vpMbtXmlGenericParser.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.
 *
 *****************************************************************************/
#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <iostream>
#include <map>

#include <libxml/xmlmemory.h>

#include <visp3/mbt/vpMbtXmlGenericParser.h>

vpMbtXmlGenericParser::vpMbtXmlGenericParser(const vpParserType &type)
  : m_parserType(type),
    //<camera>
    m_cam(),
    //<face>
    m_angleAppear(70), m_angleDisappear(80), m_hasNearClipping(false), m_nearClipping(false), m_hasFarClipping(false),
    m_farClipping(false), m_fovClipping(false),
    //<lod>
    m_useLod(false), m_minLineLengthThreshold(50.0), m_minPolygonAreaThreshold(2500.0),
    //<ecm>
    m_ecm(),
    //<klt>
    m_kltMaskBorder(0), m_kltMaxFeatures(0), m_kltWinSize(0), m_kltQualityValue(0.), m_kltMinDist(0.),
    m_kltHarrisParam(0.), m_kltBlockSize(0), m_kltPyramidLevels(0),
    //<depth_normal>
    m_depthNormalFeatureEstimationMethod(vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION),
    m_depthNormalPclPlaneEstimationMethod(2), m_depthNormalPclPlaneEstimationRansacMaxIter(200),
    m_depthNormalPclPlaneEstimationRansacThreshold(0.001), m_depthNormalSamplingStepX(2), m_depthNormalSamplingStepY(2),
    //<depth_dense>
    m_depthDenseSamplingStepX(2), m_depthDenseSamplingStepY(2),
    //<projection_error>
    m_projectionErrorMe(), m_projectionErrorKernelSize(2) //5x5
{
  init();
}

vpMbtXmlGenericParser::~vpMbtXmlGenericParser() {}

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

  //<conf>
  nodeMap["conf"] = conf;
  //<face>
  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;
  //<camera>
  nodeMap["camera"] = camera;
  nodeMap["height"] = height;
  nodeMap["width"] = width;
  nodeMap["u0"] = u0;
  nodeMap["v0"] = v0;
  nodeMap["px"] = px;
  nodeMap["py"] = py;
  //<lod>
  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;
  //<ecm>
  nodeMap["ecm"] = ecm;
  nodeMap["mask"] = mask;
  nodeMap["size"] = size;
  nodeMap["nb_mask"] = nb_mask;
  nodeMap["range"] = range;
  nodeMap["tracking"] = tracking;
  nodeMap["contrast"] = contrast;
  nodeMap["edge_threshold"] = edge_threshold;
  nodeMap["mu1"] = mu1;
  nodeMap["mu2"] = mu2;
  nodeMap["sample"] = sample;
  nodeMap["step"] = step;
  //<klt>
  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;
  //<depth_normal>
  nodeMap["depth_normal"] = depth_normal;
  nodeMap["feature_estimation_method"] = feature_estimation_method;
  nodeMap["PCL_plane_estimation"] = PCL_plane_estimation;
  nodeMap["method"] = PCL_plane_estimation_method;
  nodeMap["ransac_max_iter"] = PCL_plane_estimation_ransac_max_iter;
  nodeMap["ransac_threshold"] = PCL_plane_estimation_ransac_threshold;
  nodeMap["sampling_step"] = depth_sampling_step;
  nodeMap["step_X"] = depth_sampling_step_X;
  nodeMap["step_Y"] = depth_sampling_step_Y;
  //<depth_dense>
  nodeMap["depth_dense"] = depth_dense;
  nodeMap["sampling_step"] = depth_dense_sampling_step;
  nodeMap["step_X"] = depth_dense_sampling_step_X;
  nodeMap["step_Y"] = depth_dense_sampling_step_Y;
  //<projection_error>
  nodeMap["projection_error"] = projection_error;
  nodeMap["sample_step"] = projection_error_sample_step;
  nodeMap["kernel_size"] = projection_error_kernel_size;
}

