Visual Servoing Platform  version 3.4.0
testXmlParserCamera.cpp
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30  *
31  * Description:
32  * Test vpXmlParserCamera parse / save.
33  *
34  *****************************************************************************/
35 
42 #include <visp3/core/vpXmlParserCamera.h>
43 #include <visp3/core/vpIoTools.h>
44 
45 int main()
46 {
47 #if defined(_WIN32)
48  std::string tmp_dir = "C:/temp/";
49 #else
50  std::string tmp_dir = "/tmp/";
51 #endif
52 
53  // Get the user login name
54  std::string username;
55  vpIoTools::getUserName(username);
56 
57  tmp_dir += username + "/test_xml_parser_camera/";
58  vpIoTools::remove(tmp_dir);
59  std::cout << "Create: " << tmp_dir << std::endl;
60  vpIoTools::makeDirectory(tmp_dir);
61 
62  {
64  cam.initPersProjWithoutDistortion(278.4691184118, 273.9196496040, 162.0747539621, 113.1741829586);
65  std::string filename = tmp_dir + "test_write_cam_without_distortion.xml";
66  {
68  std::cout << "Write to: " << filename << std::endl;
69  if (xml.save(cam, filename, "Camera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
70  std::cerr << "Cannot save XML file: " << filename << std::endl;
71  return EXIT_FAILURE;
72  }
73  }
74 
75  vpCameraParameters cam_read;
76  {
78  xml.parse(cam_read, filename, "Camera", vpCameraParameters::perspectiveProjWithoutDistortion, 320, 240);
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;
83  return EXIT_FAILURE;
84  }
85  }
86  }
87 
88  {
89  std::cout << std::endl;
91  cam.initPersProjWithDistortion(276.2969237503, 271.9362132652, 162.3242102636, 113.4435399636, 0.0272549570, -0.0270531436);
92  std::string filename = tmp_dir + "test_write_cam_with_distortion.xml";
93  {
95  std::cout << "Write to: " << filename << std::endl;
96  if (xml.save(cam, filename, "Camera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
97  std::cerr << "Cannot save XML file: " << filename << std::endl;
98  return EXIT_FAILURE;
99  }
100  }
101 
102  vpCameraParameters cam_read;
103  {
104  vpXmlParserCamera xml;
105  xml.parse(cam_read, filename, "Camera", vpCameraParameters::perspectiveProjWithDistortion, 320, 240);
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;
110  return EXIT_FAILURE;
111  }
112  }
113  }
114 
115  {
116  std::cout << std::endl;
117  vpCameraParameters cam;
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);
124  cam.initProjWithKannalaBrandtDistortion(285.523895263672, 286.6708984375, 420.874114990234, 381.085388183594, distortion_coeffs);
125  std::string filename = tmp_dir + "test_write_cam_with_KannalaBrandt_distortion.xml";
126  {
127  vpXmlParserCamera xml;
128  std::cout << "Write to: " << filename << std::endl;
129  if (xml.save(cam, filename, "Camera", 800, 848) != vpXmlParserCamera::SEQUENCE_OK) {
130  std::cerr << "Cannot save XML file: " << filename << std::endl;
131  return EXIT_FAILURE;
132  }
133  }
134 
135  vpCameraParameters cam_read;
136  {
137  vpXmlParserCamera xml;
138  xml.parse(cam_read, filename, "Camera", vpCameraParameters::ProjWithKannalaBrandtDistortion, 800, 848);
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;
143  return EXIT_FAILURE;
144  }
145  }
146  }
147 
148  vpIoTools::remove(tmp_dir);
149 
150  return EXIT_SUCCESS;
151 }
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:482
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.
static std::string getUserName()
Definition: vpIoTools.cpp:228
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)
static bool remove(const std::string &filename)
Definition: vpIoTools.cpp:765
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="")