Visual Servoing Platform version 3.6.0
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testMbtXmlGenericParser.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test vpMbtXmlGenericParser parse / save.
33 *
34*****************************************************************************/
35
42#include <visp3/core/vpIoTools.h>
43#include <visp3/mbt/vpMbtXmlGenericParser.h>
44
45int main()
46{
47#if defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV)
48 std::string visp_images_dir = vpIoTools::getViSPImagesDataPath();
49 if (vpIoTools::checkDirectory(visp_images_dir + "/xml")) {
50 double eps = std::numeric_limits<double>::epsilon();
51 {
52 std::string filename = visp_images_dir + "/xml/chateau.xml";
54 std::cout << "Parse config: " << filename << std::endl;
55 xml.parse(filename);
56
57 vpMe me_ref;
58 me_ref.setMaskSize(5);
59 me_ref.setMaskNumber(180);
60 me_ref.setRange(8);
61 me_ref.setMu1(0.5);
62 me_ref.setMu2(0.5);
63 me_ref.setSampleStep(5);
64
65 vpMe me;
66 xml.getEdgeMe(me);
67 // Due to changes in visp-images/xml/chateau.xml where it can be now possible to have a normalized me threshold,
68 // two cases have to be considered depending on visp-images version
71 me_ref.setThreshold(5);
72 }
73 else {
75 me_ref.setThreshold(10000);
76 }
77
78 if (me.getMaskSize() != me_ref.getMaskSize() || me.getMaskNumber() != me_ref.getMaskNumber() ||
79 me.getRange() != me_ref.getRange() || !vpMath::equal(me.getThreshold(), me_ref.getThreshold(), eps) ||
80 !vpMath::equal(me.getMu1(), me_ref.getMu1(), eps) || !vpMath::equal(me.getMu2(), me_ref.getMu2(), eps) ||
81 !vpMath::equal(me.getSampleStep(), me_ref.getSampleStep(), eps)) {
82 std::cerr << "Issue when parsing xml: " << filename << " (ME)" << std::endl;
83 return EXIT_FAILURE;
84 }
85
86 if (xml.getKltMaskBorder() != 5 || xml.getKltMaxFeatures() != 10000 || xml.getKltWindowSize() != 5 ||
87 !vpMath::equal(xml.getKltQuality(), 0.01, eps) || !vpMath::equal(xml.getKltMinDistance(), 5.0, eps) ||
88 !vpMath::equal(xml.getKltHarrisParam(), 0.02, eps) || xml.getKltBlockSize() != 3 ||
89 xml.getKltPyramidLevels() != 3) {
90 std::cerr << "Issue when parsing xml: " << filename << " (KLT)" << std::endl;
91 return EXIT_FAILURE;
92 }
93
94 vpCameraParameters cam_ref;
95 cam_ref.initPersProjWithoutDistortion(615.1674804688, 615.1675415039, 312.1889953613, 243.4373779297);
97 xml.getCameraParameters(cam);
98 if (cam != cam_ref) {
99 std::cerr << "Issue when parsing xml: " << filename << " (cam)" << std::endl;
100 return EXIT_FAILURE;
101 }
102
103 if (!vpMath::equal(xml.getAngleAppear(), 70.0, eps) || !vpMath::equal(xml.getAngleDisappear(), 80.0, eps) ||
104 !vpMath::equal(xml.getNearClippingDistance(), 0.01, eps) ||
105 !vpMath::equal(xml.getFarClippingDistance(), 2, eps) || !xml.getFovClipping()) {
106 std::cerr << "Issue when parsing xml: " << filename << " (visibility)" << std::endl;
107 return EXIT_FAILURE;
108 }
109 }
110
111 {
112 std::string filename = visp_images_dir + "/xml/chateau.xml";
114 std::cout << "Parse config: " << filename << std::endl;
115 xml.parse(filename);
116 vpMe me_proj;
117 xml.getProjectionErrorMe(me_proj);
118 if (!vpMath::equal(me_proj.getSampleStep(), 12.0, eps) || xml.getProjectionErrorKernelSize() != 3) {
119 std::cerr << "Issue when parsing xml: " << filename << " (projection error)" << std::endl;
