Visual Servoing Platform  version 3.2.1 under development (2019-08-23) under development (2019-08-23)
vpIoTools Class Reference

#include <visp3/core/vpIoTools.h>

Static Public Member Functions

static const std::string & getBuildInformation ()
 
static void getUserName (std::string &username)
 
static std::string getUserName ()
 
static std::string getenv (const std::string &env)
 
static std::string getViSPImagesDataPath ()
 
static void getVersion (const std::string &version, unsigned int &major, unsigned int &minor, unsigned int &patch)
 
static bool checkDirectory (const std::string &dirname)
 
static bool checkFifo (const std::string &filename)
 
static bool checkFilename (const std::string &filename)
 
static bool copy (const std::string &src, const std::string &dst)
 
static void makeDirectory (const std::string &dirname)
 
static void makeFifo (const std::string &dirname)
 
static std::string makeTempDirectory (const std::string &dirname)
 
static std::string path (const std::string &pathname)
 
static bool remove (const std::string &filename)
 
static bool rename (const std::string &oldfilename, const std::string &newfilename)
 
static std::string getAbsolutePathname (const std::string &pathname)
 
static std::string getFileExtension (const std::string &pathname, const bool checkFile=false)
 
static std::string getName (const std::string &pathname)
 
static std::string getNameWE (const std::string &pathname)
 
static std::string getParent (const std::string &pathname)
 
static std::string createFilePath (const std::string &parent, const std::string &child)
 
static bool isAbsolutePathname (const std::string &pathname)
 
static bool isSamePathname (const std::string &pathname1, const std::string &pathname2)
 
static std::pair< std::string, std::string > splitDrive (const std::string &pathname)
 
static std::vector< std::string > splitChain (const std::string &chain, const std::string &sep)
 
static std::vector< std::string > getDirFiles (const std::string &dirname)
 
static void readBinaryValueLE (std::ifstream &file, int16_t &short_value)
 
static void readBinaryValueLE (std::ifstream &file, uint16_t &ushort_value)
 
static void readBinaryValueLE (std::ifstream &file, int32_t &int_value)
 
static void readBinaryValueLE (std::ifstream &file, uint32_t &int_value)
 
static void readBinaryValueLE (std::ifstream &file, float &float_value)
 
static void readBinaryValueLE (std::ifstream &file, double &double_value)
 
static void writeBinaryValueLE (std::ofstream &file, const int16_t short_value)
 
static void writeBinaryValueLE (std::ofstream &file, const uint16_t ushort_value)
 
static void writeBinaryValueLE (std::ofstream &file, const int32_t int_value)
 
static void writeBinaryValueLE (std::ofstream &file, const uint32_t int_value)
 
static void writeBinaryValueLE (std::ofstream &file, const float float_value)
 
static void writeBinaryValueLE (std::ofstream &file, const double double_value)
 
static bool parseBoolean (std::string input)
 
static std::string trim (std::string s)
 
Configuration file parsing
static bool loadConfigFile (const std::string &confFile)
 
static bool readConfigVar (const std::string &var, float &value)
 
static bool readConfigVar (const std::string &var, double &value)
 
static bool readConfigVar (const std::string &var, int &value)
 
static bool readConfigVar (const std::string &var, unsigned int &value)
 
static bool readConfigVar (const std::string &var, bool &value)
 
static bool readConfigVar (const std::string &var, std::string &value)
 
static bool readConfigVar (const std::string &var, vpColor &value)
 
static bool readConfigVar (const std::string &var, vpArray2D< double > &value, const unsigned int &nCols=0, const unsigned int &nRows=0)
 
static void setBaseName (const std::string &s)
 
static void setBaseDir (const std::string &dir)
 
static void addNameElement (const std::string &strTrue, const bool &cond=true, const std::string &strFalse="")
 
static void addNameElement (const std::string &strTrue, const double &val)
 
static std::string getBaseName ()
 
static std::string getFullName ()
 
static void saveConfigFile (const bool &actuallySave=true)
 
static void createBaseNamePath (const bool &empty=false)
 

Static Public Attributes

static const char separator
 

Static Protected Attributes

static std::string baseName = ""
 
static std::string baseDir = ""
 
static std::string configFile = ""
 
static std::vector< std::string > configVars = std::vector<std::string>()
 
static std::vector< std::string > configValues = std::vector<std::string>()
 

Detailed Description

File and directories basic tools.

The example below shows how to manipulate the functions of this class to create first a directory which name corresponds to the user name and then create a file in this directory.

