/usr/include/x86_64-linux-gnu/visp3/core/vpXmlParserCamera.h is in libvisp-core-dev 3.0.0-4.
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*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2015 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* XML parser to load and save camera intrinsic parameters.
*
* Authors:
* Anthony Saunier
*
*****************************************************************************/
/*!
\file vpXmlParserCamera.h
\brief Declaration of the vpXmlParserCamera class.
Class vpXmlParserCamera allowed to load and save intrinsic camera parameters
*/
#ifndef vpXMLPARSERCAMERA_H
#define vpXMLPARSERCAMERA_H
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_XML2
#include <string>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParser.h>
#include <libxml/xmlmemory.h> /* Functions of libxml. */
/*!
\class vpXmlParserCamera
\ingroup group_core_camera
\brief 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:
\code
<?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>
\endcode
Example of loading existing camera parameters from an XML file:
\code
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpXmlParserCamera.h>
int main()
{
vpCameraParameters cam; // Create a camera parameter container
#ifdef VISP_HAVE_XML2
vpXmlParserCamera p; // Create a XML parser
vpCameraParameters::vpCameraParametersProjType projModel; // Projection model
// Use a perspective projection model without distortion
projModel = vpCameraParameters::perspectiveProjWithoutDistortion;
// 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
cam.printParameters();
// 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());
// Clean up memory allocated by the xml library
vpXmlParser::cleanup();
#endif
}
\endcode
Example of writing an XML file containing intrinsic camera parameters:
\code
#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.
vpCameraParameters cam;
// 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);
#ifdef VISP_HAVE_XML2
// Create a XML parser
vpXmlParserCamera p;
// 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;
}
// Clean up memory allocated by the xml library
vpXmlParser::cleanup();
#endif
}
\endcode
*/
class VISP_EXPORT vpXmlParserCamera: public vpXmlParser
{
public:
/* --- XML Code------------------------------------------------------------ */
typedef enum
{
CODE_XML_BAD = -1,
CODE_XML_OTHER,
CODE_XML_CAMERA,
CODE_XML_CAMERA_NAME,
CODE_XML_HEIGHT,
CODE_XML_WIDTH,
CODE_XML_SUBSAMPLING_WIDTH,
CODE_XML_SUBSAMPLING_HEIGHT,
CODE_XML_FULL_HEIGHT,
CODE_XML_FULL_WIDTH,
CODE_XML_MODEL,
CODE_XML_MODEL_TYPE,
CODE_XML_U0,
CODE_XML_V0,
CODE_XML_PX,
CODE_XML_PY,
CODE_XML_KUD,
CODE_XML_KDU
} vpXmlCodeType;
typedef enum
{
SEQUENCE_OK ,
SEQUENCE_ERROR
} vpXmlCodeSequenceType;
private :
vpCameraParameters camera;
std::string camera_name;
unsigned int image_width;
unsigned int image_height;
unsigned int subsampling_width;
unsigned int subsampling_height;
unsigned int full_width;
unsigned int full_height;
//! Allowed size difference between input image and data from the xml parser to handle minor differences (ex. FORMAT7 can creates 648*488 images).
static const int allowedPixelDiffOnImageSize = 15;
public:
vpXmlParserCamera();
vpXmlParserCamera(vpXmlParserCamera& twinParser);
vpXmlParserCamera& operator =(const vpXmlParserCamera& twinparser);
~vpXmlParserCamera(){}
int parse(vpCameraParameters &cam, const std::string &filename,
const std::string &camera_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
const unsigned int image_width = 0, const unsigned int image_height = 0);
int save(const vpCameraParameters &cam, const std::string &filename,
const std::string &camera_name,
const unsigned int image_width = 0, const unsigned int image_height = 0);
// get/set functions
std::string getCameraName(){return this->camera_name;}
unsigned int getWidth(){ return this->image_width; }
unsigned int getHeight(){ return this->image_height; }
unsigned int getSubsampling_width(){return this->subsampling_width;}
unsigned int getSubsampling_height(){return this->subsampling_height;}
vpCameraParameters getCameraParameters(){return this->camera;}
void setCameraName(const std::string& name){
this->camera_name = name;
}
void setWidth(const unsigned int width){ this->image_width = width ; }
void setHeight(const unsigned int height){ this->image_height = height ; }
void setSubsampling_width(const unsigned int subsampling){
this->subsampling_width = subsampling ;
}
void setSubsampling_height(const unsigned int subsampling){
this->subsampling_height = subsampling ;
}
private:
int read (xmlDocPtr doc, xmlNodePtr node,
const std::string& camera_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
int count (xmlDocPtr doc, xmlNodePtr node,
const std::string& camera_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
int read_camera (xmlDocPtr doc, xmlNodePtr node,
const std::string& camera_name,
const vpCameraParameters::vpCameraParametersProjType &projModel,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
xmlNodePtr find_camera (xmlDocPtr doc, xmlNodePtr node,
const std::string& camera_name,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
vpXmlCodeSequenceType read_camera_model (xmlDocPtr doc, xmlNodePtr node,
vpCameraParameters &camera);
int read_camera_header (xmlDocPtr doc, xmlNodePtr node,
const std::string& camera_name,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
static vpXmlCodeSequenceType str2xmlcode (char * str, vpXmlCodeType & res);
void myXmlReadIntChild (xmlDocPtr doc,
xmlNodePtr node,
int &res,
vpXmlCodeSequenceType &code_error);
void myXmlReadDoubleChild (xmlDocPtr doc,
xmlNodePtr node,
double &res,
vpXmlCodeSequenceType &code_error);
void myXmlReadCharChild (xmlDocPtr doc,
xmlNodePtr node,
char **res);
int write (xmlNodePtr node, const std::string& camera_name,
const unsigned int image_width = 0,
const unsigned int image_height = 0,
const unsigned int subsampling_width = 0,
const unsigned int subsampling_height = 0);
int write_camera(xmlNodePtr node_camera);
private:
/*!
\param 2doc : a pointer representing the document
\param node : the root node of the document
*/
virtual void readMainClass(xmlDocPtr , xmlNodePtr ){};
/*!
\param node2 : the root node of the document
*/
virtual void writeMainClass(xmlNodePtr ){};
};
#endif //VISP_HAVE_XML2
#endif
/*
* Local variables:
* c-basic-offset: 2
* End:
*/
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