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

void vpMbtXmlGenericParser::readMainClass(xmlDocPtr doc, xmlNodePtr node)
{
  bool camera_node = false;
  bool face_node = false;
  bool ecm_node = false;
  bool klt_node = false;
  bool lod_node = false;
  bool depth_normal_node = false;
  bool depth_dense_node = false;
  bool projection_error_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case camera:
          if (m_parserType != PROJECTION_ERROR_PARSER) {
            read_camera(doc, dataNode);
            camera_node = true;
          }
          break;

        case face:
          if (m_parserType != PROJECTION_ERROR_PARSER) {
            read_face(doc, dataNode);
            face_node = true;
          }
          break;

        case lod:
          if (m_parserType != PROJECTION_ERROR_PARSER) {
            read_lod(doc, dataNode);
            lod_node = true;
          }
          break;

        case ecm:
          if (m_parserType & EDGE_PARSER) {
            read_ecm(doc, dataNode);
            ecm_node = true;
          }
          break;

        case sample:
          if (m_parserType & EDGE_PARSER)
            read_sample_deprecated(doc, dataNode);
          break;

        case klt:
          if (m_parserType & KLT_PARSER) {
            read_klt(doc, dataNode);
            klt_node = true;
          }
          break;

        case depth_normal:
          if (m_parserType & DEPTH_NORMAL_PARSER) {
            read_depth_normal(doc, dataNode);
            depth_normal_node = true;
          }
          break;

        case depth_dense:
          if (m_parserType & DEPTH_DENSE_PARSER) {
            read_depth_dense(doc, dataNode);
            depth_dense_node = true;
          }
          break;

        case projection_error:
          if (m_parserType == PROJECTION_ERROR_PARSER) {
            read_projection_error(doc, dataNode);
            projection_error_node = true;
          }
          break;

        default:
          break;
        }
      }
    }
  }

  if (m_parserType == PROJECTION_ERROR_PARSER) {
    if (!projection_error_node) {
      std::cout << "projection_error : sample_step : " << m_projectionErrorMe.getSampleStep() << " (default)" << std::endl;
      std::cout << "projection_error : kernel_size : " << m_projectionErrorKernelSize*2+1 << "x"
                << m_projectionErrorKernelSize*2+1 << " (default)" << std::endl;
    }
  } else {
    if (!camera_node) {
      std::cout << "camera : u0 : " << m_cam.get_u0() << " (default)" << std::endl;
      std::cout << "camera : v0 : " << m_cam.get_v0() << " (default)" << std::endl;
      std::cout << "camera : px : " << m_cam.get_px() << " (default)" << std::endl;
      std::cout << "camera : py : " << m_cam.get_py() << " (default)" << std::endl;
    }

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

    if (!lod_node) {
      std::cout << "lod : use lod : " << m_useLod << " (default)" << std::endl;
      std::cout << "lod : min line length threshold : " << m_minLineLengthThreshold << " (default)" << std::endl;
      std::cout << "lod : min polygon area threshold : " << m_minPolygonAreaThreshold << " (default)" << std::endl;
    }

    if (!ecm_node && (m_parserType & EDGE_PARSER)) {
      std::cout << "ecm : mask : size : " << m_ecm.getMaskSize() << " (default)" << std::endl;
      std::cout << "ecm : mask : nb_mask : " << m_ecm.getMaskNumber() << " (default)" << std::endl;
      std::cout << "ecm : range : tracking : " << m_ecm.getRange() << " (default)" << std::endl;
      std::cout << "ecm : contrast : threshold : " << m_ecm.getThreshold() << " (default)" << std::endl;
      std::cout << "ecm : contrast : mu1 : " << m_ecm.getMu1() << " (default)" << std::endl;
      std::cout << "ecm : contrast : mu2 : " << m_ecm.getMu2() << " (default)" << std::endl;
      std::cout << "ecm : sample : sample_step : " << m_ecm.getSampleStep() << " (default)" << std::endl;
    }

    if (!klt_node && (m_parserType & KLT_PARSER)) {
      std::cout << "klt : Mask Border : " << m_kltMaskBorder << " (default)" << std::endl;
      std::cout << "klt : Max Features : " << m_kltMaxFeatures << " (default)" << std::endl;
      std::cout << "klt : Windows Size : " << m_kltWinSize << " (default)" << std::endl;
      std::cout << "klt : Quality : " << m_kltQualityValue << " (default)" << std::endl;
      std::cout << "klt : Min Distance : " << m_kltMinDist << " (default)" << std::endl;
      std::cout << "klt : Harris Parameter : " << m_kltHarrisParam << " (default)" << std::endl;
      std::cout << "klt : Block Size : " << m_kltBlockSize << " (default)" << std::endl;
      std::cout << "klt : Pyramid Levels : " << m_kltPyramidLevels << " (default)" << std::endl;
    }