#include <iostream>
#include <string>
#include <fstream>
#include <visp3/core/vpIoTools.h>
int main()
{
std::string username;
// Test if a username directory exist. If no try to create it
if (vpIoTools::checkDirectory(username) == false) {
try {
// Create a directory with name "username"
}
catch (...) {
std::cout << "Cannot create " << username << " directory" << std::endl;
return false;
}
}
// Create a empty filename with name "username/file.txt"
std::ofstream f;
std::string filename = username + "/file.txt";
// Under Windows converts the filename string into "username\\file.txt"
filename = vpIoTools::path(filename);
std::cout << "Create: " << filename << std::endl;
f.open(filename.c_str());
f.close();
// Rename the file
std::string newfilename = username + "/newfile.txt";
std::cout << "Rename: " << filename << " in: " << newfilename << std::endl;
if (vpIoTools::rename(filename, newfilename) == false)
std::cout << "Unable to rename: " << filename << std::endl;
// Remove the file
std::cout << "Remove: " << newfilename << std::endl;
if (vpIoTools::remove(newfilename) == false)
std::cout << "Unable to remove: " << newfilename << std::endl;
}

The example below shows how to read a configuration file and how to create a name for experiment files. We assume the following file "/home/user/demo/config.txt" :

expNumber 2
save 0
lambda 0.4
use2D 0
use3D 1
#include <iostream>
#include <string>
#include <visp3/core/vpIoTools.h>
int main()
{
// reading configuration file
vpIoTools::loadConfigFile("/home/user/demo/config.txt");
std::string nExp;vpIoTools::readConfigVar("expNumber", nExp); // nExp <- "2"
double lambda;vpIoTools::readConfigVar("lambda", lambda); // lambda <- 0.4
bool use2D;vpIoTools::readConfigVar("use2D", use2D); // use2D <- false
bool use3D;vpIoTools::readConfigVar("use3D", use3D); // use3D <- true
bool doSave;vpIoTools::readConfigVar("save", doSave); // doSave <- false
// creating name for experiment files
vpIoTools::setBaseDir("/home/user/data");
// full name <- "/home/user/data/exp2"
vpIoTools::setBaseName("exp" + nExp);
// full name <- "/home/user/data/exp2" since use2D==false
// full name <- "/home/user/data/exp2_3D"
// full name <- "/home/user/data/exp2_3D_lambda0.4"
vpIoTools::addNameElement("lambda", lambda);
// Saving file.Would copy "/home/user/demo/config.txt" to
// "/home/user/data/exp2_3D_lambda0.4_config.txt" if doSave was true
// create sub directory
vpIoTools::createBaseNamePath(); // creates "/home/user/data/exp2_3D_lambda0.4/"
}

Definition at line 156 of file vpIoTools.h.

Member Function Documentation

◆ addNameElement() [1/2]

void vpIoTools::addNameElement ( const std::string &  strTrue,
const bool &  cond = true,
const std::string &  strFalse = "" 
)
static

Augments the prefix of the experiment files by strTrue if cond is verified, and by strFalse otherwise.

Parameters
strTrue: String to add if cond is true
cond: Condition managing the file name
strFalse: String to add if cond is false (default "")

Definition at line 1207 of file vpIoTools.cpp.

References baseName.

◆ addNameElement() [2/2]

void vpIoTools::addNameElement ( const std::string &  strTrue,
const double &  val 
)
static

Augments the prefix of the experiment files by strTrue followed by val.

Parameters
strTrue: String to add
val: Value to add

Definition at line 1223 of file vpIoTools.cpp.

References baseName.

◆ checkDirectory()

bool vpIoTools::checkDirectory ( const std::string &  dirname)
static

Check if a directory exists.

Parameters
dirname: Directory to test if it exists. The directory name is converted to the current system's format; see path().
Returns
true : If the directory exists and is accessible with write access.
false : If dirname string is null, or is not a directory, or has no write access.
Examples:
displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, histogram.cpp, imageDiskRW.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Segment2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, SickLDMRS-Process.cpp, sonarPioneerReader.cpp, testAutoThreshold.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testCrop.cpp, testCropAdvanced.cpp, testFloodFill.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testImageAddSub.cpp, testImgproc.cpp, testIoPGM.cpp, testIoPPM.cpp, testIoTools.cpp, testPerformanceLUT.cpp, testRobust.cpp, testUndistortImage.cpp, and testXmlParser.cpp.

Definition at line 414 of file vpIoTools.cpp.

References path(), and separator.

Referenced by checkFifo(), copy(), createBaseNamePath(), getDirFiles(), getFileExtension(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), makeDirectory(), makeFifo(), makeTempDirectory(), vpServoData::open(), remove(), vpRobotFranka::setLogFolder(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ checkFifo()

bool vpIoTools::checkFifo ( const std::string &  fifofilename)
static

Check if a fifo file exists.

Parameters
fifofilename: Fifo filename to test if it exists.
Returns
true : If the fifo file exists and is accessible with read access.
false : If fifofilename string is null, or is not a fifo filename, or has no read access.
See also
checkFilename(const std::string &)
Examples:
testIoTools.cpp.