120 return EXIT_FAILURE;
121 }
122 }
123
124 {
125 std::string filename = visp_images_dir + "/xml/chateau_depth.xml";
127 std::cout << "Parse config: " << filename << std::endl;
128 xml.parse(filename);
129
130 if (xml.getDepthNormalFeatureEstimationMethod() != 0 || xml.getDepthNormalPclPlaneEstimationMethod() != 2 ||
131 xml.getDepthNormalPclPlaneEstimationRansacMaxIter() != 200 ||
132 !vpMath::equal(xml.getDepthNormalPclPlaneEstimationRansacThreshold(), 0.001, eps) ||
133 xml.getDepthNormalSamplingStepX() != 2 || xml.getDepthNormalSamplingStepY() != 2) {
134 std::cerr << "Issue when parsing xml: " << filename << " (depth normal)" << std::endl;
135 return EXIT_FAILURE;
136 }
137
138 if (xml.getDepthDenseSamplingStepX() != 4 || xml.getDepthDenseSamplingStepY() != 4) {
139 std::cerr << "Issue when parsing xml: " << filename << " (depth dense)" << std::endl;
140 return EXIT_FAILURE;
141 }
142
143 vpCameraParameters cam_ref;
144 cam_ref.initPersProjWithoutDistortion(476.0536193848, 476.0534973145, 311.4845581055, 246.2832336426);
146 xml.getCameraParameters(cam);
147 if (cam != cam_ref) {
148 std::cerr << "Issue when parsing xml: " << filename << " (cam)" << std::endl;
149 return EXIT_FAILURE;
150 }
151
152 if (!vpMath::equal(xml.getAngleAppear(), 70.0, eps) || !vpMath::equal(xml.getAngleDisappear(), 80.0, eps) ||
153 !vpMath::equal(xml.getNearClippingDistance(), 0.01, eps) ||
154 !vpMath::equal(xml.getFarClippingDistance(), 2, eps) || !xml.getFovClipping()) {
155 std::cerr << "Issue when parsing xml: " << filename << " (visibility)" << std::endl;
156 return EXIT_FAILURE;
157 }
158 }
159 }
160#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
161 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
162#endif
163
164 std::cout << "Test succeed" << std::endl;
165 return EXIT_SUCCESS;
166}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static std::string getViSPImagesDataPath()
static bool checkDirectory(const std::string &dirname)
static bool equal(double x, double y, double threshold=0.001)
Definition vpMath.h:369
Parse an Xml file to extract configuration parameters of a mbtConfig object.
Definition vpMe.h:122
void setMu1(const double &mu_1)
Definition vpMe.h:353
void setSampleStep(const double &s)
Definition vpMe.h:390
void setRange(const unsigned int &r)
Definition vpMe.h:383
vpLikelihoodThresholdType getLikelihoodThresholdType() const
Definition vpMe.h:297
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition vpMe.h:445
void setMaskSize(const unsigned int &a)
Definition vpMe.cpp:452
double getMu1() const
Definition vpMe.h:249
unsigned int getMaskNumber() const
Definition vpMe.h:222
double getMu2() const
Definition vpMe.h:255
double getThreshold() const
Definition vpMe.h:288
unsigned int getMaskSize() const
Definition vpMe.h:236
void setMu2(const double &mu_2)
Definition vpMe.h:360
double getSampleStep() const
Definition vpMe.h:397
unsigned int getRange() const
Definition vpMe.h:273
@ NORMALIZED_THRESHOLD
Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consid...
Definition vpMe.h:132
@ OLD_THRESHOLD
Old likelihood ratio threshold (to be avoided).
Definition vpMe.h:130
void setMaskNumber(const unsigned int &a)
Definition vpMe.cpp:445
void setThreshold(const double &t)
Definition vpMe.h:435