    if (!depth_normal_node && (m_parserType & DEPTH_NORMAL_PARSER)) {
      std::cout << "depth normal : feature_estimation_method : " << m_depthNormalFeatureEstimationMethod << " (default)"
                << std::endl;
      std::cout << "depth normal : PCL_plane_estimation : method : " << m_depthNormalPclPlaneEstimationMethod
                << " (default)" << std::endl;
      std::cout << "depth normal : PCL_plane_estimation : max_iter : " << m_depthNormalPclPlaneEstimationRansacMaxIter
                << " (default)" << std::endl;
      std::cout << "depth normal : PCL_plane_estimation : ransac_threshold : "
                << m_depthNormalPclPlaneEstimationRansacThreshold << " (default)" << std::endl;
      std::cout << "depth normal : sampling_step : step_X " << m_depthNormalSamplingStepX << " (default)" << std::endl;
      std::cout << "depth normal : sampling_step : step_Y " << m_depthNormalSamplingStepY << " (default)" << std::endl;
    }

    if (!depth_dense_node && (m_parserType & DEPTH_DENSE_PARSER)) {
      std::cout << "depth dense : sampling_step : step_X " << m_depthDenseSamplingStepX << " (default)" << std::endl;
      std::cout << "depth dense : sampling_step : step_Y " << m_depthDenseSamplingStepY << " (default)" << std::endl;
    }
  }
}

void vpMbtXmlGenericParser::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 = m_cam.get_u0();
  double d_v0 = m_cam.get_v0();
  double d_px = m_cam.get_px();
  double d_py = m_cam.get_py();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = 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:
          break;
        }
      }
    }
  }

  m_cam.initPersProjWithoutDistortion(d_px, d_py, d_u0, d_v0);

  if (!u0_node)
    std::cout << "camera : u0 : " << m_cam.get_u0() << " (default)" << std::endl;
  else
    std::cout << "camera : u0 : " << m_cam.get_u0() << std::endl;

  if (!v0_node)
    std::cout << "camera : v0 : " << m_cam.get_v0() << " (default)" << std::endl;
  else
    std::cout << "camera : v0 : " << m_cam.get_v0() << std::endl;

  if (!px_node)
    std::cout << "camera : px : " << m_cam.get_px() << " (default)" << std::endl;
  else
    std::cout << "camera : px : " << m_cam.get_px() << std::endl;

  if (!py_node)
    std::cout << "camera : py : " << m_cam.get_py() << " (default)" << std::endl;
  else
    std::cout << "camera : py : " << m_cam.get_py() << std::endl;
}

void vpMbtXmlGenericParser::read_depth_normal(xmlDocPtr doc, xmlNodePtr node)
{
  bool feature_estimation_method_node = false;
  bool PCL_plane_estimation_node = false;
  bool sampling_step_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case feature_estimation_method:
          m_depthNormalFeatureEstimationMethod =
              (vpMbtFaceDepthNormal::vpFeatureEstimationType)xmlReadIntChild(doc, dataNode);
          feature_estimation_method_node = true;
          break;

        case PCL_plane_estimation:
          read_depth_normal_PCL(doc, dataNode);
          PCL_plane_estimation_node = true;
          break;

        case depth_sampling_step:
          read_depth_normal_sampling_step(doc, dataNode);
          sampling_step_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!feature_estimation_method_node)
    std::cout << "depth normal : feature_estimation_method : " << m_depthNormalFeatureEstimationMethod << " (default)"
              << std::endl;
  else
    std::cout << "depth normal : feature_estimation_method : " << m_depthNormalFeatureEstimationMethod << std::endl;

  if (!PCL_plane_estimation_node) {
    std::cout << "depth normal : PCL_plane_estimation : method : " << m_depthNormalPclPlaneEstimationMethod
              << " (default)" << std::endl;
    std::cout << "depth normal : PCL_plane_estimation : max_iter : " << m_depthNormalPclPlaneEstimationRansacMaxIter
              << " (default)" << std::endl;
    std::cout << "depth normal : PCL_plane_estimation : ransac_threshold : "
              << m_depthNormalPclPlaneEstimationRansacThreshold << " (default)" << std::endl;
  }