Definition at line 474 of file vpIoTools.cpp.

References checkDirectory(), vpException::notImplementedError, path(), and separator.

Referenced by makeFifo(), and remove().

◆ checkFilename()

◆ copy()

bool vpIoTools::copy ( const std::string &  src,
const std::string &  dst 
)
static

Copy a src file or directory in dst.

Parameters
src: Existing file or directory to copy.
dst: New copied file or directory.

Definition at line 764 of file vpIoTools.cpp.

References checkDirectory(), checkFilename(), vpException::fatalError, and path().

Referenced by saveConfigFile().

◆ createBaseNamePath()

void vpIoTools::createBaseNamePath ( const bool &  empty = false)
static

Creates the directory baseDir/baseName. If already exists, empties it if empty is true. Useful to save the images corresponding to a particular experiment.

Parameters
empty: Indicates if the new directory has to be emptied

Definition at line 1242 of file vpIoTools.cpp.

References baseDir, baseName, checkDirectory(), makeDirectory(), and remove().

◆ createFilePath()

std::string vpIoTools::createFilePath ( const std::string &  parent,
const std::string &  child 
)
static

Return the file path that corresponds to the concatenated parent and child string files by adding the corresponding separator for unix or windows.

The corresponding path is also converted. Under windows, all the "/" characters are converted into "\\" characters. Under Unix systems all the "\\" characters are converted into "/" characters.

Examples:
AROgre.cpp, AROgreBasic.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displaySequence.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, histogram.cpp, imageDiskRW.cpp, imageSequenceReader.cpp, keyPointSurf.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, planarObjectDetector.cpp, poseVirtualVS.cpp, servoSimu4Points.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, sonarPioneerReader.cpp, templateTracker.cpp, testAprilTag.cpp, testAutoThreshold.cpp, testClick.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testCrop.cpp, testCropAdvanced.cpp, testFloodFill.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testHistogram.cpp, testImageAddSub.cpp, testImageComparison.cpp, testImageFilter.cpp, testImageMorphology.cpp, testImageNormalizedCorrelation.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testImgproc.cpp, testIoPGM.cpp, testIoPPM.cpp, testIoTools.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint-7.cpp, testKeyPoint.cpp, testMouseEvent.cpp, testPerformanceLUT.cpp, testReadImage.cpp, testTrackDot.cpp, testUndistortImage.cpp, testVideoDevice.cpp, testXmlParser.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, and videoReader.cpp.

Definition at line 1529 of file vpIoTools.cpp.

References path(), and separator.

Referenced by vpMbTracker::loadCAOModel().

◆ getAbsolutePathname()

std::string vpIoTools::getAbsolutePathname ( const std::string &  pathname)
static

Returns the absolute path using realpath() on Unix systems or GetFullPathName() on Windows systems.

Returns
According to realpath() manual, returns an absolute pathname that names the same file, whose resolution does not involve '.', '..', or symbolic links for Unix systems. According to GetFullPathName() documentation, retrieves the full path of the specified file for Windows systems.

Definition at line 1487 of file vpIoTools.cpp.

References vpException::fatalError.

Referenced by isSamePathname(), and vpMbTracker::loadCAOModel().

◆ getBaseName()

std::string vpIoTools::getBaseName ( )
static

Gets the base name (prefix) of the experiment files.

Returns
the base name of the experiment files.

Definition at line 242 of file vpIoTools.cpp.

References baseName.

◆ getBuildInformation()

const std::string & vpIoTools::getBuildInformation ( )
static

Return build informations (OS, compiler, build flags, used 3rd parties...).

Examples:
testBuildInformation.cpp.

Definition at line 217 of file vpIoTools.cpp.

◆ getDirFiles()

std::vector< std::string > vpIoTools::getDirFiles ( const std::string &  pathname)
static

List of files in directory, in alphabetical order. There is no difference if pathname contains terminating backslash or not Unlike scandir(), does not return "." and ".."

Parameters
pathname: path to directory
Returns
A vector of files' names in that directory

Definition at line 1788 of file vpIoTools.cpp.

References checkDirectory(), vpException::fatalError, and path().

Referenced by vpVideoReader::getFrame().

◆ getenv()

std::string vpIoTools::getenv ( const std::string &  env)
static

Get the content of an environment variable.

Parameters
env: Environment variable name (HOME, LOGNAME...).
Returns
Value of the environment variable
Exceptions
vpIoException::cantGetenv: If an error occur while getting the environment variable value.
#include <iostream>
#include <string>
#include <visp3/core/vpIoTools.h>
int main()
{
std::string envvalue;
try {
std::string env = "HOME";
envvalue = vpIoTools::getenv(env);
std::cout << "$HOME = \"" << envvalue << "\"" << std::endl;
}
catch (const vpException &e) {
std::cout << e.getMessage() << std::endl;
return -1;
}
return 0;
}

Definition at line 347 of file vpIoTools.cpp.

