Visual Servoing Platform  version 3.3.1 under development (2020-12-02)
vpMbtXmlGenericParser.h
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30  *
31  * Description:
32  * Load XML Parameter for Model Based Tracker.
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35 
42 #ifndef _vpMbtXmlGenericParser_h_
43 #define _vpMbtXmlGenericParser_h_
44 
45 #include <visp3/core/vpConfig.h>
46 
47 #include <visp3/core/vpCameraParameters.h>
48 #include <visp3/mbt/vpMbtFaceDepthNormal.h>
49 #include <visp3/me/vpMe.h>
50 
60 class VISP_EXPORT vpMbtXmlGenericParser
61 {
62 public:
63  enum vpParserType {
64  EDGE_PARSER = 1 << 0,
66  KLT_PARSER = 1 << 1,
67  DEPTH_NORMAL_PARSER = 1 << 2,
69  DEPTH_DENSE_PARSER = 1 << 3,
71  PROJECTION_ERROR_PARSER = 0
72  };
73 
74 public:
75  vpMbtXmlGenericParser(int type = EDGE_PARSER);
76  virtual ~vpMbtXmlGenericParser();
77 
78  double getAngleAppear() const;
79  double getAngleDisappear() const;
80 
81  void getCameraParameters(vpCameraParameters &cam) const;
82 
83  void getEdgeMe(vpMe &ecm) const;
84 
85  unsigned int getDepthDenseSamplingStepX() const;
86  unsigned int getDepthDenseSamplingStepY() const;
87 
88  vpMbtFaceDepthNormal::vpFeatureEstimationType getDepthNormalFeatureEstimationMethod() const;
89  int getDepthNormalPclPlaneEstimationMethod() const;
90  int getDepthNormalPclPlaneEstimationRansacMaxIter() const;
91  double getDepthNormalPclPlaneEstimationRansacThreshold() const;
92  unsigned int getDepthNormalSamplingStepX() const;
93  unsigned int getDepthNormalSamplingStepY() const;
94 
95  double getFarClippingDistance() const;
96  bool getFovClipping() const;
97 
98  unsigned int getKltBlockSize() const;
99  double getKltHarrisParam() const;
100  unsigned int getKltMaskBorder() const;
101  unsigned int getKltMaxFeatures() const;
102  double getKltMinDistance() const;
103  unsigned int getKltPyramidLevels() const;
104  double getKltQuality() const;
105  unsigned int getKltWindowSize() const;
106 
107  bool getLodState() const;
108  double getLodMinLineLengthThreshold() const;
109  double getLodMinPolygonAreaThreshold() const;
110 
111  double getNearClippingDistance() const;
112 
113  void getProjectionErrorMe(vpMe &me) const;
114 
115  unsigned int getProjectionErrorKernelSize() const;
116 
117  bool hasFarClippingDistance() const;
118  bool hasNearClippingDistance() const;
119 
120  void parse(const std::string &filename);
121 
122  void setAngleAppear(const double &aappear);
123  void setAngleDisappear(const double &adisappear);
124 
125  void setCameraParameters(const vpCameraParameters &cam);
126 
127  void setDepthDenseSamplingStepX(unsigned int stepX);
128  void setDepthDenseSamplingStepY(unsigned int stepY);
129 
130  void setDepthNormalFeatureEstimationMethod(const vpMbtFaceDepthNormal::vpFeatureEstimationType &method);
131  void setDepthNormalPclPlaneEstimationMethod(int method);
132  void setDepthNormalPclPlaneEstimationRansacMaxIter(int maxIter);
133  void setDepthNormalPclPlaneEstimationRansacThreshold(double threshold);
134  void setDepthNormalSamplingStepX(unsigned int stepX);
135  void setDepthNormalSamplingStepY(unsigned int stepY);
136 
137  void setEdgeMe(const vpMe &ecm);
138 
139  void setFarClippingDistance(const double &fclip);
140 
141  void setKltBlockSize(const unsigned int &bs);
142  void setKltHarrisParam(const double &hp);
143  void setKltMaskBorder(const unsigned int &mb);
144  void setKltMaxFeatures(const unsigned int &mF);
145  void setKltMinDistance(const double &mD);
146  void setKltPyramidLevels(const unsigned int &pL);
147  void setKltQuality(const double &q);
148  void setKltWindowSize(const unsigned int &w);
149 
150  void setNearClippingDistance(const double &nclip);
151 
152  void setProjectionErrorMe(const vpMe &me);
153  void setProjectionErrorKernelSize(const unsigned int &size);
154 
155 private:
156  vpMbtXmlGenericParser(const vpMbtXmlGenericParser &); // noncopyable
157  vpMbtXmlGenericParser &operator=(const vpMbtXmlGenericParser &); //
158 
159  // PIMPL idiom
160  class Impl;
161  Impl *m_impl;
162 };
163 
164 #endif
Definition: vpMe.h:60
Parse an Xml file to extract configuration parameters of a mbtConfig object.Data parser for the model...
Generic class defining intrinsic camera parameters.