Visual Servoing Platform  version 3.5.1 under development (2022-12-04)
vpXmlParserCamera Class Reference

#include <visp3/core/vpXmlParserCamera.h>

Public Types

enum  vpXmlCodeSequenceType { SEQUENCE_OK , SEQUENCE_ERROR }
 

Public Member Functions

 vpXmlParserCamera ()
 
 ~vpXmlParserCamera ()
 
std::string getCameraName () const
 
vpCameraParameters getCameraParameters () const
 
unsigned int getHeight () const
 
unsigned int getSubsampling_width () const
 
unsigned int getSubsampling_height () const
 
unsigned int getWidth () const
 
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)
 
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="")
 
void setCameraName (const std::string &name)
 
void setHeight (unsigned int height)
 
void setSubsampling_width (unsigned int subsampling)
 
void setSubsampling_height (unsigned int subsampling)
 
void setWidth (unsigned int width)
 

Detailed Description

XML parser to load and save intrinsic camera parameters.

To have a complete description of the camera parameters and the corresponding projection model implemented in ViSP, see vpCameraParameters.

Example of an XML file "myXmlFile.xml" containing intrinsic camera parameters:

<?xml version="1.0"?>
<root>
<camera>
<name>myCamera</name>
<image_width>640</image_width>
<image_height>480</image_height>
<model>
<type>perspectiveProjWithoutDistortion</type>
<px>1129.0</px>
<py>1130.6</py>
<u0>317.9</u0>
<v0>229.1</v0>
</model>
<model>
<type>perspectiveProjWithDistortion</type>
<px>1089.9</px>
<py>1090.1</py>
<u0>326.1</u0>
<v0>230.5</v0>
<kud>-0.196</kud>
<kdu>0.204</kdu>
</model>
</camera>
</root>

Example of loading existing camera parameters from an XML file:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
vpCameraParameters cam; // Create a camera parameter container
vpXmlParserCamera p; // Create a XML parser
vpCameraParameters::vpCameraParametersProjType projModel; // Projection model
// Use a perspective projection model without distortion
// Parse the xml file "myXmlFile.xml" to find the intrinsic camera
// parameters of the camera named "myCamera" for the image sizes 640x480,
// for the projection model projModel. The size of the image is optional
// if camera parameters are given only for one image size.
if (p.parse(cam, "myXmlFile.xml", "myCamera", projModel,640,480) != vpXmlParserCamera::SEQUENCE_OK) {
std::cout << "Cannot found myCamera" << std::endl;
}
// cout the parameters
// Get the camera parameters for the model without distortion
double px = cam.get_px();
double py = cam.get_py();
double u0 = cam.get_u0();
double v0 = cam.get_v0();
// Now we modify the principal point (u0,v0) for example to add noise
u0 *= 0.9;
v0 *= 0.8;
// Set the new camera parameters
cam.initPersProjWithoutDistortion(px, py, u0, v0);
// Save the parameters in a new file "myXmlFileWithNoise.xml"
p.save(cam,"myXmlFileWithNoise.xml",p.getCameraName(),p.getWidth(),p.getHeight());
}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
XML parser to load and save intrinsic camera parameters.
unsigned int getHeight() const
unsigned int getWidth() const
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="")
std::string getCameraName() const
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)

Example of writing an XML file containing intrinsic camera parameters:

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
// Create a camera parameter container. We want to set these parameters
// for a 320x240 image, and we want to use the perspective projection
// modelisation without distortion.
// Set the principal point coordinates (u0,v0)
double u0 = 162.3;
double v0 = 122.4;
// Set the pixel ratio (px, py)
double px = 563.2;
double py = 564.1;
// Set the camera parameters for a model without distortion
cam.initPersProjWithoutDistortion(px, py, u0, v0);
// Create a XML parser
// Save the camera parameters in an XML file.
if (p.save(cam, "myNewXmlFile.xml", "myNewCamera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
std::cout << "Cannot save camera parameters" << std::endl;
}
}
Examples
mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-chessboard-pose.cpp, tutorial-franka-acquire-calib-data.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-pose-from-planar-object.cpp, tutorial-pose-from-points-live.cpp, tutorial-undistort.cpp, and tutorial-universal-robots-acquire-calib-data.cpp.

Definition at line 164 of file vpXmlParserCamera.h.

Member Enumeration Documentation

◆ vpXmlCodeSequenceType

Enumerator
SEQUENCE_OK 
SEQUENCE_ERROR 

Definition at line 167 of file vpXmlParserCamera.h.

Constructor & Destructor Documentation

◆ vpXmlParserCamera()

vpXmlParserCamera::vpXmlParserCamera ( )

Definition at line 1067 of file vpXmlParserCamera.cpp.

◆ ~vpXmlParserCamera()

vpXmlParserCamera::~vpXmlParserCamera ( )

Definition at line 1069 of file vpXmlParserCamera.cpp.