References vpIoException::cantGetenv.

Referenced by getUserName(), getViSPImagesDataPath(), vpSimulatorAfma6::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ getFileExtension()

std::string vpIoTools::getFileExtension ( const std::string &  pathname,
const bool  checkFile = false 
)
static

Returns the extension of the file or an empty string if the file has no extension. If checkFile flag is set, it will check first if the pathname denotes a directory and so return an empty string and second it will check if the file denoted by the pathanme exists. If so, it will return the extension if present.

Parameters
pathname: The pathname of the file we want to get the extension.
checkFile: If true, the file must exist otherwise an empty string will be returned.
Returns
The extension of the file including the dot "." or an empty string if the file has no extension or if the pathname is empty.

The following code shows how to use this function:

#include <visp3/core/vpIoTools.h>
int main()
{
std::string filename = "my/path/to/file.xml"
std::string ext = vpIoTools::getFileExtension(opt_learning_data);
std::cout << "ext: " << ext << std::endl;
}

It produces the following output:

ext: .xml
Examples:
testIoTools.cpp.

Definition at line 1349 of file vpIoTools.cpp.

References checkDirectory(), and checkFilename().

◆ getFullName()

std::string vpIoTools::getFullName ( )
static

Gets the full path of the experiment files : baseDir/baseName

Returns
the full path of the experiment files.

Definition at line 248 of file vpIoTools.cpp.

References baseDir, and baseName.

◆ getName()

std::string vpIoTools::getName ( const std::string &  pathname)
static

Returns the name of the file or directory denoted by this pathname.

Returns
The name of the file or directory denoted by this pathname, or an empty string if this pathname's name sequence is empty.
Examples:
testIoTools.cpp.

Definition at line 1430 of file vpIoTools.cpp.

References path(), and separator.

Referenced by vpVideoReader::getFrame(), getNameWE(), vpMbTracker::loadCAOModel(), and vpVideoReader::setFileName().

◆ getNameWE()

◆ getParent()

◆ getUserName() [1/2]

void vpIoTools::getUserName ( std::string &  username)
static

Get the user name.

  • Under unix, get the content of the LOGNAME environment variable. For most purposes (especially in conjunction with crontab), it is more useful to use the environment variable LOGNAME to find out who the user is, rather than the getlogin() function. This is more flexible precisely because the user can set LOGNAME arbitrarily.
  • Under windows, uses the GetUserName() function.
Parameters
username: The user name. When the username cannot be retrieved, set username to "unknown" string.

Definition at line 263 of file vpIoTools.cpp.

References getenv().

◆ getUserName() [2/2]

std::string vpIoTools::getUserName ( )
static

Get the user name.

  • Under unix, get the content of the LOGNAME environment variable. For most purposes (especially in conjunction with crontab), it is more useful to use the environment variable LOGNAME to find out who the user is, rather than the getlogin() function. This is more flexible precisely because the user can set LOGNAME arbitrarily.
  • Under windows, uses the GetUserName() function.
Returns
The user name.
See also
getUserName(std::string &)
Examples:
displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, histogram.cpp, imageDiskRW.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Segment2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, sonarPioneerReader.cpp, test1394TwoGrabber.cpp, testAutoThreshold.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testCrop.cpp, testCropAdvanced.cpp, testFloodFill.cpp, testImageAddSub.cpp, testImageComparison.cpp, testImgproc.cpp, testIoPGM.cpp, testIoPPM.cpp, testIoTools.cpp, testKeyPoint-7.cpp, testPerformanceLUT.cpp, testPylonGrabber.cpp, testRobust.cpp, testUndistortImage.cpp, and testXmlParser.cpp.

Definition at line 310 of file vpIoTools.cpp.

◆ getVersion()

void vpIoTools::getVersion ( const std::string &  version,
unsigned int &  major,
unsigned int &  minor,
unsigned int &  patch 
)
static

Extract major, minor and patch from a version given as "x.x.x". Ex: If version is "1.2.1", major will be 1, minor 2 and patch 1.

Parameters
version: String to extract the values.
major: Extracted major.
minor: Extracted minor.
patch: Extracted patch.

Definition at line 374 of file vpIoTools.cpp.

◆ getViSPImagesDataPath()

std::string vpIoTools::getViSPImagesDataPath ( )
static

Get ViSP images data path. ViSP images data can be installed from Debian or Ubuntu visp-images-data package. It can be also installed from ViSP-images.zip that can be found on http://visp.inria.fr/download page.

This function returns the path to the folder that contains the data.

  • It checks first if visp-images-data package is installed. In that case returns then /usr/share/visp-images-data".
  • Then it checks if VISP_INPUT_IMAGE_PATH environment variable that gives the location of the data is set. In that case returns the content of this environment var.

