#include <visp3/vision/vpXmlConfigParserKeyPoint.h>

Inheritance diagram for vpXmlConfigParserKeyPoint:

Public Member Functions
	vpXmlConfigParserKeyPoint ()

virtual	~vpXmlConfigParserKeyPoint ()

std::string	getDetectorName () const

std::string	getExtractorName () const

std::string	getMatcherName () const

double	getMatchingFactorThreshold () const

vpMatchingMethodEnum	getMatchingMethod () const

double	getMatchingRatioThreshold () const

int	getNbRansacIterations () const

int	getNbRansacMinInlierCount () const

double	getRansacConsensusPercentage () const

double	getRansacReprojectionError () const

double	getRansacThreshold () const

bool	getUseRansacConsensusPercentage () const

bool	getUseRansacVVSPoseEstimation () const

void	parse (const std::string &filename)

Public Member Functions Inherited from vpXmlParser
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
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

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.

Definition at line 70 of file vpXmlConfigParserKeyPoint.h.

Member Enumeration Documentation

enum vpXmlConfigParserKeyPoint::vpMatchingMethodEnum

Enumerator for the different filtering matching method.

Enumerator
constantFactorDistanceThreshold	Keep all the points below a constant factor threshold.
stdDistanceThreshold	Keep all the points below a minimal distance + the standard deviation.
ratioDistanceThreshold	Keep all the points enough discriminated.
stdAndRatioDistanceThreshold	Keep all the points which fall with the two conditions.
noFilterMatching	No filtering.

Definition at line 116 of file vpXmlConfigParserKeyPoint.h.

enum vpXmlConfigParserKeyPoint::vpNodeIdentifier

Predefined xml node identifier.

Enumerator
conf	Identifier associated to the root tag.
detector	Identifier associated to the detector tag.
extractor	Identifier associated to the extractor tag.
matcher	Identifier associated to the matcher tag.
name	Identifier associated to the name tag.
matching_method	Identifier associated to the matching_method tag.
constant_factor_distance_threshold	Identifier associated to the constant_factor_distance_threshold tag.
std_distance_threshold	Identifier associated to the std_distance_threshold tag.
ratio_distance_threshold	Identifier associated to the ratio_distance_threshold tag.
std_and_ratio_distance_threshold	Identifier associated to the std_and_ratio_distance_threshold tag.
no_filter_matching	Identifier associated to the no_filter_matching tag.
matching_factor_threshold	Identifier associated to the matching_factor_threshold tag.
matching_ratio_threshold	Identifier associated to the matching_ratio_threshold tag.
ransac	Identifier associated to the ransac tag.
use_ransac_vvs	Identifier associated to the use_ransac_vvs tag.
use_ransac_consensus_percentage	Identifier associated to the use_ransac_consensus_percentage tag.
nb_ransac_iterations	Identifier associated to the nb_ransac_iterations tag.
ransac_reprojection_error	Identifier associated to the ransac_reprojection_error tag.
nb_ransac_min_inlier_count	Identifier associated to the nb_ransac_min_inlier_count tag.
ransac_threshold	Identifier associated to the ransac_threshold tag.
ransac_consensus_percentage	Identifier associated to the ransac_consensus_percentage tag.

Definition at line 75 of file vpXmlConfigParserKeyPoint.h.

Constructor & Destructor Documentation

vpXmlConfigParserKeyPoint::vpXmlConfigParserKeyPoint ( )

virtual vpXmlConfigParserKeyPoint::~vpXmlConfigParserKeyPoint ( )

inlinevirtual

Default destructor.

Definition at line 163 of file vpXmlConfigParserKeyPoint.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:: 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.

std::string vpXmlConfigParserKeyPoint::getDetectorName ( ) const

inline

Get the detector name.

Returns: The detector name.

Definition at line 170 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

std::string vpXmlConfigParserKeyPoint::getExtractorName ( ) const

inline

Get the extractor name.

Returns: The extractor name.

Definition at line 177 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

std::string vpXmlConfigParserKeyPoint::getMatcherName ( ) const

inline

Get the matcher name.

Returns: The detector name.

Definition at line 183 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

double vpXmlConfigParserKeyPoint::getMatchingFactorThreshold ( ) const

inline

Get the factor value.

Returns: The factor value for the filtering method: constantFactorDistanceThreshold.

Definition at line 190 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

vpMatchingMethodEnum vpXmlConfigParserKeyPoint::getMatchingMethod ( ) const

inline

Get the filtering method.

Returns: The filtering method.

Definition at line 197 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

double vpXmlConfigParserKeyPoint::getMatchingRatioThreshold ( ) const

inline

Get the ratio value.

Returns: The factor value for the filtering method: ratioDistanceThreshold.

Definition at line 204 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

int vpXmlConfigParserKeyPoint::getNbRansacIterations ( ) const

inline

Get the maximum number of iterations for the Ransac method.

Returns: The maximum number of iterations for the Ransac method.

Definition at line 211 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

int vpXmlConfigParserKeyPoint::getNbRansacMinInlierCount ( ) const

inline

Get the minimum number of inliers for the Ransac method.

Returns: The minimum number of inliers for the Ransac method.

Definition at line 218 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

double vpXmlConfigParserKeyPoint::getRansacConsensusPercentage ( ) const

inline

Get the percentage value of inliers for the Ransac method.

Returns: The percentage value of inliers for the Ransac method.

Definition at line 225 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

double vpXmlConfigParserKeyPoint::getRansacReprojectionError ( ) const

inline

Get the maximum reprojection error for a candidate inlier for the Ransac method.

