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vpMbtKltXmlParser.h
1 /****************************************************************************
2  *
3  * $Id: vpMbtKltXmlParser.h 4320 2013-07-17 15:37:27Z ayol $
4  *
5  * This file is part of the ViSP software.
6  * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
7  *
8  * This software is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU General Public License
10  * ("GPL") version 2 as published by the Free Software Foundation.
11  * See the file LICENSE.txt at the root directory of this source
12  * distribution for additional information about the GNU GPL.
13  *
14  * For using ViSP with software that can not be combined with the GNU
15  * GPL, please contact INRIA about acquiring a ViSP Professional
16  * Edition License.
17  *
18  * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
19  *
20  * This software was developed at:
21  * INRIA Rennes - Bretagne Atlantique
22  * Campus Universitaire de Beaulieu
23  * 35042 Rennes Cedex
24  * France
25  * http://www.irisa.fr/lagadic
26  *
27  * If you have questions regarding the use of this file, please contact
28  * INRIA at visp@inria.fr
29  *
30  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
31  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
32  *
33  *
34  * Description:
35  * Read MBT KLT Tracker information in an XML file
36  *
37  * Authors:
38  * Aurelien Yol
39  *
40  *****************************************************************************/
41 
46 #ifndef vpMbtKltXmlParser_HH
47 #define vpMbtKltXmlParser_HH
48 
49 #include <visp/vpConfig.h>
50 
51 #ifdef VISP_HAVE_XML2
52 
53 #include <libxml/xmlmemory.h> /* Fonctions de la lib XML. */
54 
55 #include <visp/vpXmlParser.h>
56 #include <visp/vpCameraParameters.h>
57 
66 class VISP_EXPORT vpMbtKltXmlParser: public vpXmlParser
67 {
68 protected:
70  unsigned int maskBorder;
72  unsigned int maxFeatures;
74  unsigned int winSize;
76  double qualityValue;
78  double minDist;
80  double harrisParam;
82  unsigned int blockSize;
84  unsigned int pyramidLevels;
86  double angleAppear;
92  double nearClipping;
96  double farClipping;
101 
102  typedef enum{
122  u0,
123  v0,
124  px,
125  py
126  } dataToParse;
127 
128 
129 public:
130 
132  virtual ~vpMbtKltXmlParser();
133 
139  inline double getAngleAppear() const {return angleAppear;}
140 
146  inline double getAngleDisappear() const {return angleDisappear;}
147 
153  inline unsigned int getBlockSize() const {return blockSize;}
154 
160  void getCameraParameters(vpCameraParameters& _cam) const { _cam = cam;}
161 
167  inline double getFarClippingDistance() const {return farClipping;}
168 
174  inline bool getFovClipping() const {return fovClipping;}
175 
181  inline double getHarrisParam() const {return harrisParam;}
182 
188  inline unsigned int getMaskBorder() const {return maskBorder;}
189 
195  inline unsigned int getMaxFeatures() const {return maxFeatures;}
196 
202  inline double getMinDistance() const {return minDist;}
203 
209  inline double getNearClippingDistance() const {return nearClipping;}
210 
216  inline unsigned int getPyramidLevels() const {return pyramidLevels;}
217 
223  inline double getQuality() const {return qualityValue;}
224 
230  inline unsigned int getWindowSize() const {return winSize;}
231 
237  inline bool hasFarClippingDistance() const {return hasFarClipping;}
238 
244  inline bool hasNearClippingDistance() const {return hasNearClipping;}
245 
246  void parse(const char * filename);
247 
248  void readMainClass(xmlDocPtr doc, xmlNodePtr node);
249  void read_camera (xmlDocPtr doc, xmlNodePtr node);
250  void read_klt(xmlDocPtr doc, xmlNodePtr node);
251  void read_face(xmlDocPtr doc, xmlNodePtr node);
252 
258  inline void setAngleAppear(const double &aappear) {angleAppear = aappear;}
259 
265  inline void setAngleDisappear(const double &adisappear) {angleDisappear = adisappear;}
266 
272  inline void setBlockSize(const unsigned int &bs) {blockSize = bs;}
273 
279  void setCameraParameters(const vpCameraParameters& _cam) {cam = _cam;}
280 
286  inline void setFarClippingDistance(const double &fclip) {farClipping = fclip;}
287 
293  inline void setHarrisParam(const double &hp) {harrisParam = hp;}
294 
300  inline void setMaskBorder(const unsigned int &mb) {maskBorder = mb;}
301 
307  inline void setMaxFeatures(const unsigned int &mF) {maxFeatures = mF;}
308 
314  inline void setMinDistance(const double &mD) {minDist = mD;}
315 
321  inline void setNearClippingDistance(const double &nclip) {nearClipping = nclip;}
322 
328  inline void setPyramidLevels(const unsigned int &pL) {pyramidLevels = pL;}
329 
335  inline void setQuality(const double &q) {qualityValue = q;}
336 
342  inline void setWindowSize(const unsigned int &w) {winSize = w;}
343 
344  void writeMainClass(xmlNodePtr node);
345 
346 protected:
347  void init();
348 
349 };
350 
351 #endif
352 
353 #endif
354 
355 
356