42 #include <visp3/core/vpXmlParserCamera.h> 43 #include <visp3/core/vpIoTools.h> 48 std::string tmp_dir =
"C:/temp/";
50 std::string tmp_dir =
"/tmp/";
57 tmp_dir += username +
"/test_xml_parser_camera/";
59 std::cout <<
"Create: " << tmp_dir << std::endl;
65 std::string filename = tmp_dir +
"test_write_cam_without_distortion.xml";
68 std::cout <<
"Write to: " << filename << std::endl;
70 std::cerr <<
"Cannot save XML file: " << filename << std::endl;
79 std::cout <<
"Cam write:\n" << cam << std::endl;
80 std::cout <<
"Cam read:\n" << cam_read << std::endl;
81 if (cam != cam_read) {
82 std::cerr <<
"Issue when parsing XML file: " << filename << std::endl;
89 std::cout << std::endl;
92 std::string filename = tmp_dir +
"test_write_cam_with_distortion.xml";
95 std::cout <<
"Write to: " << filename << std::endl;
97 std::cerr <<
"Cannot save XML file: " << filename << std::endl;
106 std::cout <<
"Cam write:\n" << cam << std::endl;
107 std::cout <<
"Cam read:\n" << cam_read << std::endl;
108 if (cam != cam_read) {
109 std::cerr <<
"Issue when parsing XML file: " << filename << std::endl;
116 std::cout << std::endl;
118 std::vector<double> distortion_coeffs;
119 distortion_coeffs.push_back(-0.00297341705299914);
120 distortion_coeffs.push_back(0.0352853797376156);
121 distortion_coeffs.push_back(-0.032205019146204);
122 distortion_coeffs.push_back(0.004446716979146);
123 distortion_coeffs.push_back(0);
125 std::string filename = tmp_dir +
"test_write_cam_with_KannalaBrandt_distortion.xml";
128 std::cout <<
"Write to: " << filename << std::endl;
130 std::cerr <<
"Cannot save XML file: " << filename << std::endl;
139 std::cout <<
"Cam write:\n" << cam << std::endl;
140 std::cout <<
"Cam read:\n" << cam_read << std::endl;
141 if (cam != cam_read) {
142 std::cerr <<
"Issue when parsing XML file: " << filename << std::endl;
void initProjWithKannalaBrandtDistortion(double px, double py, double u0, double v0, const std::vector< double > &distortion_coefficients)
XML parser to load and save intrinsic camera parameters.
void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu)
Generic class defining intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
int save(const vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, unsigned int image_width=0, unsigned int image_height=0, const std::string &additionalInfo="")