Returns: The maximum reprojection error for the Ransac method.

Definition at line 233 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

double vpXmlConfigParserKeyPoint::getRansacThreshold ( ) const

inline

Get the maximum error for a candidate inlier for the Ransac method.

Returns: The maximum error for the Ransac method.

Definition at line 240 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

bool vpXmlConfigParserKeyPoint::getUseRansacConsensusPercentage ( ) const

inline

Get the flag state to choose between a percentage of inliers or a fixed number.

Returns: True to use a percentage value for inliers, false otherwise.

Definition at line 248 of file vpXmlConfigParserKeyPoint.h.

Referenced by vpKeyPoint::loadConfigFile().

bool vpXmlConfigParserKeyPoint::getUseRansacVVSPoseEstimation ( ) const

inline

Get the flag state to choose between OpenCV Ransac pose estimation or ViSP Ransac VVS pose estimation.

Returns: True to use ViSP method, false otherwise.

Definition at line 256 of file vpXmlConfigParserKeyPoint.h.

References vpXmlParser::parse(), vpXmlParser::readMainClass(), and vpXmlParser::writeMainClass().

Referenced by vpKeyPoint::loadConfigFile().

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

Parse an XML file to get configuration value for vpKeyPoint class.

Parameters

filename : filename of the XML file to parse

Parse an XML file to load configuration for vpKeyPoint class.

Parameters

filename : filename of the XML file to parse.

Definition at line 96 of file vpXmlConfigParserKeyPoint.cpp.

References constant_factor_distance_threshold, constantFactorDistanceThreshold, detector, extractor, matcher, matching_factor_threshold, matching_method, matching_ratio_threshold, name, nb_ransac_iterations, nb_ransac_min_inlier_count, no_filter_matching, vpXmlParser::nodeMap, noFilterMatching, vpXmlParser::parse(), ransac, ransac_consensus_percentage, ransac_reprojection_error, ransac_threshold, ratio_distance_threshold, ratioDistanceThreshold, std_and_ratio_distance_threshold, std_distance_threshold, stdAndRatioDistanceThreshold, stdDistanceThreshold, use_ransac_consensus_percentage, use_ransac_vvs, vpXmlParser::xmlReadDoubleChild(), vpXmlParser::xmlReadIntChild(), and vpXmlParser::xmlReadStringChild().

Referenced by vpKeyPoint::loadConfigFile().

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 453 of file vpXmlParser.cpp.

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

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

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 295 of file vpXmlParser.h.

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

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 286 of file vpXmlParser.h.

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

protectedinherited

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
	)

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 100 of file vpXmlParser.cpp.

References vpException::fatalError.

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

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

protectedinherited

read a double

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

Parameters

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

Returns: the double value in the node

Examples:: testXmlParser.cpp.

Definition at line 212 of file vpXmlParser.cpp.

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

Referenced by parse(), vpMbXmlParser::read_camera(), vpMbtXmlGenericParser::read_camera(), vpMbtXmlParser::read_contrast(), vpMbtXmlGenericParser::read_depth_normal_PCL(), vpMbtXmlGenericParser::read_ecm_contrast(), vpMbXmlParser::read_face(), vpMbtXmlGenericParser::read_face(), vpMbtKltXmlParser::read_klt(), vpMbtXmlGenericParser::read_klt(), vpMbXmlParser::read_lod(), vpMbtXmlGenericParser::read_lod(), vpXmlParserRectOriented::readMainClass(), vpXmlParserHomogeneousMatrix::save(), and vpXmlParserCamera::save().

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

protectedinherited

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
	)

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

Examples:: testXmlParser.cpp.

Definition at line 144 of file vpXmlParser.cpp.

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

Referenced by parse(), vpMbtXmlGenericParser::read_depth_normal(), vpMbtXmlGenericParser::read_depth_normal_PCL(), vpMbtXmlGenericParser::read_ecm_sample(), vpMbXmlParser::read_face(), vpMbtXmlGenericParser::read_face(), vpMbXmlParser::read_lod(), vpMbtXmlGenericParser::read_lod(), vpMbtXmlGenericParser::read_projection_error(), vpMbtXmlParser::read_sample(), vpMbtXmlParser::read_sample_deprecated(), and vpMbtXmlGenericParser::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.

Examples:: testXmlParser.cpp.

Definition at line 120 of file vpXmlParser.cpp.

References vpException::fatalError.

Referenced by parse().

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 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
	)

protectedinherited

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
	)

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

Examples:: testXmlParser.cpp.

Definition at line 306 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

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
	)

protectedinherited

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
	)

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

Examples:: testXmlParser.cpp.

Definition at line 334 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 320 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 350 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 231 of file vpXmlParser.h.

Referenced by vpXmlParser::save().

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

protectedinherited

The map describing the data to parse

Definition at line 226 of file vpXmlParser.h.

Public Types
enum	vpNodeIdentifier { conf, detector, extractor, matcher, name, matching_method, constant_factor_distance_threshold, std_distance_threshold, ratio_distance_threshold, std_and_ratio_distance_threshold, no_filter_matching, matching_factor_threshold, matching_ratio_threshold, ransac, use_ransac_vvs, use_ransac_consensus_percentage, nb_ransac_iterations, ransac_reprojection_error, nb_ransac_min_inlier_count, ransac_threshold, ransac_consensus_percentage }

enum	vpMatchingMethodEnum { constantFactorDistanceThreshold, stdDistanceThreshold, ratioDistanceThreshold, stdAndRatioDistanceThreshold, noFilterMatching }

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