If the path is not found, returns an empty string.

Examples:
AROgre.cpp, AROgreBasic.cpp, displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displaySequence.cpp, displayX.cpp, displayXMulti.cpp, fernClassifier.cpp, grabDisk.cpp, histogram.cpp, imageDiskRW.cpp, imageSequenceReader.cpp, keyPointSurf.cpp, manSimu4Dots.cpp, manSimu4Points.cpp, mbtEdgeKltMultiTracking.cpp, mbtEdgeKltTracking.cpp, mbtEdgeMultiTracking.cpp, mbtEdgeTracking.cpp, mbtGenericTracking.cpp, mbtGenericTracking2.cpp, mbtGenericTrackingDepth.cpp, mbtGenericTrackingDepthOnly.cpp, mbtKltMultiTracking.cpp, mbtKltTracking.cpp, photometricVisualServoing.cpp, planarObjectDetector.cpp, poseVirtualVS.cpp, servoSimu4Points.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, templateTracker.cpp, testAprilTag.cpp, testAutoThreshold.cpp, testClick.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testCrop.cpp, testCropAdvanced.cpp, testFloodFill.cpp, testGenericTracker.cpp, testGenericTrackerDepth.cpp, testHistogram.cpp, testImageAddSub.cpp, testImageComparison.cpp, testImageFilter.cpp, testImageMorphology.cpp, testImageNormalizedCorrelation.cpp, testImageResize.cpp, testImageTemplateMatching.cpp, testImgproc.cpp, testIoPGM.cpp, testIoPPM.cpp, testIoTools.cpp, testKeyPoint-2.cpp, testKeyPoint-3.cpp, testKeyPoint-4.cpp, testKeyPoint-5.cpp, testKeyPoint-6.cpp, testKeyPoint-7.cpp, testKeyPoint.cpp, testMouseEvent.cpp, testPerformanceLUT.cpp, testReadImage.cpp, testTrackDot.cpp, testUndistortImage.cpp, testVideoDevice.cpp, trackDot.cpp, trackDot2.cpp, trackDot2WithAutoDetection.cpp, trackKltOpencv.cpp, trackMeCircle.cpp, trackMeEllipse.cpp, trackMeLine.cpp, trackMeNurbs.cpp, and videoReader.cpp.

Definition at line 1284 of file vpIoTools.cpp.

References checkFilename(), and getenv().

◆ isAbsolutePathname()

bool vpIoTools::isAbsolutePathname ( const std::string &  pathname)
static

Return whether a path is absolute.

Returns
true if the pathname is absolute, false otherwise.
Examples:
testIoTools.cpp.

Definition at line 1570 of file vpIoTools.cpp.

References splitDrive().

Referenced by vpMbTracker::loadCAOModel(), and vpKeyPoint::loadLearningData().

◆ isSamePathname()

bool vpIoTools::isSamePathname ( const std::string &  pathname1,
const std::string &  pathname2 
)
static

Return true if the two pathnames are identical.

Returns
true if the two pathnames are identical, false otherwise.
Note
It uses path() to normalize the path and getAbsolutePathname() to get the absolute pathname.
Examples:
testIoTools.cpp.

Definition at line 1594 of file vpIoTools.cpp.

References getAbsolutePathname(), and path().

◆ loadConfigFile()

bool vpIoTools::loadConfigFile ( const std::string &  confFile)
static

Reads the configuration file and parses it.

Parameters
confFile: path to the file containing the configuration parameters to parse.
Returns
true if succeed, false otherwise.

Definition at line 963 of file vpIoTools.cpp.

References configFile, configValues, configVars, vpMath::minimum(), and path().

◆ makeDirectory()

void vpIoTools::makeDirectory ( const std::string &  dirname)
static

Create a new directory. It will create recursively the parent directories if needed.

