsigned int getSubsampling_width(){return this->subsampling_width;}
  unsigned int getSubsampling_height(){return this->subsampling_height;}
  unsigned int getWidth(){ return this->image_width; }

  vpXmlParserCamera& operator =(const vpXmlParserCamera& twinparser);

  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,
     const std::string &additionalInfo="");

  void setCameraName(const std::string& name){
    this->camera_name = name;
  }
  void setHeight(const unsigned int height){ this->image_height = height ; }
  void setSubsampling_width(const unsigned int subsampling){
    this->subsampling_width = subsampling ;
  }
  void setSubsampling_height(const unsigned int subsampling){
    this->subsampling_height = subsampling ;
  }
  void setWidth(const unsigned int width){ this->image_width = width ; }

private:
  int read (xmlDocPtr doc, xmlNodePtr node,
        const std::string& camera_name,
      const vpCameraParameters::vpCameraParametersProjType &projModel,
      const unsigned int image_width  = 0,
        const unsigned int image_height = 0,
        const unsigned int subsampling_width = 0,
        const unsigned int subsampling_height = 0);

  int count (xmlDocPtr doc, xmlNodePtr node,
         const std::string& camera_name,
       const vpCameraParameters::vpCameraParametersProjType &projModel,
       const unsigned int image_width  = 0,
         const unsigned int image_height = 0,
         const unsigned int subsampling_width = 0,
         const unsigned int subsampling_height = 0);

  int read_camera (xmlDocPtr doc, xmlNodePtr node,
           const std::string& camera_name,
       const vpCameraParameters::vpCameraParametersProjType &projModel,
       const unsigned int image_width  = 0,
           const unsigned int image_height = 0,
           const unsigned int subsampling_width = 0,
           const unsigned int subsampling_height = 0);
  
  xmlNodePtr find_camera (xmlDocPtr doc, xmlNodePtr node,
                   const std::string& camera_name,
                   const unsigned int image_width  = 0,
                   const unsigned int image_height = 0,
                   const unsigned int subsampling_width = 0,
                   const unsigned int subsampling_height = 0);

  xmlNodePtr find_additional_info (xmlNodePtr node);
 
  vpXmlCodeSequenceType read_camera_model (xmlDocPtr doc, xmlNodePtr node,
                                                     vpCameraParameters &camera);
  
  int read_camera_header (xmlDocPtr doc, xmlNodePtr node,
                          const std::string& camera_name,
                          const unsigned int image_width = 0,
                          const unsigned int image_height = 0,
                          const unsigned int subsampling_width = 0,
                          const unsigned int subsampling_height = 0);
   
  static vpXmlCodeSequenceType str2xmlcode (char * str, vpXmlCodeType & res);
  void myXmlReadIntChild (xmlDocPtr doc,
              xmlNodePtr node,
              int &res,
              vpXmlCodeSequenceType &code_error);

  void myXmlReadDoubleChild (xmlDocPtr doc,
                 xmlNodePtr node,
                 double &res,
                 vpXmlCodeSequenceType &code_error);

  void myXmlReadCharChild (xmlDocPtr doc,
               xmlNodePtr node,
               char **res);
  int write (xmlNodePtr node, const std::string& camera_name,
         const unsigned int image_width  = 0,
         const unsigned int image_height = 0,
         const unsigned int subsampling_width = 0,
         const unsigned int subsampling_height = 0);
  int write_camera(xmlNodePtr node_camera);
  
private:

  virtual void readMainClass(xmlDocPtr , xmlNodePtr ){};
  
  virtual void writeMainClass(xmlNodePtr ){};
  
};
#endif //VISP_HAVE_XML2
#endif