44 #include <visp3/core/vpConvert.h>
46 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
54 vpImagePoint vpConvert::keyPointToVpImagePoint(
const cv::KeyPoint &keypoint)
81 vpPoint vpConvert::point3fToVpObjectPoint(
const cv::Point3f &point3f)
97 vpPoint vpConvert::point3fToVpCamPoint(
const cv::Point3f &point3f)
113 vpPoint vpConvert::point3dToVpObjectPoint(
const cv::Point3d &point3d)
129 vpPoint vpConvert::point3dToVpCamPoint(
const cv::Point3d &point3d)
145 cv::Point2f vpConvert::vpImagePointToPoint2f(
const vpImagePoint &point)
147 return cv::Point2f((
float)point.
get_u(), (
float)point.
get_v());
156 cv::Point2d vpConvert::vpImagePointToPoint2d(
const vpImagePoint &point)
158 return cv::Point2d(point.
get_u(), point.
get_v());
169 cv::Point3f vpConvert::vpCamPointToPoint3f(
const vpPoint &point)
171 return cv::Point3f((
float)point.
get_X(), (
float)point.
get_Y(), (
float)point.
get_Z());
182 cv::Point3d vpConvert::vpCamPointToPoint3d(
const vpPoint &point)
194 cv::Point3f vpConvert::vpObjectPointToPoint3f(
const vpPoint &point)
196 return cv::Point3f((
float)point.
get_oX(), (
float)point.
get_oY(), (
float)point.
get_oZ());
206 cv::Point3d vpConvert::vpObjectPointToPoint3d(
const vpPoint &point)
217 int vpConvert::dMatchToTrainIndex(
const cv::DMatch &match) {
return match.trainIdx; }
250 to = point3fToVpCamPoint(from);
253 to = point3fToVpObjectPoint(from);
267 to = point3dToVpCamPoint(from);
270 to = point3dToVpObjectPoint(from);
281 to.resize(from.size());
282 std::transform(from.begin(), from.end(), to.begin(), keyPointToVpImagePoint);
292 to.resize(from.size());
293 std::transform(from.begin(), from.end(), to.begin(), point2fToVpImagePoint);
303 to.resize(from.size());
304 std::transform(from.begin(), from.end(), to.begin(), point2dToVpImagePoint);
316 to.resize(from.size());
318 std::transform(from.begin(), from.end(), to.begin(), point3fToVpCamPoint);
321 std::transform(from.begin(), from.end(), to.begin(), point3fToVpObjectPoint);
334 to.resize(from.size());
336 std::transform(from.begin(), from.end(), to.begin(), point3dToVpCamPoint);
339 std::transform(from.begin(), from.end(), to.begin(), point3dToVpObjectPoint);
355 to.resize(from.size());
356 std::transform(from.begin(), from.end(), to.begin(), dMatchToTrainIndex);
383 to = vpCamPointToPoint3f(from);
386 to = vpObjectPointToPoint3f(from);
400 to = vpCamPointToPoint3d(from);
403 to = vpObjectPointToPoint3d(from);
414 to.resize(from.size());
415 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2f);
425 to.resize(from.size());
426 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2d);
438 to.resize(from.size());
440 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3f);
443 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3f);
456 to.resize(from.size());
458 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3d);
461 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3d);
464 #elif !defined(VISP_BUILD_SHARED_LIBS)
466 void dummy_vpConvert() { };
static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to)
static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
double get_oX() const
Get the point oX coordinate in the object frame.
void set_W(double cW)
Set the point cW coordinate in the camera frame.
void set_oW(double oW)
Set the point oW coordinate in the object frame.
double get_Y() const
Get the point cY coordinate in the camera frame.
double get_oZ() const
Get the point oZ coordinate in the object frame.
void set_oY(double oY)
Set the point oY coordinate in the object frame.
void set_X(double cX)
Set the point cX coordinate in the camera frame.
void set_Y(double cY)
Set the point cY coordinate in the camera frame.
double get_Z() const
Get the point cZ coordinate in the camera frame.
void set_oZ(double oZ)
Set the point oZ coordinate in the object frame.
void set_Z(double cZ)
Set the point cZ coordinate in the camera frame.
void set_oX(double oX)
Set the point oX coordinate in the object frame.
double get_oY() const
Get the point oY coordinate in the object frame.
double get_X() const
Get the point cX coordinate in the camera frame.