Parameters
dirname: Directory to create. The directory name is converted to the current system's format; see path().
Exceptions
vpIoException::cantCreateDirectory: If the directory cannot be created.
See also
makeTempDirectory()
Examples:
displayD3D.cpp, displayGTK.cpp, displayOpenCV.cpp, displayX.cpp, displayXMulti.cpp, grabV4l2MultiCpp11Thread.cpp, histogram.cpp, imageDiskRW.cpp, servoAfma4Point2DArtVelocity.cpp, servoAfma4Point2DCamVelocity.cpp, servoAfma4Point2DCamVelocityKalman.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Segment2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoSimu3D_cdMc_CamVelocity.cpp, servoSimu3D_cdMc_CamVelocityWithoutVpServo.cpp, servoSimu3D_cMcd_CamVelocity.cpp, servoSimu3D_cMcd_CamVelocityWithoutVpServo.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoViper650FourPoints2DArtVelocityLs_cur.cpp, servoViper650FourPoints2DCamVelocityLs_cur-SR300.cpp, servoViper650FourPoints2DCamVelocityLs_cur.cpp, servoViper650Point2DCamVelocity.cpp, servoViper850FourPoints2DArtVelocityLs_cur.cpp, servoViper850FourPoints2DArtVelocityLs_des.cpp, servoViper850FourPoints2DCamVelocityLs_cur.cpp, servoViper850FourPointsKinect.cpp, servoViper850Point2DArtVelocity.cpp, servoViper850Point2DCamVelocity.cpp, servoViper850Point2DCamVelocityKalman.cpp, SickLDMRS-Process.cpp, sonarPioneerReader.cpp, test1394TwoGrabber.cpp, testAutoThreshold.cpp, testConnectedComponents.cpp, testContours.cpp, testConversion.cpp, testCrop.cpp, testCropAdvanced.cpp, testFloodFill.cpp, testImageAddSub.cpp, testImgproc.cpp, testIoPGM.cpp, testIoPPM.cpp, testIoTools.cpp, testKeyPoint-7.cpp, testPerformanceLUT.cpp, testPylonGrabber.cpp, testRobust.cpp, testUndistortImage.cpp, testXmlParser.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 564 of file vpIoTools.cpp.

References vpIoException::cantCreateDirectory, checkDirectory(), vpIoException::invalidDirectoryName, and path().

Referenced by createBaseNamePath(), vpServoData::open(), vpKeyPoint::saveLearningData(), and vpRobotFranka::setLogFolder().

◆ makeFifo()

void vpIoTools::makeFifo ( const std::string &  fifoname)
static

Create a new FIFO file. A FIFO file is a special file, similar to a pipe, but actually existing on the hard drive. It can be used to communicate data between multiple processes.

Warning
This function is only implemented on unix-like OS.
Parameters
[in]fifoname: Pathname of the fifo file to create.
Exceptions
vpIoException::invalidDirectoryName: The dirname is invalid.
vpIoException::cantCreateDirectory: If the file cannot be created.
Examples:
testIoTools.cpp.

Definition at line 615 of file vpIoTools.cpp.

References vpIoException::cantCreateDirectory, checkDirectory(), checkFifo(), checkFilename(), and vpIoException::invalidDirectoryName.

◆ makeTempDirectory()

std::string vpIoTools::makeTempDirectory ( const std::string &  dirname)
static

Create a new temporary directory with a unique name based on dirname parameter.

Warning
This function is only implemented on unix-like OS.
Parameters
dirname: Name of the directory to create, or location of an existing directory. If dirname corresponds to an existing directory, dirname is considered as a parent directory. The temporary directory is then created inside the parent directory. Otherwise, dirname needs to end with "XXXXXX", which will be converted into random characters in order to create a unique directory name.
Returns
String corresponding to the absolute path to the generated directory name.
Exceptions
vpIoException::invalidDirectoryName: The dirname is invalid.
vpIoException::cantCreateDirectory: If the directory cannot be created.
See also
makeDirectory()
Examples:
testIoTools.cpp.

Definition at line 663 of file vpIoTools.cpp.

References vpIoException::cantCreateDirectory, checkDirectory(), and vpIoException::invalidDirectoryName.

◆ parseBoolean()

bool vpIoTools::parseBoolean ( std::string  input)
static

Definition at line 2011 of file vpIoTools.cpp.

Referenced by vpMbTracker::loadCAOModel().

◆ path()

std::string vpIoTools::path ( const std::string &  pathname)
static

Converts a path name to the current system's format.

Parameters
pathname: Path name to convert. Under windows, converts all the "/" characters in the pathname string into "\\" characters. Under Unix systems converts all the "\\" characters in the pathname string into "/" characters.
Returns
The converted path name.
Examples:
histogram.cpp, testIoTools.cpp, testUndistortImage.cpp, and testXmlParser.cpp.

Definition at line 923 of file vpIoTools.cpp.

Referenced by checkDirectory(), checkFifo(), checkFilename(), copy(), createFilePath(), getDirFiles(), getName(), getParent(), isSamePathname(), vpMbTracker::loadCAOModel(), loadConfigFile(), makeDirectory(), vpImageIo::read(), and remove().

◆ readBinaryValueLE() [1/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
int16_t &  short_value 
)
static

◆ readBinaryValueLE() [2/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
uint16_t &  ushort_value 
)
static

Read a 16-bits unsigned integer value stored in little endian.

Definition at line 1865 of file vpIoTools.cpp.

◆ readBinaryValueLE() [3/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
int32_t &  int_value 
)
static

Read a 32-bits integer value stored in little endian.

Definition at line 1878 of file vpIoTools.cpp.

◆ readBinaryValueLE() [4/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
uint32_t &  uint_value 
)
static

Read a 32-bits unsigned integer value stored in little endian.