  if (!sampling_step_node) {
    std::cout << "depth normal : sampling_step : step_X " << m_depthNormalSamplingStepX << " (default)" << std::endl;
    std::cout << "depth normal : sampling_step : step_Y " << m_depthNormalSamplingStepY << " (default)" << std::endl;
  }
}

void vpMbtXmlGenericParser::read_depth_normal_PCL(xmlDocPtr doc, xmlNodePtr node)
{
  bool PCL_plane_estimation_method_node = false;
  bool PCL_plane_estimation_ransac_max_iter_node = false;
  bool PCL_plane_estimation_ransac_threshold_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case PCL_plane_estimation_method:
          m_depthNormalPclPlaneEstimationMethod = xmlReadIntChild(doc, dataNode);
          PCL_plane_estimation_method_node = true;
          break;

        case PCL_plane_estimation_ransac_max_iter:
          m_depthNormalPclPlaneEstimationRansacMaxIter = xmlReadIntChild(doc, dataNode);
          PCL_plane_estimation_ransac_max_iter_node = true;
          break;

        case PCL_plane_estimation_ransac_threshold:
          m_depthNormalPclPlaneEstimationRansacThreshold = xmlReadDoubleChild(doc, dataNode);
          PCL_plane_estimation_ransac_threshold_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!PCL_plane_estimation_method_node)
    std::cout << "depth normal : PCL_plane_estimation : method : " << m_depthNormalPclPlaneEstimationMethod
              << " (default)" << std::endl;
  else
    std::cout << "depth normal : PCL_plane_estimation : method : " << m_depthNormalPclPlaneEstimationMethod
              << std::endl;

  if (!PCL_plane_estimation_ransac_max_iter_node)
    std::cout << "depth normal : PCL_plane_estimation : max_iter : " << m_depthNormalPclPlaneEstimationRansacMaxIter
              << " (default)" << std::endl;
  else
    std::cout << "depth normal : PCL_plane_estimation : max_iter : " << m_depthNormalPclPlaneEstimationRansacMaxIter
              << std::endl;

  if (!PCL_plane_estimation_ransac_threshold_node)
    std::cout << "depth normal : PCL_plane_estimation : ransac_threshold : "
              << m_depthNormalPclPlaneEstimationRansacThreshold << " (default)" << std::endl;
  else
    std::cout << "depth normal : PCL_plane_estimation : ransac_threshold : "
              << m_depthNormalPclPlaneEstimationRansacThreshold << std::endl;
}

void vpMbtXmlGenericParser::read_depth_normal_sampling_step(xmlDocPtr doc, xmlNodePtr node)
{
  bool sampling_step_X_node = false;
  bool sampling_step_Y_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case depth_sampling_step_X:
          m_depthNormalSamplingStepX = xmlReadUnsignedIntChild(doc, dataNode);
          sampling_step_X_node = true;
          break;

        case depth_sampling_step_Y:
          m_depthNormalSamplingStepY = xmlReadUnsignedIntChild(doc, dataNode);
          sampling_step_Y_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!sampling_step_X_node)
    std::cout << "depth normal : sampling_step : step_X : " << m_depthNormalSamplingStepX << " (default)" << std::endl;
  else
    std::cout << "depth normal : sampling_step : step_X : " << m_depthNormalSamplingStepX << std::endl;

  if (!sampling_step_Y_node)
    std::cout << "depth normal : sampling_step : step_Y : " << m_depthNormalSamplingStepY << " (default)" << std::endl;
  else
    std::cout << "depth normal : sampling_step : step_Y : " << m_depthNormalSamplingStepY << std::endl;
}

void vpMbtXmlGenericParser::read_depth_dense(xmlDocPtr doc, xmlNodePtr node)
{
  bool sampling_step_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case depth_dense_sampling_step:
          read_depth_dense_sampling_step(doc, dataNode);
          sampling_step_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!sampling_step_node) {
    std::cout << "depth dense : sampling_step : step_X " << m_depthDenseSamplingStepX << " (default)" << std::endl;
    std::cout << "depth dense : sampling_step : step_Y " << m_depthDenseSamplingStepY << " (default)" << std::endl;
  }
}

