vpMbtXmlGenericParser Class Reference

#include <visp3/mbt/vpMbtXmlGenericParser.h>

Public Types
enum	vpParserType {   EDGE_PARSER = 1 << 0 , KLT_PARSER = 1 << 1 , DEPTH_NORMAL_PARSER = 1 << 2 , DEPTH_DENSE_PARSER = 1 << 3 ,   PROJECTION_ERROR_PARSER = 0 }

Public Member Functions
	vpMbtXmlGenericParser (int type=EDGE_PARSER)
virtual	~vpMbtXmlGenericParser ()
double	getAngleAppear () const
double	getAngleDisappear () const
void	getCameraParameters (vpCameraParameters &cam) const
void	getEdgeMe (vpMe &ecm) const
unsigned int	getDepthDenseSamplingStepX () const
unsigned int	getDepthDenseSamplingStepY () const
vpMbtFaceDepthNormal::vpFeatureEstimationType	getDepthNormalFeatureEstimationMethod () const
int	getDepthNormalPclPlaneEstimationMethod () const
int	getDepthNormalPclPlaneEstimationRansacMaxIter () const
double	getDepthNormalPclPlaneEstimationRansacThreshold () const
unsigned int	getDepthNormalSamplingStepX () const
unsigned int	getDepthNormalSamplingStepY () const
double	getFarClippingDistance () const
bool	getFovClipping () const
unsigned int	getKltBlockSize () const
double	getKltHarrisParam () const
unsigned int	getKltMaskBorder () const
unsigned int	getKltMaxFeatures () const
double	getKltMinDistance () const
unsigned int	getKltPyramidLevels () const
double	getKltQuality () const
unsigned int	getKltWindowSize () const
bool	getLodState () const
double	getLodMinLineLengthThreshold () const
double	getLodMinPolygonAreaThreshold () const
double	getNearClippingDistance () const
void	getProjectionErrorMe (vpMe &me) const
unsigned int	getProjectionErrorKernelSize () const
bool	hasFarClippingDistance () const
bool	hasNearClippingDistance () const
void	parse (const std::string &filename)
void	setAngleAppear (const double &aappear)
void	setAngleDisappear (const double &adisappear)
void	setCameraParameters (const vpCameraParameters &cam)
void	setDepthDenseSamplingStepX (unsigned int stepX)
void	setDepthDenseSamplingStepY (unsigned int stepY)
void	setDepthNormalFeatureEstimationMethod (const vpMbtFaceDepthNormal::vpFeatureEstimationType &method)
void	setDepthNormalPclPlaneEstimationMethod (int method)
void	setDepthNormalPclPlaneEstimationRansacMaxIter (int maxIter)
void	setDepthNormalPclPlaneEstimationRansacThreshold (double threshold)
void	setDepthNormalSamplingStepX (unsigned int stepX)
void	setDepthNormalSamplingStepY (unsigned int stepY)
void	setEdgeMe (const vpMe &ecm)
void	setFarClippingDistance (const double &fclip)
void	setKltBlockSize (const unsigned int &bs)
void	setKltHarrisParam (const double &hp)
void	setKltMaskBorder (const unsigned int &mb)
void	setKltMaxFeatures (const unsigned int &mF)
void	setKltMinDistance (const double &mD)
void	setKltPyramidLevels (const unsigned int &pL)
void	setKltQuality (const double &q)
void	setKltWindowSize (const unsigned int &w)
void	setNearClippingDistance (const double &nclip)
void	setProjectionErrorMe (const vpMe &me)
void	setProjectionErrorKernelSize (const unsigned int &size)
void	setVerbose (bool verbose)

Detailed Description

Parse an Xml file to extract configuration parameters of a mbtConfig object.

Data parser for the model-based tracker.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 62 of file vpMbtXmlGenericParser.h.

Member Enumeration Documentation

vpParserType

enum vpMbtXmlGenericParser::vpParserType

Enumerator
EDGE_PARSER	Parser for model-based tracking using moving edges features.
KLT_PARSER	Parser for model-based tracking using KLT features.
DEPTH_NORMAL_PARSER	Parser for model-based tracking using depth normal features.
DEPTH_DENSE_PARSER	Parser for model-based tracking using depth dense features.
PROJECTION_ERROR_PARSER	Parser for projection error computation parameters.

Definition at line 65 of file vpMbtXmlGenericParser.h.

