vpXmlParserCamera.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 and save camera intrinsic parameters.
 *
 * Authors:
 * Anthony Saunier
 *
 *****************************************************************************/

#ifndef vpXMLPARSERCAMERA_H
#define vpXMLPARSERCAMERA_H

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_XML2

#include <libxml/xmlmemory.h> /* Functions of libxml.                */
#include <string>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParser.h>

class VISP_EXPORT vpXmlParserCamera : public vpXmlParser
{

public:
  /* --- XML Code------------------------------------------------------------
   */
  typedef enum {
    CODE_XML_BAD = -1,
    CODE_XML_OTHER,
    CODE_XML_CAMERA,
    CODE_XML_CAMERA_NAME,
    CODE_XML_HEIGHT,
    CODE_XML_WIDTH,
    CODE_XML_SUBSAMPLING_WIDTH,
    CODE_XML_SUBSAMPLING_HEIGHT,
    CODE_XML_FULL_HEIGHT,
    CODE_XML_FULL_WIDTH,
    CODE_XML_MODEL,
    CODE_XML_MODEL_TYPE,
    CODE_XML_U0,
    CODE_XML_V0,
    CODE_XML_PX,
    CODE_XML_PY,
    CODE_XML_KUD,
    CODE_XML_KDU,
    CODE_XML_ADDITIONAL_INFO
  } vpXmlCodeType;

  typedef enum { SEQUENCE_OK, SEQUENCE_ERROR } vpXmlCodeSequenceType;

private:
  vpCameraParameters camera;
  std::string camera_name;
  unsigned int image_width;
  unsigned int image_height;
  unsigned int subsampling_width;
  unsigned int subsampling_height;
  unsigned int full_width;
  unsigned int full_height;

  static const int allowedPixelDiffOnImageSize = 15;

public:
  vpXmlParserCamera();
  vpXmlParserCamera(vpXmlParserCamera &twinParser);
  virtual ~vpXmlParserCamera() {}

  // get/set functions
  std::string getCameraName() { return this->camera_name; }
  vpCameraParameters getCameraParameters() { return this->camera; }
  unsigned int getHeight() { return this->image_height; }
  unsigned int getSubsampling_width() { return this->subsampling_width; }
  unsigned int getSubsampling_height() { return this->subsampling_height; }
  unsigned int getWidth() { return this->image_width; }

  vpXmlParserCamera &operator=(const vpXmlParserCamera &twinparser);

  int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name,
            const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width = 0,
            const unsigned int image_height = 0);

  int save(const vpCameraParameters &cam, const std::string &filename, const std::string &camera_name,
           const unsigned int image_width = 0, const unsigned int image_height = 0,
           const std::string &additionalInfo = "");

  void setCameraName(const std::string &name) { this->camera_name = name; }
  void setHeight(const unsigned int height) { this->image_height = height; }
  void setSubsampling_width(const unsigned int subsampling) { this->subsampling_width = subsampling; }
  void setSubsampling_height(const unsigned int subsampling) { this->subsampling_height = subsampling; }
  void setWidth(const unsigned int width) { this->image_width = width; }

private:
  int read(xmlDocPtr doc, xmlNodePtr node, const std::string &camera_name,
           const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width = 0,
           const unsigned int image_height = 0, const unsigned int subsampling_width = 0,
           const unsigned int subsampling_height = 0);

  int count(xmlDocPtr doc, xmlNodePtr node, const std::string &camera_name,
            const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width = 0,
            const unsigned int image_height = 0, const unsigned int subsampling_width = 0,
            const unsigned int subsampling_height = 0);

  int read_camera(xmlDocPtr doc, xmlNodePtr node, const std::string &camera_name,
                  const vpCameraParameters::vpCameraParametersProjType &projModel, const unsigned int image_width = 0,
                  const unsigned int image_height = 0, const unsigned int subsampling_width = 0,
                  const unsigned int subsampling_height = 0);

  xmlNodePtr find_camera(xmlDocPtr doc, xmlNodePtr node, const std::string &camera_name,
                         const unsigned int image_width = 0, const unsigned int image_height = 0,
                         const unsigned int subsampling_width = 0, const unsigned int subsampling_height = 0);

  xmlNodePtr find_additional_info(xmlNodePtr node);

  vpXmlCodeSequenceType read_camera_model(xmlDocPtr doc, xmlNodePtr node, vpCameraParameters &camera);

  int read_camera_header(xmlDocPtr doc, xmlNodePtr node, const std::string &camera_name,
                         const unsigned int image_width = 0, const unsigned int image_height = 0,
                         const unsigned int subsampling_width = 0, const unsigned int subsampling_height = 0);

  static vpXmlCodeSequenceType str2xmlcode(char *str, vpXmlCodeType &res);
  void myXmlReadIntChild(xmlDocPtr doc, xmlNodePtr node, int &res, vpXmlCodeSequenceType &code_error);

  void myXmlReadDoubleChild(xmlDocPtr doc, xmlNodePtr node, double &res, vpXmlCodeSequenceType &code_error);

  void myXmlReadCharChild(xmlDocPtr doc, xmlNodePtr node, char **res);
  int write(xmlNodePtr node, const std::string &camera_name, const unsigned int image_width = 0,
            const unsigned int image_height = 0, const unsigned int subsampling_width = 0,
            const unsigned int subsampling_height = 0);
  int write_camera(xmlNodePtr node_camera);

private:
  virtual void readMainClass(xmlDocPtr, xmlNodePtr){};

  virtual void writeMainClass(xmlNodePtr){};
};
#endif // VISP_HAVE_XML2
#endif