void vpMbtXmlGenericParser::read_depth_dense_sampling_step(xmlDocPtr doc, xmlNodePtr node)
{
  bool sampling_step_X_node = false;
  bool sampling_step_Y_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case depth_dense_sampling_step_X:
          m_depthDenseSamplingStepX = xmlReadUnsignedIntChild(doc, dataNode);
          sampling_step_X_node = true;
          break;

        case depth_dense_sampling_step_Y:
          m_depthDenseSamplingStepY = xmlReadUnsignedIntChild(doc, dataNode);
          sampling_step_Y_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!sampling_step_X_node)
    std::cout << "depth dense : sampling_step : step_X : " << m_depthDenseSamplingStepX << " (default)" << std::endl;
  else
    std::cout << "depth dense : sampling_step : step_X : " << m_depthDenseSamplingStepX << std::endl;

  if (!sampling_step_Y_node)
    std::cout << "depth dense : sampling_step : step_Y : " << m_depthDenseSamplingStepY << " (default)" << std::endl;
  else
    std::cout << "depth dense : sampling_step : step_Y : " << m_depthDenseSamplingStepY << std::endl;
}

void vpMbtXmlGenericParser::read_ecm(xmlDocPtr doc, xmlNodePtr node)
{
  bool mask_node = false;
  bool range_node = false;
  bool contrast_node = false;
  bool sample_node = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case mask:
          read_ecm_mask(doc, dataNode);
          mask_node = true;
          break;

        case range:
          read_ecm_range(doc, dataNode);
          range_node = true;
          break;

        case contrast:
          read_ecm_contrast(doc, dataNode);
          contrast_node = true;
          break;

        case sample:
          read_ecm_sample(doc, dataNode);
          sample_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  if (!mask_node) {
    std::cout << "ecm : mask : size : " << m_ecm.getMaskSize() << " (default)" << std::endl;
    std::cout << "ecm : mask : nb_mask : " << m_ecm.getMaskNumber() << " (default)" << std::endl;
  }

  if (!range_node) {
    std::cout << "ecm : range : tracking : " << m_ecm.getRange() << " (default)" << std::endl;
  }

  if (!contrast_node) {
    std::cout << "ecm : contrast : threshold " << m_ecm.getThreshold() << " (default)" << std::endl;
    std::cout << "ecm : contrast : mu1 " << m_ecm.getMu1() << " (default)" << std::endl;
    std::cout << "ecm : contrast : mu2 " << m_ecm.getMu2() << " (default)" << std::endl;
  }

  if (!sample_node) {
    std::cout << "ecm : sample : sample_step : " << m_ecm.getSampleStep() << " (default)" << std::endl;
  }
}

void vpMbtXmlGenericParser::read_ecm_contrast(xmlDocPtr doc, xmlNodePtr node)
{
  bool edge_threshold_node = false;
  bool mu1_node = false;
  bool mu2_node = false;

  // current data values.
  double d_edge_threshold = m_ecm.getThreshold();
  double d_mu1 = m_ecm.getMu1();
  double d_mu2 = m_ecm.getMu2();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case edge_threshold:
          d_edge_threshold = xmlReadDoubleChild(doc, dataNode);
          edge_threshold_node = true;
          break;

        case mu1:
          d_mu1 = xmlReadDoubleChild(doc, dataNode);
          mu1_node = true;
          break;

        case mu2:
          d_mu2 = xmlReadDoubleChild(doc, dataNode);
          mu2_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_ecm.setMu1(d_mu1);
  m_ecm.setMu2(d_mu2);
  m_ecm.setThreshold(d_edge_threshold);

  if (!edge_threshold_node)
    std::cout << "ecm : contrast : threshold " << m_ecm.getThreshold() << " (default)" << std::endl;
  else
    std::cout << "ecm : contrast : threshold " << m_ecm.getThreshold() << std::endl;

  if (!mu1_node)
    std::cout << "ecm : contrast : mu1 " << m_ecm.getMu1() << " (default)" << std::endl;
  else
    std::cout << "ecm : contrast : mu1 " << m_ecm.getMu1() << std::endl;

  if (!mu2_node)
    std::cout << "ecm : contrast : mu2 " << m_ecm.getMu2() << " (default)" << std::endl;
  else
    std::cout << "ecm : contrast : mu2 " << m_ecm.getMu2() << std::endl;
}

void vpMbtXmlGenericParser::read_ecm_mask(xmlDocPtr doc, xmlNodePtr node)
{
  bool size_node = false;
  bool nb_mask_node = false;