Constructor & Destructor Documentation

vpMbtXmlGenericParser()

BEGIN_VISP_NAMESPACE vpMbtXmlGenericParser::vpMbtXmlGenericParser

(

int

type = EDGE_PARSER

)

Definition at line 1537 of file vpMbtXmlGenericParser.cpp.

~vpMbtXmlGenericParser()

vpMbtXmlGenericParser::~vpMbtXmlGenericParser ( )

virtual

Definition at line 1540 of file vpMbtXmlGenericParser.cpp.

Member Function Documentation

getAngleAppear()

double vpMbtXmlGenericParser::getAngleAppear

(

)

const

Get the angle to determine if a face appeared.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1552 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getAngleDisappear()

double vpMbtXmlGenericParser::getAngleDisappear

(

)

const

Get the angle to determine if a face disappeared.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1557 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getCameraParameters()

void vpMbtXmlGenericParser::getCameraParameters

(

vpCameraParameters &

cam

)

const

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1559 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getDepthDenseSamplingStepX()

unsigned int vpMbtXmlGenericParser::getDepthDenseSamplingStepX

(

)

const

Get depth dense sampling step in X.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1569 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile().

getDepthDenseSamplingStepY()

unsigned int vpMbtXmlGenericParser::getDepthDenseSamplingStepY

(

)

const

Get depth dense sampling step in Y.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1574 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile().

getDepthNormalFeatureEstimationMethod()

vpMbtFaceDepthNormal::vpFeatureEstimationType vpMbtXmlGenericParser::getDepthNormalFeatureEstimationMethod

(

)

const

Get depth normal feature estimation method.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1579 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getDepthNormalPclPlaneEstimationMethod()

int vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationMethod

(

)

const

Get depth normal PCL plane estimation method.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1587 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getDepthNormalPclPlaneEstimationRansacMaxIter()

int vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacMaxIter

(

)

const

Get depth normal PCL maximum number of iterations.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1595 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getDepthNormalPclPlaneEstimationRansacThreshold()

double vpMbtXmlGenericParser::getDepthNormalPclPlaneEstimationRansacThreshold

(

)

const

Get depth normal PCL RANSAC threshold.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1603 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getDepthNormalSamplingStepX()

unsigned int vpMbtXmlGenericParser::getDepthNormalSamplingStepX

(

)

const

Get depth normal sampling step in X.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1611 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getDepthNormalSamplingStepY()

unsigned int vpMbtXmlGenericParser::getDepthNormalSamplingStepY

(

)

const

Get depth normal sampling step in Y.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1619 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

getEdgeMe()

void vpMbtXmlGenericParser::getEdgeMe

(

vpMe &

ecm

)

const

Get moving edge parameters.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1564 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbEdgeTracker::loadConfigFile().

getFarClippingDistance()

double vpMbtXmlGenericParser::getFarClippingDistance

(

)

const

Get the far clipping distance.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1627 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getFovClipping()

bool vpMbtXmlGenericParser::getFovClipping

(

)

const

Get if FOV clipping should be used or not.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1632 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getKltBlockSize()

unsigned int vpMbtXmlGenericParser::getKltBlockSize

(

)

const

Get the size of a block.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1637 of file vpMbtXmlGenericParser.cpp.

getKltHarrisParam()

double vpMbtXmlGenericParser::getKltHarrisParam

(

)

const

Get the Harris free parameter.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1642 of file vpMbtXmlGenericParser.cpp.

getKltMaskBorder()

unsigned int vpMbtXmlGenericParser::getKltMaskBorder

(

)

const

Get the Border of the mask.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1647 of file vpMbtXmlGenericParser.cpp.

getKltMaxFeatures()

unsigned int vpMbtXmlGenericParser::getKltMaxFeatures

(

)

const

Get the maximum number of features for the KLT.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1652 of file vpMbtXmlGenericParser.cpp.

getKltMinDistance()

double vpMbtXmlGenericParser::getKltMinDistance

(

)

const

Get the minimum distance between KLT points.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1657 of file vpMbtXmlGenericParser.cpp.

getKltPyramidLevels()

unsigned int vpMbtXmlGenericParser::getKltPyramidLevels

(

)

const

Get the number of pyramid levels

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1662 of file vpMbtXmlGenericParser.cpp.

getKltQuality()

double vpMbtXmlGenericParser::getKltQuality

(

)

const

Get the quality of the KLT.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1667 of file vpMbtXmlGenericParser.cpp.

getKltWindowSize()

unsigned int vpMbtXmlGenericParser::getKltWindowSize

(

)

const

Get the size of the window used in the KLT tracker.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1672 of file vpMbtXmlGenericParser.cpp.

getLodMinLineLengthThreshold()

double vpMbtXmlGenericParser::getLodMinLineLengthThreshold

(

)

const

Get the minimum line length to track a segment when LOD is enabled.

