vpXmlConfigParserKeyPoint.h

/****************************************************************************
 *
 * 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:
 * XML parser to load configuration for vpKeyPoint class.
 *
 * Authors:
 * Souriya Trinh
 *
 *****************************************************************************/

#ifndef _vpXmlConfigParserKeyPoint_h_
#define _vpXmlConfigParserKeyPoint_h_

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <iostream>
#include <stdlib.h>

#include <libxml/xmlmemory.h> // Functions of libxml.

#include <visp3/core/vpXmlParser.h>

class VISP_EXPORT vpXmlConfigParserKeyPoint : public vpXmlParser
{

public:
  typedef enum {
    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         
  } vpNodeIdentifier;

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

private:
  std::string m_detectorName;
  std::string m_extractorName;
  std::string m_matcherName;
  double m_matchingFactorThreshold;
  vpMatchingMethodEnum m_matchingMethod;
  double m_matchingRatioThreshold;
  int m_nbRansacIterations;
  int m_nbRansacMinInlierCount;
  double m_ransacConsensusPercentage;
  double m_ransacReprojectionError;
  double m_ransacThreshold;
  // it is based on a fixed number.
  bool m_useRansacConsensusPercentage;
  bool m_useRansacVVS;

public:
  vpXmlConfigParserKeyPoint();
  virtual ~vpXmlConfigParserKeyPoint(){};

  inline std::string getDetectorName() const { return m_detectorName; }

  inline std::string getExtractorName() const { return m_extractorName; }
  inline std::string getMatcherName() const { return m_matcherName; }
  inline double getMatchingFactorThreshold() const { return m_matchingFactorThreshold; }

  inline vpMatchingMethodEnum getMatchingMethod() const { return m_matchingMethod; }

  inline double getMatchingRatioThreshold() const { return m_matchingRatioThreshold; }

  inline int getNbRansacIterations() const { return m_nbRansacIterations; }

  inline int getNbRansacMinInlierCount() const { return m_nbRansacMinInlierCount; }

  inline double getRansacConsensusPercentage() const { return m_ransacConsensusPercentage; }

  inline double getRansacReprojectionError() const { return m_ransacReprojectionError; }

  inline double getRansacThreshold() const { return m_ransacThreshold; }

  inline bool getUseRansacConsensusPercentage() const { return m_useRansacConsensusPercentage; }

  inline bool getUseRansacVVSPoseEstimation() const { return m_useRansacVVS; }

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

private:
  void init();
  void read_detector(xmlDocPtr doc, xmlNodePtr node);
  void read_extractor(xmlDocPtr doc, xmlNodePtr node);
  void read_matcher(xmlDocPtr doc, xmlNodePtr node);
  virtual void readMainClass(xmlDocPtr doc, xmlNodePtr node);
  void read_ransac(xmlDocPtr doc, xmlNodePtr node);
  virtual void writeMainClass(xmlNodePtr){};
};
#endif // VISP_HAVE_XML2
#endif