  // current data values.
  unsigned int d_size = m_ecm.getMaskSize();
  unsigned int d_nb_mask = m_ecm.getMaskNumber();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case size:
          d_size = xmlReadUnsignedIntChild(doc, dataNode);
          size_node = true;
          break;

        case nb_mask:
          d_nb_mask = xmlReadUnsignedIntChild(doc, dataNode);
          nb_mask_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_ecm.setMaskSize(d_size);

  // Check to ensure that d_nb_mask > 0
  if (d_nb_mask == 0)
    throw(vpException(vpException::badValue, "Model-based tracker mask size "
                                             "parameter should be different "
                                             "from zero in xml file"));
  m_ecm.setMaskNumber(d_nb_mask);

  if (!size_node)
    std::cout << "ecm : mask : size : " << m_ecm.getMaskSize() << " (default)" << std::endl;
  else
    std::cout << "ecm : mask : size : " << m_ecm.getMaskSize() << std::endl;

  if (!nb_mask_node)
    std::cout << "ecm : mask : nb_mask : " << m_ecm.getMaskNumber() << " (default)" << std::endl;
  else
    std::cout << "ecm : mask : nb_mask : " << m_ecm.getMaskNumber() << std::endl;
}

void vpMbtXmlGenericParser::read_ecm_range(xmlDocPtr doc, xmlNodePtr node)
{
  bool tracking_node = false;

  // current data values.
  unsigned int m_range_tracking = m_ecm.getRange();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case tracking:
          m_range_tracking = xmlReadUnsignedIntChild(doc, dataNode);
          tracking_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_ecm.setRange(m_range_tracking);

  if (!tracking_node)
    std::cout << "ecm : range : tracking : " << m_ecm.getRange() << " (default)" << std::endl;
  else
    std::cout << "ecm : range : tracking : " << m_ecm.getRange() << std::endl;
}

void vpMbtXmlGenericParser::read_ecm_sample(xmlDocPtr doc, xmlNodePtr node)
{
  bool step_node = false;

  // current data values.
  double d_stp = m_ecm.getSampleStep();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case step:
          d_stp = xmlReadIntChild(doc, dataNode);
          step_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_ecm.setSampleStep(d_stp);

  if (!step_node)
    std::cout << "ecm : sample : sample_step : " << m_ecm.getSampleStep() << " (default)" << std::endl;
  else
    std::cout << "ecm : sample : sample_step : " << m_ecm.getSampleStep() << std::endl;
}

void vpMbtXmlGenericParser::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;
  m_hasNearClipping = false;
  m_hasFarClipping = false;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case angle_appear:
          m_angleAppear = xmlReadDoubleChild(doc, dataNode);
          angle_appear_node = true;
          break;

        case angle_disappear:
          m_angleDisappear = xmlReadDoubleChild(doc, dataNode);
          angle_disappear_node = true;
          break;

        case near_clipping:
          m_nearClipping = xmlReadDoubleChild(doc, dataNode);
          m_hasNearClipping = true;
          near_clipping_node = true;
          break;

        case far_clipping:
          m_farClipping = xmlReadDoubleChild(doc, dataNode);
          m_hasFarClipping = true;
          far_clipping_node = true;
          break;

        case fov_clipping:
          if (xmlReadIntChild(doc, dataNode))
            m_fovClipping = true;
          else
            m_fovClipping = false;
          fov_clipping_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

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

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

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

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

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

void vpMbtXmlGenericParser::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>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case mask_border:
          m_kltMaskBorder = xmlReadUnsignedIntChild(doc, dataNode);
          mask_border_node = true;
          break;

        case max_features:
          m_kltMaxFeatures = xmlReadUnsignedIntChild(doc, dataNode);
          max_features_node = true;
          break;

        case window_size:
          m_kltWinSize = xmlReadUnsignedIntChild(doc, dataNode);
          window_size_node = true;
          break;

        case quality:
          m_kltQualityValue = xmlReadDoubleChild(doc, dataNode);
          quality_node = true;
          break;

        case min_distance:
          m_kltMinDist = xmlReadDoubleChild(doc, dataNode);
          min_distance_node = true;
          break;

        case harris:
          m_kltHarrisParam = xmlReadDoubleChild(doc, dataNode);
          harris_node = true;
          break;

        case size_block:
          m_kltBlockSize = xmlReadUnsignedIntChild(doc, dataNode);
          size_block_node = true;
          break;

        case pyramid_lvl:
          m_kltPyramidLevels = xmlReadUnsignedIntChild(doc, dataNode);
          pyramid_lvl_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