Definition at line 1682 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbEdgeTracker::loadConfigFile().

getLodMinPolygonAreaThreshold()

double vpMbtXmlGenericParser::getLodMinPolygonAreaThreshold

(

)

const

Get the minimum polygon area to track a face when LOD is enabled.

Definition at line 1687 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbEdgeTracker::loadConfigFile().

getLodState()

bool vpMbtXmlGenericParser::getLodState

(

)

const

Get the state of LOD setting.

Definition at line 1677 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbEdgeTracker::loadConfigFile().

getNearClippingDistance()

double vpMbtXmlGenericParser::getNearClippingDistance

(

)

const

Get the near clipping distance.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1692 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

getProjectionErrorKernelSize()

unsigned int vpMbtXmlGenericParser::getProjectionErrorKernelSize

(

)

const

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1699 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile().

getProjectionErrorMe()

void vpMbtXmlGenericParser::getProjectionErrorMe

(

vpMe &

me

)

const

Get ME parameters for projection error computation.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1697 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile().

hasFarClippingDistance()

bool vpMbtXmlGenericParser::hasFarClippingDistance

(

)

const

Has Far clipping been specified?

Returns

True if yes, False otherwise.

Definition at line 1709 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

hasNearClippingDistance()

bool vpMbtXmlGenericParser::hasNearClippingDistance

(

)

const

Has Near clipping been specified?

Returns

True if yes, False otherwise.

Definition at line 1716 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

parse()

void vpMbtXmlGenericParser::parse

(

const std::string &

filename

)

Parse an XML config file that contains parameters for the Generic Model-Based Tracker.

Parameters

filename

: Document to parse.

Examples

testMbtXmlGenericParser.cpp.

Definition at line 1547 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

setAngleAppear()

void vpMbtXmlGenericParser::setAngleAppear

(

const double &

aappear

)

Set the angle to determine if a face appeared.

Parameters

aappear

: New angleAppear

Definition at line 1723 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

setAngleDisappear()

void vpMbtXmlGenericParser::setAngleDisappear

(

const double &

adisappear

)

Set the angle to determine if a face disappeared.

Parameters

adisappear

: New angleDisappear

Definition at line 1730 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

setCameraParameters()

void vpMbtXmlGenericParser::setCameraParameters

(

const vpCameraParameters &

cam

)

Set camera parameters.

Parameters

cam	: New camera parameters

Definition at line 1737 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().

setDepthDenseSamplingStepX()

void vpMbtXmlGenericParser::setDepthDenseSamplingStepX

(

unsigned int

stepX

)

Set depth dense sampling step in X.

Parameters

stepX

: New sampling step

Definition at line 1744 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile().

setDepthDenseSamplingStepY()

void vpMbtXmlGenericParser::setDepthDenseSamplingStepY

(

unsigned int

stepY

)

Set depth dense sampling step in Y.

Parameters

stepY

: New sampling step

Definition at line 1754 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthDenseTracker::loadConfigFile().

setDepthNormalFeatureEstimationMethod()

void vpMbtXmlGenericParser::setDepthNormalFeatureEstimationMethod

(

const vpMbtFaceDepthNormal::vpFeatureEstimationType &

method

)

Set depth normal feature estimation method.

Parameters

method

: New feature estimation method

Definition at line 1764 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setDepthNormalPclPlaneEstimationMethod()

void vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationMethod

(

int

method

)

Set depth normal PCL plane estimation method.

Parameters

method

: New PCL plane estimation method

Definition at line 1775 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setDepthNormalPclPlaneEstimationRansacMaxIter()

void vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacMaxIter

(

int

maxIter

)

Set depth normal PCL RANSAC maximum number of iterations.

Parameters

maxIter

: New maximum number of iterations

Definition at line 1785 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setDepthNormalPclPlaneEstimationRansacThreshold()

void vpMbtXmlGenericParser::setDepthNormalPclPlaneEstimationRansacThreshold

(

double

threshold

)

Set depth normal PCL RANSAC threshold.

Parameters

threshold

: New RANSAC threshold

Definition at line 1795 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setDepthNormalSamplingStepX()

void vpMbtXmlGenericParser::setDepthNormalSamplingStepX

(

unsigned int

stepX

)

Set depth normal sampling step in X.