Definition at line 1891 of file vpIoTools.cpp.

◆ readBinaryValueLE() [5/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
float &  float_value 
)
static

Read a float value stored in little endian.

Definition at line 1904 of file vpIoTools.cpp.

◆ readBinaryValueLE() [6/6]

void vpIoTools::readBinaryValueLE ( std::ifstream &  file,
double &  double_value 
)
static

Read a double value stored in little endian.

Definition at line 1917 of file vpIoTools.cpp.

◆ readConfigVar() [1/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
float &  value 
)
static

Tries to read the parameter named var as a float.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1010 of file vpIoTools.cpp.

References configValues, and configVars.

Referenced by readConfigVar().

◆ readConfigVar() [2/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
double &  value 
)
static

Tries to read the parameter named var as a double.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1038 of file vpIoTools.cpp.

References configValues, and configVars.

◆ readConfigVar() [3/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
int &  value 
)
static

Tries to read the parameter named var as a int.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1067 of file vpIoTools.cpp.

References configValues, and configVars.

◆ readConfigVar() [4/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
unsigned int &  value 
)
static

Tries to read the parameter named var as a unsigned int.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1089 of file vpIoTools.cpp.

References readConfigVar().

◆ readConfigVar() [5/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
bool &  value 
)
static

Tries to read the parameter named var as a bool.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1105 of file vpIoTools.cpp.

References readConfigVar().

◆ readConfigVar() [6/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
std::string &  value 
)
static

Tries to read the parameter named var as a std::string.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
Returns
true if the parameter could be read.

Definition at line 1137 of file vpIoTools.cpp.

References configValues, and configVars.

◆ readConfigVar() [7/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
vpColor value 
)
static

Tries to read the parameter named var as a vpColor.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read. See vpColor.cpp for the color number.
Returns
true if the parameter could be read.

Definition at line 1121 of file vpIoTools.cpp.

References vpColor::getColor(), and readConfigVar().

◆ readConfigVar() [8/8]

bool vpIoTools::readConfigVar ( const std::string &  var,
vpArray2D< double > &  value,
const unsigned int &  nCols = 0,
const unsigned int &  nRows = 0 
)
static

Tries to read the parameter named var as a vpMatrix. If nCols and nRows are indicated, will resize the matrix. Otherwise, will try to read as many values as indicated by the dimension of value.

Parameters
var: Name of the parameter in the configuration file.
value: Value to be read.
nCols: Column dimension if resized.
nRows: Row dimension if resized
Returns
true if the parameter could be read.

Definition at line 1164 of file vpIoTools.cpp.

References configValues, configVars, vpArray2D< Type >::getCols(), vpArray2D< Type >::getRows(), and vpArray2D< Type >::resize().

◆ remove()

bool vpIoTools::remove ( const std::string &  file_or_dir)
static

Remove a file or a directory.

Parameters
file_or_dir: File name or directory to remove.
Returns
true if the file or the directory was removed, false otherwise.
Examples:
testIoTools.cpp.

Definition at line 847 of file vpIoTools.cpp.

References checkDirectory(), checkFifo(), checkFilename(), vpException::fatalError, and path().

Referenced by createBaseNamePath().

◆ rename()

bool vpIoTools::rename ( const std::string &  oldfilename,
const std::string &  newfilename 
)
static

Rename an existing file oldfilename in newfilename.

Parameters
oldfilename: File to rename.
newfilename: New file name.
Returns
true if the file was renamed, false otherwise.

Definition at line 905 of file vpIoTools.cpp.

◆ saveConfigFile()

void vpIoTools::saveConfigFile ( const bool &  actuallySave = true)
static

Copy the initial configuration file to the experiment directory.

Parameters
actuallySave: If false, do not copy the file.

Definition at line 1261 of file vpIoTools.cpp.

References baseDir, baseName, configFile, and copy().

◆ setBaseDir()

void vpIoTools::setBaseDir ( const std::string &  dir)
static

Sets the base directory of the experiment files.

Parameters
dir: Directory where the data will be saved.

Definition at line 236 of file vpIoTools.cpp.

References baseDir.

◆ setBaseName()

void vpIoTools::setBaseName ( const std::string &  s)
static

Sets the base name (prefix) of the experiment files.

Parameters
s: Prefix of the experiment files.

Definition at line 230 of file vpIoTools.cpp.

References baseName.

◆ splitChain()

std::vector< std::string > vpIoTools::splitChain ( const std::string &  chain,
const std::string &  sep 
)
static

Split a chain.

Parameters
chain: Input chain to split.
sep: Character separator.
Returns
A vector that contains all the subchains.

