vpMbXmlParser.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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:
 * Load XML Parameter for Model Based Tracker.
 *
 * Authors:
 * Aurelien Yol
 *
 *****************************************************************************/
#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <iostream>
#include <map>

#include <libxml/xmlmemory.h> /* Fonctions de la lib XML.                */

#include <visp3/mbt/vpMbXmlParser.h>

vpMbXmlParser::vpMbXmlParser()
  : cam(), angleAppear(70), angleDisappear(80), hasNearClipping(false), nearClipping(false), hasFarClipping(false),
    farClipping(false), fovClipping(false), useLod(false), minLineLengthThreshold(50.0), minPolygonAreaThreshold(2500.0)

{
  init();
}

vpMbXmlParser::~vpMbXmlParser() {}

void vpMbXmlParser::init()
{
  setMainTag("conf");

  nodeMap["conf"] = conf;
  nodeMap["face"] = face;
  nodeMap["angle_appear"] = angle_appear;
  nodeMap["angle_disappear"] = angle_disappear;
  nodeMap["near_clipping"] = near_clipping;
  nodeMap["far_clipping"] = far_clipping;
  nodeMap["fov_clipping"] = fov_clipping;
  nodeMap["camera"] = camera;
  nodeMap["height"] = height;
  nodeMap["width"] = width;
  nodeMap["u0"] = u0;
  nodeMap["v0"] = v0;
  nodeMap["px"] = px;
  nodeMap["py"] = py;
  nodeMap["lod"] = lod;
  nodeMap["use_lod"] = use_lod;
  nodeMap["min_line_length_threshold"] = min_line_length_threshold;
  nodeMap["min_polygon_area_threshold"] = min_polygon_area_threshold;
}

void vpMbXmlParser::writeMainClass(xmlNodePtr /*node*/)
{
  throw vpException(vpException::notImplementedError, "Not yet implemented.");
}

void vpMbXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
  bool camera_node = false;
  bool face_node = false;
  bool lod_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::iterator iter_data = this->nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case camera: {
          this->read_camera(doc, dataNode);
          camera_node = true;
        } break;
        case face: {
          this->read_face(doc, dataNode);
          face_node = true;
        } break;
        case lod: {
          this->read_lod(doc, dataNode);
          lod_node = true;
        } break;
        default: {
          //          vpTRACE("unknown tag in read_sample : %d, %s",
          //          iter_data->second, (iter_data->first).c_str());
        } break;
        }
      }
    }
  }

  if (!camera_node) {
    std::cout << "camera : u0 : " << this->cam.get_u0() << " (default)" << std::endl;
    std::cout << "camera : v0 : " << this->cam.get_v0() << " (default)" << std::endl;
    std::cout << "camera : px : " << this->cam.get_px() << " (default)" << std::endl;
    std::cout << "camera : py : " << this->cam.get_py() << " (default)" << std::endl;
  }

  if (!face_node) {
    std::cout << "face : Angle Appear : " << angleAppear << " (default)" << std::endl;
    std::cout << "face : Angle Disappear : " << angleDisappear << " (default)" << std::endl;
  }

  if (!lod_node) {
    std::cout << "lod : use lod : " << useLod << " (default)" << std::endl;
    std::cout << "lod : min line length threshold : " << minLineLengthThreshold << " (default)" << std::endl;
    std::cout << "lod : min polygon area threshold : " << minPolygonAreaThreshold << " (default)" << std::endl;
  }
}

void vpMbXmlParser::read_camera(xmlDocPtr doc, xmlNodePtr node)
{
  bool u0_node = false;
  bool v0_node = false;
  bool px_node = false;
  bool py_node = false;

  // current data values.
  double d_u0 = this->cam.get_u0();
  double d_v0 = this->cam.get_v0();
  double d_px = this->cam.get_px();
  double d_py = this->cam.get_py();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::iterator iter_data = this->nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case u0: {
          d_u0 = xmlReadDoubleChild(doc, dataNode);
          u0_node = true;
        } break;
        case v0: {
          d_v0 = xmlReadDoubleChild(doc, dataNode);
          v0_node = true;
        } break;
        case px: {
          d_px = xmlReadDoubleChild(doc, dataNode);
          px_node = true;
        } break;
        case py: {
          d_py = xmlReadDoubleChild(doc, dataNode);
          py_node = true;
        } break;
        default: {
          //          vpTRACE("unknown tag in read_camera : %d, %s",
          //          iter_data->second, (iter_data->first).c_str());
        } break;
        }
      }
    }
  }

  this->cam.initPersProjWithoutDistortion(d_px, d_py, d_u0, d_v0);

