1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 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 http://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  * XML parser to load configuration for vpKeyPoint class.
33  *
34  * Authors:
35  * Souriya Trinh
36  *
37  *****************************************************************************/
38 
39 /*!
40   \file vpXmlConfigParserKeyPoint.cpp
41   \brief Definition of the vpXmlConfigParserKeyPoint class member functions.
42   Class vpXmlConfigParserKeyPoint allows to load configuration defined  in a
43   XML file for vpKeyPoint class.
44 
45 */
46 
47 #ifndef _vpXmlConfigParserKeyPoint_h_
48 #define _vpXmlConfigParserKeyPoint_h_
49 
50 #include <visp3/core/vpConfig.h>
51 
52 #include <string>
53 
54 /*!
55   \class vpXmlConfigParserKeyPoint
56   \ingroup group_vision_keypoints
57 
58   \warning This class is only available if pugixml is successfully built.
59 
60 */
61 class VISP_EXPORT vpXmlConfigParserKeyPoint
62 {
63 public:
64   /*! Enumerator for the different filtering matching method. */
65   enum vpMatchingMethodEnum {
66     constantFactorDistanceThreshold, /*!< Keep all the points below a constant
67                                         factor threshold. */
68     stdDistanceThreshold,            /*!< Keep all the points below a minimal distance +
69                                         the standard deviation. */
70     ratioDistanceThreshold,          /*!< Keep all the points enough discriminated. */
71     stdAndRatioDistanceThreshold,    /*!< Keep all the points which fall with the
72                                         two conditions. */
73     noFilterMatching                 /*!< No filtering. */
74   };
75 
76   vpXmlConfigParserKeyPoint();
77   ~vpXmlConfigParserKeyPoint();
78 
79   std::string getDetectorName() const;
80   std::string getExtractorName() const;
81   std::string getMatcherName() const;
82 
83   double getMatchingFactorThreshold() const;
84   vpMatchingMethodEnum getMatchingMethod() const;
85   double getMatchingRatioThreshold() const;
86 
87   int getNbRansacIterations() const;
88   int getNbRansacMinInlierCount() const;
89   double getRansacConsensusPercentage() const;
90   double getRansacReprojectionError() const;
91   double getRansacThreshold() const;
92   bool getUseRansacConsensusPercentage() const;
93   bool getUseRansacVVSPoseEstimation() const;
94 
95   void parse(const std::string &filename);
96 
97 private:
98   vpXmlConfigParserKeyPoint(const vpXmlConfigParserKeyPoint &);            // noncopyable
99   vpXmlConfigParserKeyPoint &operator=(const vpXmlConfigParserKeyPoint &); //
100 
101   // PIMPL idiom
102   class Impl;
103   Impl *m_impl;
104 };
105 #endif
106