Parameters

stepX

: New sampling step

Definition at line 1805 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setDepthNormalSamplingStepY()

void vpMbtXmlGenericParser::setDepthNormalSamplingStepY

(

unsigned int

stepY

)

Set depth normal sampling step in Y.

Parameters

stepY

: New sampling step

Definition at line 1815 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbDepthNormalTracker::loadConfigFile().

setEdgeMe()

void vpMbtXmlGenericParser::setEdgeMe

(

const vpMe &

moving_edge

)

Set moving edge parameters.

Parameters

moving_edge

: New moving edge parameters

Definition at line 1825 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbEdgeTracker::loadConfigFile().

setFarClippingDistance()

void vpMbtXmlGenericParser::setFarClippingDistance

(

const double &

fclip

)

Set the far clipping distance.

Parameters

fclip

: New farClipping

Definition at line 1832 of file vpMbtXmlGenericParser.cpp.

setKltBlockSize()

void vpMbtXmlGenericParser::setKltBlockSize

(

const unsigned int &

bs

)

Set the size of a block.

Parameters

bs	: New blockSize

Definition at line 1839 of file vpMbtXmlGenericParser.cpp.

setKltHarrisParam()

void vpMbtXmlGenericParser::setKltHarrisParam

(

const double &

hp

)

Set the Harris free parameter.

Parameters

hp	: New harrisParam

Definition at line 1846 of file vpMbtXmlGenericParser.cpp.

setKltMaskBorder()

void vpMbtXmlGenericParser::setKltMaskBorder

(

const unsigned int &

mb

)

Set the Border of the mask.

Parameters

mb	= new maskBorder

Definition at line 1853 of file vpMbtXmlGenericParser.cpp.

setKltMaxFeatures()

void vpMbtXmlGenericParser::setKltMaxFeatures

(

const unsigned int &

mF

)

Set the maximum number of features for the KLT.

Parameters

mF	: New maxFeatures

Definition at line 1860 of file vpMbtXmlGenericParser.cpp.

setKltMinDistance()

void vpMbtXmlGenericParser::setKltMinDistance

(

const double &

mD

)

Set the minimum distance between KLT points.

Parameters

mD	: New minDist

Definition at line 1867 of file vpMbtXmlGenericParser.cpp.

setKltPyramidLevels()

void vpMbtXmlGenericParser::setKltPyramidLevels

(

const unsigned int &

pL

)

Set the number of pyramid levels

Parameters

pL	: New pyramidLevels

Definition at line 1874 of file vpMbtXmlGenericParser.cpp.

setKltQuality()

void vpMbtXmlGenericParser::setKltQuality

(

const double &

q

)

Set the quality of the KLT.

Parameters

q	: New quality

Definition at line 1881 of file vpMbtXmlGenericParser.cpp.

setKltWindowSize()

void vpMbtXmlGenericParser::setKltWindowSize

(

const unsigned int &

w

)

Set the size of the window used in the KLT tracker.

Parameters

w	: New winSize

Definition at line 1888 of file vpMbtXmlGenericParser.cpp.

setNearClippingDistance()

void vpMbtXmlGenericParser::setNearClippingDistance

(

const double &

nclip

)

Set the near clipping distance.

Parameters

nclip

: New nearClipping

Definition at line 1895 of file vpMbtXmlGenericParser.cpp.

setProjectionErrorKernelSize()

void vpMbtXmlGenericParser::setProjectionErrorKernelSize

(

const unsigned int &

size

)

Set kernel size used for projection error computation.

Parameters

size	: Kernel size computed as kernel_size = size*2 + 1

Definition at line 1909 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile().

setProjectionErrorMe()

void vpMbtXmlGenericParser::setProjectionErrorMe

(

const vpMe &

me

)

Set ME parameters for projection error computation.

Parameters

me	: ME parameters

Definition at line 1902 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile().

setVerbose()

void vpMbtXmlGenericParser::setVerbose

(

bool

verbose

)

Set verbose mode (print tracker configuration in the standard output if set).

Parameters

verbose

: verbose flag

Definition at line 1919 of file vpMbtXmlGenericParser.cpp.

Referenced by vpMbTracker::loadConfigFile(), vpMbDepthDenseTracker::loadConfigFile(), vpMbDepthNormalTracker::loadConfigFile(), and vpMbEdgeTracker::loadConfigFile().