Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testMbtXmlGenericParser.cpp
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31  * Description:
32  * Test vpMbtXmlGenericParser parse / save.
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34  *****************************************************************************/
35 
42 #include <visp3/mbt/vpMbtXmlGenericParser.h>
43 #include <visp3/core/vpIoTools.h>
44 
45 int main()
46 {
47 #if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
48  std::string visp_images_dir = vpIoTools::getViSPImagesDataPath();
49  if (vpIoTools::checkDirectory(visp_images_dir + "/xml")) {
50  double eps = std::numeric_limits<double>::epsilon();
51  {
52  std::string filename = visp_images_dir + "/xml/chateau.xml";
54  xml.parse(filename);
55 
56  vpMe me_ref;
57  me_ref.setMaskSize(5);
58  me_ref.setMaskNumber(180);
59  me_ref.setRange(8);
60  me_ref.setThreshold(10000);
61  me_ref.setMu1(0.5);
62  me_ref.setMu2(0.5);
63  me_ref.setSampleStep(5);
64 
65  vpMe me;
66  xml.getEdgeMe(me);
67  if (me.getMaskSize() != me_ref.getMaskSize() ||
68  me.getMaskNumber() != me_ref.getMaskNumber() ||
69  me.getRange() != me_ref.getRange() ||
70  !vpMath::equal(me.getThreshold(), me_ref.getThreshold(), eps) ||
71  !vpMath::equal(me.getMu1(), me_ref.getMu1(), eps) ||
72  !vpMath::equal(me.getMu2(), me_ref.getMu2(), eps) ||
73  !vpMath::equal(me.getSampleStep(), me_ref.getSampleStep(), eps)) {
74  std::cerr << "Issue when parsing xml: " << filename << " (ME)" << std::endl;
75  return EXIT_FAILURE;
76  }
77 
78  if (xml.getKltMaskBorder() != 5 ||
79  xml.getKltMaxFeatures() != 10000 ||
80  xml.getKltWindowSize() != 5 ||
81  !vpMath::equal(xml.getKltQuality(), 0.01, eps) ||
82  !vpMath::equal(xml.getKltMinDistance(), 5.0, eps) ||
83  !vpMath::equal(xml.getKltHarrisParam(), 0.02, eps) ||
84  xml.getKltBlockSize() != 3 ||
85  xml.getKltPyramidLevels() != 3) {
86  std::cerr << "Issue when parsing xml: " << filename << " (KLT)" << std::endl;
87  return EXIT_FAILURE;
88  }
89 
90  vpCameraParameters cam_ref;
91  cam_ref.initPersProjWithoutDistortion(615.1674804688, 615.1675415039, 312.1889953613, 243.4373779297);
93  xml.getCameraParameters(cam);
94  if (cam != cam_ref) {
95  std::cerr << "Issue when parsing xml: " << filename << " (cam)" << std::endl;
96  return EXIT_FAILURE;
97  }
98 
99  if (!vpMath::equal(xml.getAngleAppear(), 70.0, eps) ||
100  !vpMath::equal(xml.getAngleDisappear(), 80.0, eps) ||
101  !vpMath::equal(xml.getNearClippingDistance(), 0.01, eps) ||
102  !vpMath::equal(xml.getFarClippingDistance(), 2, eps) ||
103  !xml.getFovClipping()) {
104  std::cerr << "Issue when parsing xml: " << filename << " (visibility)" << std::endl;
105  return EXIT_FAILURE;
106  }
107  }
108 
109  {
110  std::string filename = visp_images_dir + "/xml/chateau.xml";
112  xml.parse(filename);
113  vpMe me_proj;
114  xml.getProjectionErrorMe(me_proj);
115  if (!vpMath::equal(me_proj.getSampleStep(), 12.0, eps) ||
116  xml.getProjectionErrorKernelSize() != 3) {
117  std::cerr << "Issue when parsing xml: " << filename << " (projection error)" << std::endl;
118  return EXIT_FAILURE;
119  }
120  }
121 
122  {
123  std::string filename = visp_images_dir + "/xml/chateau_depth.xml";
125  xml.parse(filename);
126 
127  if (xml.getDepthNormalFeatureEstimationMethod() != 0 ||
128  xml.getDepthNormalPclPlaneEstimationMethod() != 2 ||
129  xml.getDepthNormalPclPlaneEstimationRansacMaxIter() != 200 ||
130  !vpMath::equal(xml.getDepthNormalPclPlaneEstimationRansacThreshold(), 0.001, eps) ||
131  xml.getDepthNormalSamplingStepX() != 2 ||
132  xml.getDepthNormalSamplingStepY() != 2) {
133  std::cerr << "Issue when parsing xml: " << filename << " (depth normal)" << std::endl;
134  return EXIT_FAILURE;
135  }
136 
137  if (xml.getDepthDenseSamplingStepX() != 4 ||
138  xml.getDepthDenseSamplingStepY() != 4) {
139  std::cerr << "Issue when parsing xml: " << filename << " (depth dense)" << std::endl;
140  return EXIT_FAILURE;
141  }
142 
143  vpCameraParameters cam_ref;
144  cam_ref.initPersProjWithoutDistortion(476.0536193848, 476.0534973145, 311.4845581055, 246.2832336426);
145  vpCameraParameters cam;
146  xml.getCameraParameters(cam);
147  if (cam != cam_ref) {
148  std::cerr << "Issue when parsing xml: " << filename << " (cam)" << std::endl;
149  return EXIT_FAILURE;
150  }
151 
152  if (!vpMath::equal(xml.getAngleAppear(), 70.0, eps) ||
153  !vpMath::equal(xml.getAngleDisappear(), 80.0, eps) ||
154  !vpMath::equal(xml.getNearClippingDistance(), 0.01, eps) ||
155  !vpMath::equal(xml.getFarClippingDistance(), 2, eps) ||
156  !xml.getFovClipping()) {
157  std::cerr << "Issue when parsing xml: " << filename << " (visibility)" << std::endl;
158  return EXIT_FAILURE;
159  }
160  }
161  }
162 #elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
163  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
164 #endif
165 
166  return EXIT_SUCCESS;
167 }
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:295
void setSampleStep(const double &s)
Definition: vpMe.h:278
Definition: vpMe.h:60
unsigned int getMaskSize() const
Definition: vpMe.h:142
void setMu1(const double &mu_1)
Definition: vpMe.h:241
double getMu1() const
Definition: vpMe.h:155
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
Parse an Xml file to extract configuration parameters of a mbtConfig object.Data parser for the model...
double getThreshold() const
Definition: vpMe.h:193
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
double getSampleStep() const
Definition: vpMe.h:285
Generic class defining intrinsic camera parameters.
unsigned int getMaskNumber() const
Definition: vpMe.h:128
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void setMu2(const double &mu_2)
Definition: vpMe.h:248
void setThreshold(const double &t)
Definition: vpMe.h:300
double getMu2() const
Definition: vpMe.h:161
void setRange(const unsigned int &r)
Definition: vpMe.h:271
unsigned int getRange() const
Definition: vpMe.h:179