  if (!u0_node)
    std::cout << "camera : u0 : " << this->cam.get_u0() << " (default)" << std::endl;
  else
    std::cout << "camera : u0 : " << this->cam.get_u0() << std::endl;

  if (!v0_node)
    std::cout << "camera : v0 : " << this->cam.get_v0() << " (default)" << std::endl;
  else
    std::cout << "camera : v0 : " << this->cam.get_v0() << std::endl;

  if (!px_node)
    std::cout << "camera : px : " << this->cam.get_px() << " (default)" << std::endl;
  else
    std::cout << "camera : px : " << this->cam.get_px() << std::endl;

  if (!py_node)
    std::cout << "camera : py : " << this->cam.get_py() << " (default)" << std::endl;
  else
    std::cout << "camera : py : " << this->cam.get_py() << std::endl;
}

void vpMbXmlParser::read_face(xmlDocPtr doc, xmlNodePtr node)
{
  bool angle_appear_node = false;
  bool angle_disappear_node = false;
  bool near_clipping_node = false;
  bool far_clipping_node = false;
  bool fov_clipping_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::iterator iter_data = this->nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case angle_appear: {
          angleAppear = xmlReadDoubleChild(doc, dataNode);
          angle_appear_node = true;
        } break;
        case angle_disappear: {
          angleDisappear = xmlReadDoubleChild(doc, dataNode);
          angle_disappear_node = true;
        } break;
        case near_clipping: {
          nearClipping = xmlReadDoubleChild(doc, dataNode);
          near_clipping_node = true;
          hasNearClipping = true;
        } break;
        case far_clipping: {
          farClipping = xmlReadDoubleChild(doc, dataNode);
          far_clipping_node = true;
          hasFarClipping = true;
        } break;
        case fov_clipping: {
          if (xmlReadIntChild(doc, dataNode))
            fovClipping = true;
          else
            fovClipping = false;
          fov_clipping_node = true;
        } break;
        default: {
          //          vpTRACE("unknown tag in read_camera : %d, %s",
          //          iter_data->second, (iter_data->first).c_str());
        } break;
        }
      }
    }
  }

  if (!angle_appear_node)
    std::cout << "face : Angle Appear : " << angleAppear << " (default)" << std::endl;
  else
    std::cout << "face : Angle Appear : " << angleAppear << std::endl;

  if (!angle_disappear_node)
    std::cout << "face : Angle Disappear : " << angleDisappear << " (default)" << std::endl;
  else
    std::cout << "face : Angle Disappear : " << angleDisappear << std::endl;

  if (near_clipping_node)
    std::cout << "face : Near Clipping : " << nearClipping << std::endl;

  if (far_clipping_node)
    std::cout << "face : Far Clipping : " << farClipping << std::endl;

  if (fov_clipping_node) {
    if (fovClipping)
      std::cout << "face : Fov Clipping : True" << std::endl;
    else
      std::cout << "face : Fov Clipping : False" << std::endl;
  }
}

void vpMbXmlParser::read_lod(xmlDocPtr doc, xmlNodePtr node)
{
  bool use_lod_node = false;
  bool min_line_length_threshold_node = false;
  bool min_polygon_area_threshold_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::iterator iter_data = this->nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case use_lod:
          useLod = (xmlReadIntChild(doc, dataNode) != 0);
          use_lod_node = true;
          break;
        case min_line_length_threshold:
          minLineLengthThreshold = xmlReadDoubleChild(doc, dataNode);
          min_line_length_threshold_node = true;
          break;
        case min_polygon_area_threshold:
          minPolygonAreaThreshold = xmlReadDoubleChild(doc, dataNode);
          min_polygon_area_threshold_node = true;
          break;
        default: {
          //          vpTRACE("unknown tag in read_contrast : %d, %s",
          //          iter_data->second, (iter_data->first).c_str());
        } break;
        }
      }
    }
  }

  if (!use_lod_node)
    std::cout << "lod : use lod : " << useLod << " (default)" << std::endl;
  else
    std::cout << "lod : use lod : " << useLod << std::endl;

  if (!min_line_length_threshold_node)
    std::cout << "lod : min line length threshold : " << minLineLengthThreshold << " (default)" << std::endl;
  else
    std::cout << "lod : min line length threshold : " << minLineLengthThreshold << std::endl;

  if (!min_polygon_area_threshold_node)
    std::cout << "lod : min polygon area threshold : " << minPolygonAreaThreshold << " (default)" << std::endl;
  else
    std::cout << "lod : min polygon area threshold : " << minPolygonAreaThreshold << std::endl;
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_mbt.a(vpMbXmlParser.cpp.o) has no
// symbols
void dummy_vpMbXmlParser(){};
#endif