Visual Servoing Platform  version 3.3.0
testXmlParserCamera.cpp
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30  *
31  * Description:
32  * Test vpXmlParserCamera parse / save.
33  *
34  *****************************************************************************/
35 
42 #include <visp3/core/vpXmlParserCamera.h>
43 #include <visp3/core/vpIoTools.h>
44 
45 int main()
46 {
47 #ifdef VISP_HAVE_PUGIXML
48 #if defined(_WIN32)
49  std::string tmp_dir = "C:/temp/";
50 #else
51  std::string tmp_dir = "/tmp/";
52 #endif
53 
54  // Get the user login name
55  std::string username;
56  vpIoTools::getUserName(username);
57 
58  tmp_dir += username + "/test_xml_parser_camera/";
59  vpIoTools::remove(tmp_dir);
60  std::cout << "Create: " << tmp_dir << std::endl;
61  vpIoTools::makeDirectory(tmp_dir);
62 
63  {
65  cam.initPersProjWithoutDistortion(278.4691184118, 273.9196496040, 162.0747539621, 113.1741829586);
66  std::string filename = tmp_dir + "test_write_cam_without_distortion.xml";
67  {
69  std::cout << "Write to: " << filename << std::endl;
70  if (xml.save(cam, filename, "Camera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
71  std::cerr << "Cannot save XML file: " << filename << std::endl;
72  return EXIT_FAILURE;
73  }
74  }
75 
76  vpCameraParameters cam_read;
77  {
79  xml.parse(cam_read, filename, "Camera", vpCameraParameters::perspectiveProjWithoutDistortion, 320, 240);
80  std::cout << "Cam write:\n" << cam << std::endl;
81  std::cout << "Cam read:\n" << cam_read << std::endl;
82  if (cam != cam_read) {
83  std::cerr << "Issue when parsing XML file: " << filename << std::endl;
84  return EXIT_FAILURE;
85  }
86  }
87  }
88 
89  {
90  std::cout << std::endl;
92  cam.initPersProjWithDistortion(276.2969237503, 271.9362132652, 162.3242102636, 113.4435399636, 0.0272549570, -0.0270531436);
93  std::string filename = tmp_dir + "test_write_cam_with_distortion.xml";
94  {
96  std::cout << "Write to: " << filename << std::endl;
97  if (xml.save(cam, filename, "Camera", 320, 240) != vpXmlParserCamera::SEQUENCE_OK) {
98  std::cerr << "Cannot save XML file: " << filename << std::endl;
99  return EXIT_FAILURE;
100  }
101  }
102 
103  vpCameraParameters cam_read;
104  {
105  vpXmlParserCamera xml;
106  xml.parse(cam_read, filename, "Camera", vpCameraParameters::perspectiveProjWithDistortion, 320, 240);
107  std::cout << "Cam write:\n" << cam << std::endl;
108  std::cout << "Cam read:\n" << cam_read << std::endl;
109  if (cam != cam_read) {
110  std::cerr << "Issue when parsing XML file: " << filename << std::endl;
111  return EXIT_FAILURE;
112  }
113  }
114  }
115 
116  vpIoTools::remove(tmp_dir);
117 #endif
118 
119  return EXIT_SUCCESS;
120 }
vpIoTools::getUserName
static std::string getUserName()
Definition: vpIoTools.cpp:318
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:233
vpCameraParameters::perspectiveProjWithoutDistortion
@ perspectiveProjWithoutDistortion
Definition: vpCameraParameters.h:240
vpXmlParserCamera
XML parser to load and save intrinsic camera parameters.
Definition: vpXmlParserCamera.h:171
vpIoTools::remove
static bool remove(const std::string &filename)
Definition: vpIoTools.cpp:855
vpIoTools::makeDirectory
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:572
vpXmlParserCamera::parse
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)
Definition: vpXmlParserCamera.cpp:967
vpXmlParserCamera::save
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="")
Definition: vpXmlParserCamera.cpp:1017
vpCameraParameters::initPersProjWithoutDistortion
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Definition: vpCameraParameters.cpp:182
vpCameraParameters::initPersProjWithDistortion
void initPersProjWithDistortion(double px, double py, double u0, double v0, double kud, double kdu)
Definition: vpCameraParameters.cpp:248
vpCameraParameters::perspectiveProjWithDistortion
@ perspectiveProjWithDistortion
Definition: vpCameraParameters.h:242
vpXmlParserCamera::SEQUENCE_OK
@ SEQUENCE_OK
Definition: vpXmlParserCamera.h:174