The following code shows how to use this function:

#include <visp3/core/vpIoTools.h>
int main()
{
{
std::string chain("/home/user;/usr/local/include;/usr/include");
std::string sep = ";";
std::vector<std::string> subChain = vpIoTools::splitChain(chain, sep);
std::cout << "Found the following subchains: " << std::endl;
for (size_t i=0; i < subChain.size(); i++)
std::cout << subChain[i] << std::endl;
}
{
std::string chain("This is an other example");
std::string sep = " ";
std::vector<std::string> subChain = vpIoTools::splitChain(chain, sep);
std::cout << "Found the following subchains: " << std::endl;
for (size_t i=0; i < subChain.size(); i++)
std::cout << subChain[i] << std::endl;
}
}

It produces the following output:

Found the following subchains:
/home/user
/usr/local/include
/usr/include
Found the following subchains:
This
is
an
other
example

Definition at line 1759 of file vpIoTools.cpp.

Referenced by vpDisplayOpenCV::getScreenSize(), vpSimulatorAfma6::init(), vpAROgre::init(), vpSimulatorViper850::init(), vpSimulatorAfma6::initArms(), vpSimulatorViper850::initArms(), vpMbTracker::loadCAOModel(), vpSimulatorAfma6::readPosFile(), vpRobotAfma4::readPosFile(), vpSimulatorViper850::readPosFile(), vpRobotAfma6::readPosFile(), vpRobotFranka::readPosFile(), vpRobotViper650::readPosFile(), vpRobotViper850::readPosFile(), vpRobotPtu46::readPositionFile(), vpRobotBiclops::readPositionFile(), and vpWireFrameSimulator::vpWireFrameSimulator().

◆ splitDrive()

std::pair< std::string, std::string > vpIoTools::splitDrive ( const std::string &  pathname)
static

Split a path in a drive specification (a drive letter followed by a colon) and the path specification. It is always true that drivespec + pathspec == p Inspired by the Python 2.7.8 module.

Returns
a pair whose the first element is the drive specification and the second element the path specification
Examples:
testIoTools.cpp.

Definition at line 1614 of file vpIoTools.cpp.

Referenced by isAbsolutePathname().

◆ trim()

std::string vpIoTools::trim ( std::string  s)
static

Remove whitespaces on both sides.

Definition at line 2025 of file vpIoTools.cpp.

Referenced by vpMbTracker::loadCAOModel(), and vpMbTracker::parseParameters().

◆ writeBinaryValueLE() [1/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const int16_t  short_value 
)
static

Write a 16-bits integer value in little endian.

Definition at line 1930 of file vpIoTools.cpp.

Referenced by vpKeyPoint::saveLearningData().

◆ writeBinaryValueLE() [2/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const uint16_t  ushort_value 
)
static

Write a 16-bits unsigned integer value in little endian.

Definition at line 1944 of file vpIoTools.cpp.

◆ writeBinaryValueLE() [3/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const int32_t  int_value 
)
static

Write a 32-bits integer value in little endian.

Definition at line 1958 of file vpIoTools.cpp.

◆ writeBinaryValueLE() [4/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const uint32_t  uint_value 
)
static

Write a 32-bits unsigned integer value in little endian.

Definition at line 1972 of file vpIoTools.cpp.

◆ writeBinaryValueLE() [5/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const float  float_value 
)
static

Write a float value in little endian.

Definition at line 1986 of file vpIoTools.cpp.

◆ writeBinaryValueLE() [6/6]

void vpIoTools::writeBinaryValueLE ( std::ofstream &  file,
const double  double_value 
)
static

Write a double value in little endian.

Definition at line 2000 of file vpIoTools.cpp.

Member Data Documentation

◆ baseDir

std::string vpIoTools::baseDir = ""
staticprotected

Definition at line 249 of file vpIoTools.h.

Referenced by createBaseNamePath(), getFullName(), saveConfigFile(), and setBaseDir().

◆ baseName

std::string vpIoTools::baseName = ""
staticprotected

◆ configFile

std::string vpIoTools::configFile = ""
staticprotected

Definition at line 250 of file vpIoTools.h.

Referenced by loadConfigFile(), and saveConfigFile().

◆ configValues

std::vector< std::string > vpIoTools::configValues = std::vector<std::string>()
staticprotected

Definition at line 252 of file vpIoTools.h.

Referenced by loadConfigFile(), and readConfigVar().

◆ configVars

std::vector< std::string > vpIoTools::configVars = std::vector<std::string>()
staticprotected

Definition at line 251 of file vpIoTools.h.

Referenced by loadConfigFile(), and readConfigVar().

◆ separator

const char vpIoTools::separator
static
Initial value:
=
'/'

Define the directory separator character, backslash ('\') for windows platform or slash ('/') otherwise.

Examples:
testIoTools.cpp.

Definition at line 182 of file vpIoTools.h.

Referenced by checkDirectory(), checkFifo(), createFilePath(), getName(), and getParent().