vpMbtKltXmlParser.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 parameters of the Model based tracker (using point features).
 *
 * 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/vpMbtKltXmlParser.h>

vpMbtKltXmlParser::vpMbtKltXmlParser()
  : maskBorder(0), maxFeatures(0), winSize(0), qualityValue(0.), minDist(0.), harrisParam(0.), blockSize(0),
    pyramidLevels(0)
{
  init();
}

vpMbtKltXmlParser::~vpMbtKltXmlParser() {}

void vpMbtKltXmlParser::init()
{
  vpMbXmlParser::init();

  nodeMap["klt"] = klt;
  nodeMap["mask_border"] = mask_border;
  nodeMap["max_features"] = max_features;
  nodeMap["window_size"] = window_size;
  nodeMap["quality"] = quality;
  nodeMap["min_distance"] = min_distance;
  nodeMap["harris"] = harris;
  nodeMap["size_block"] = size_block;
  nodeMap["pyramid_lvl"] = pyramid_lvl;
}

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

void vpMbtKltXmlParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
  bool camera_node = false;
  bool face_node = false;
  bool klt_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 klt: {
          this->read_klt(doc, dataNode);
          klt_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 (!klt_node) {
    std::cout << "klt : Mask Border : " << maskBorder << " (default)" << std::endl;
    std::cout << "klt : Max Features : " << maxFeatures << " (default)" << std::endl;
    std::cout << "klt : Windows Size : " << winSize << " (default)" << std::endl;
    std::cout << "klt : Quality : " << qualityValue << " (default)" << std::endl;
    std::cout << "klt : Min Distance : " << minDist << " (default)" << std::endl;
    std::cout << "klt : Harris Parameter : " << harrisParam << " (default)" << std::endl;
    std::cout << "klt : Block Size : " << blockSize << " (default)" << std::endl;
    std::cout << "klt : Pyramid Levels : " << pyramidLevels << " (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 vpMbtKltXmlParser::read_klt(xmlDocPtr doc, xmlNodePtr node)
{
  bool mask_border_node = false;
  bool max_features_node = false;
  bool window_size_node = false;
  bool quality_node = false;
  bool min_distance_node = false;
  bool harris_node = false;
  bool size_block_node = false;
  bool pyramid_lvl_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 mask_border: {
          maskBorder = xmlReadUnsignedIntChild(doc, dataNode);
          mask_border_node = true;
        } break;
        case max_features: {
          maxFeatures = xmlReadUnsignedIntChild(doc, dataNode);
          max_features_node = true;
        } break;
        case window_size: {
          winSize = xmlReadUnsignedIntChild(doc, dataNode);
          window_size_node = true;
        } break;
        case quality: {
          qualityValue = xmlReadDoubleChild(doc, dataNode);
          quality_node = true;
        } break;
        case min_distance: {
          minDist = xmlReadDoubleChild(doc, dataNode);
          min_distance_node = true;
        } break;
        case harris: {
          harrisParam = xmlReadDoubleChild(doc, dataNode);
          harris_node = true;
        } break;
        case size_block: {
          blockSize = xmlReadUnsignedIntChild(doc, dataNode);
          size_block_node = true;
        } break;
        case pyramid_lvl: {
          pyramidLevels = xmlReadUnsignedIntChild(doc, dataNode);
          pyramid_lvl_node = true;
        } break;
        default: {
          //          vpTRACE("unknown tag in read_camera : %d, %s",
          //          iter_data->second, (iter_data->first).c_str());
        } break;
        }
      }
    }
  }

  if (!mask_border_node)
    std::cout << "klt : Mask Border : " << maskBorder << " (default)" << std::endl;
  else
    std::cout << "klt : Mask Border : " << maskBorder << std::endl;

  if (!max_features_node)
    std::cout << "klt : Max Features : " << maxFeatures << " (default)" << std::endl;
  else
    std::cout << "klt : Max Features : " << maxFeatures << std::endl;

  if (!window_size_node)
    std::cout << "klt : Windows Size : " << winSize << " (default)" << std::endl;
  else
    std::cout << "klt : Windows Size : " << winSize << std::endl;

  if (!quality_node)
    std::cout << "klt : Quality : " << qualityValue << " (default)" << std::endl;
  else
    std::cout << "klt : Quality : " << qualityValue << std::endl;

  if (!min_distance_node)
    std::cout << "klt : Min Distance : " << minDist << " (default)" << std::endl;
  else
    std::cout << "klt : Min Distance : " << minDist << std::endl;

  if (!harris_node)
    std::cout << "klt : Harris Parameter : " << harrisParam << " (default)" << std::endl;
  else
    std::cout << "klt : Harris Parameter : " << harrisParam << std::endl;

  if (!size_block_node)
    std::cout << "klt : Block Size : " << blockSize << " (default)" << std::endl;
  else
    std::cout << "klt : Block Size : " << blockSize << std::endl;

  if (!pyramid_lvl_node)
    std::cout << "klt : Pyramid Levels : " << pyramidLevels << " (default)" << std::endl;
  else
    std::cout << "klt : Pyramid Levels : " << pyramidLevels << std::endl;
}

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