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

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

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

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

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

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

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

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

void vpMbtXmlGenericParser::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>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case use_lod:
          m_useLod = (xmlReadIntChild(doc, dataNode) != 0);
          use_lod_node = true;
          break;

        case min_line_length_threshold:
          m_minLineLengthThreshold = xmlReadDoubleChild(doc, dataNode);
          min_line_length_threshold_node = true;
          break;

        case min_polygon_area_threshold:
          m_minPolygonAreaThreshold = xmlReadDoubleChild(doc, dataNode);
          min_polygon_area_threshold_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

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

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

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

void vpMbtXmlGenericParser::read_projection_error(xmlDocPtr doc, xmlNodePtr node)
{
  bool step_node = false;
  bool kernel_size_node = false;

  // current data values.
  double d_stp = m_projectionErrorMe.getSampleStep();
  std::string kernel_size_str;

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case projection_error_sample_step:
          d_stp = xmlReadIntChild(doc, dataNode);
          step_node = true;
          break;

        case projection_error_kernel_size:
          kernel_size_str = xmlReadCharChild(doc, dataNode);
          kernel_size_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_projectionErrorMe.setSampleStep(d_stp);

  if (kernel_size_str == "3x3") {
    m_projectionErrorKernelSize = 1;
  } else if (kernel_size_str == "5x5") {
    m_projectionErrorKernelSize = 2;
  } else if (kernel_size_str == "7x7") {
    m_projectionErrorKernelSize = 3;
  } else if (kernel_size_str == "9x9") {
    m_projectionErrorKernelSize = 4;
  } else if (kernel_size_str == "11x11") {
    m_projectionErrorKernelSize = 5;
  } else if (kernel_size_str == "13x13") {
    m_projectionErrorKernelSize = 6;
  } else if (kernel_size_str == "15x15") {
    m_projectionErrorKernelSize = 7;
  } else {
    std::cerr << "Unsupported kernel size." << std::endl;
  }

  if (!step_node)
    std::cout << "projection_error : sample_step : " << m_projectionErrorMe.getSampleStep() << " (default)" << std::endl;
  else
    std::cout << "projection_error : sample_step : " << m_projectionErrorMe.getSampleStep() << std::endl;

  if (!kernel_size_node)
    std::cout << "projection_error : kernel_size : " << m_projectionErrorKernelSize*2+1 << "x"
              << m_projectionErrorKernelSize*2+1 << " (default)" << std::endl;
  else
    std::cout << "projection_error : kernel_size : " << kernel_size_str << std::endl;
}

void vpMbtXmlGenericParser::read_sample_deprecated(xmlDocPtr doc, xmlNodePtr node)
{
  bool step_node = false;
  // bool nb_sample_node = false;

  // current data values.
  double d_stp = m_ecm.getSampleStep();

  for (xmlNodePtr dataNode = node->xmlChildrenNode; dataNode != NULL; dataNode = dataNode->next) {
    if (dataNode->type == XML_ELEMENT_NODE) {
      std::map<std::string, int>::const_iterator iter_data = nodeMap.find((char *)dataNode->name);
      if (iter_data != nodeMap.end()) {
        switch (iter_data->second) {
        case step:
          d_stp = xmlReadIntChild(doc, dataNode);
          step_node = true;
          break;

        default:
          break;
        }
      }
    }
  }

  m_ecm.setSampleStep(d_stp);

  if (!step_node)
    std::cout << "[DEPRECATED] sample : sample_step : " << m_ecm.getSampleStep() << " (default)" << std::endl;
  else
    std::cout << "[DEPRECATED] sample : sample_step : " << m_ecm.getSampleStep() << std::endl;

  std::cout << "  WARNING : This node (sample) is deprecated." << std::endl;
  std::cout << "  It should be moved in the ecm node (ecm : sample)." << std::endl;
}

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