Member Function Documentation

◆ getCameraName()

std::string vpXmlParserCamera::getCameraName ( ) const

Definition at line 1141 of file vpXmlParserCamera.cpp.

◆ getCameraParameters()

vpCameraParameters vpXmlParserCamera::getCameraParameters ( ) const

Definition at line 1143 of file vpXmlParserCamera.cpp.

◆ getHeight()

unsigned int vpXmlParserCamera::getHeight ( ) const

Definition at line 1145 of file vpXmlParserCamera.cpp.

◆ getSubsampling_height()

unsigned int vpXmlParserCamera::getSubsampling_height ( ) const

Definition at line 1149 of file vpXmlParserCamera.cpp.

◆ getSubsampling_width()

unsigned int vpXmlParserCamera::getSubsampling_width ( ) const

Definition at line 1147 of file vpXmlParserCamera.cpp.

◆ getWidth()

unsigned int vpXmlParserCamera::getWidth ( ) const

Definition at line 1151 of file vpXmlParserCamera.cpp.

◆ parse()

int vpXmlParserCamera::parse ( vpCameraParameters cam,
const std::string &  filename,
const std::string &  cam_name,
const vpCameraParameters::vpCameraParametersProjType projModel,
unsigned int  im_width = 0,
unsigned int  im_height = 0 
)

Parse an xml file to load camera parameters.

Parameters
cam: camera parameters to fill.
filename: name of the xml file to parse
cam_name: name of the camera : useful if the xml file has multiple camera parameters. Set as "" if the camera name is not ambiguous.
projModel: camera projection model needed.
im_width: image width on which camera calibration was performed. Set as 0 if not ambiguous.
im_height: image height on which camera calibration was performed. Set as 0 if not ambiguous.
Returns
vpXmlParserCamera::SEQUENCE_OK if success and vpXmlParserCamera::SEQUENCE_ERROR otherwise.
Examples
mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, servoBebop2.cpp, servoFlirPtuIBVS.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-chessboard-pose.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-pose-from-points-live.cpp, and tutorial-undistort.cpp.

Definition at line 1085 of file vpXmlParserCamera.cpp.

Referenced by vpAfma6::getCameraParameters(), vpViper650::getCameraParameters(), vpViper850::getCameraParameters(), and vpKinect::start().

◆ save()

int vpXmlParserCamera::save ( const vpCameraParameters cam,
const std::string &  filename,
const std::string &  cam_name,
unsigned int  im_width = 0,
unsigned int  im_height = 0,
const std::string &  additionalInfo = "" 
)

Save camera parameters in an xml file.

Parameters
cam: camera parameters to save.
filename: name of the xml file to fill.
cam_name: name of the camera : useful if the xml file has multiple camera parameters. Set as "" if the camera name is not ambiguous.
im_width: width of image on which camera calibration was performed. Set as 0 if not ambiguous.
im_height: height of the image on which camera calibration was performed. Set as 0 if not ambiguous.
additionalInfo: Additional information added in the saved xml file. The content of this string should be in xml format.
Returns
error code.

A typical usage would be the following:

#include <visp3/core/vpTime.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
std::stringstream ss_additional_info;
ss_additional_info << "<date>" << vpTime::getDateTime() << "</date>";
if (p.save(cam, "camera.xml", "myCamera", 320, 240, ss_additional_info.str()) != vpXmlParserCamera::SEQUENCE_OK) {
std::cout << "Cannot save camera parameters" << std::endl;
}
}
VISP_EXPORT std::string getDateTime(const std::string &format="%Y/%m/%d %H:%M:%S")

In camera.xml file, you will see:

<camera>
...
<!--Additional information-->
<additional_information>
<date>2016/06/10 09:15:56</date>
</additional_information>
</camera>
Examples
tutorial-franka-acquire-calib-data.cpp, and tutorial-universal-robots-acquire-calib-data.cpp.

Definition at line 1135 of file vpXmlParserCamera.cpp.

◆ setCameraName()

void vpXmlParserCamera::setCameraName ( const std::string &  name)

Definition at line 1153 of file vpXmlParserCamera.cpp.

◆ setHeight()

void vpXmlParserCamera::setHeight ( unsigned int  height)

Definition at line 1155 of file vpXmlParserCamera.cpp.

◆ setSubsampling_height()

void vpXmlParserCamera::setSubsampling_height ( unsigned int  subsampling)

Definition at line 1159 of file vpXmlParserCamera.cpp.

◆ setSubsampling_width()

void vpXmlParserCamera::setSubsampling_width ( unsigned int  subsampling)

Definition at line 1157 of file vpXmlParserCamera.cpp.

◆ setWidth()

void vpXmlParserCamera::setWidth ( unsigned int  width)

Definition at line 1161 of file vpXmlParserCamera.cpp.