vpConvert.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Directory management.
 *
 * Authors:
 * Fabien Spindler
 * Souriya Trinh
 *
 *****************************************************************************/

#include <vector>       // std::vector
#include <algorithm>    // std::transform

#include <visp3/core/vpConvert.h>


#if (VISP_HAVE_OPENCV_VERSION >= 0x020101)

  vpImagePoint vpConvert::keyPointToVpImagePoint(const cv::KeyPoint &keypoint) {
    return vpImagePoint(keypoint.pt.y, keypoint.pt.x);
  }

  vpImagePoint vpConvert::point2fToVpImagePoint(const cv::Point2f &point) {
    return vpImagePoint(point.y, point.x);
  }

  vpImagePoint vpConvert::point2dToVpImagePoint(const cv::Point2d &point) {
    return vpImagePoint(point.y, point.x);
  }

  vpPoint vpConvert::point3fToVpObjectPoint(const cv::Point3f &point3f) {
    vpPoint pt;
    pt.set_oX(point3f.x);
    pt.set_oY(point3f.y);
    pt.set_oZ(point3f.z);
    pt.set_oW(1.0);
    return pt;
  }

  vpPoint vpConvert::point3fToVpCamPoint(const cv::Point3f &point3f) {
    vpPoint pt;
    pt.set_X(point3f.x);
    pt.set_Y(point3f.y);
    pt.set_Z(point3f.z);
    pt.set_W(1.0);
    return pt;
  }

  vpPoint vpConvert::point3dToVpObjectPoint(const cv::Point3d &point3d) {
    vpPoint pt;
    pt.set_oX(point3d.x);
    pt.set_oY(point3d.y);
    pt.set_oZ(point3d.z);
    pt.set_oW(1.0);
    return pt;
  }

  vpPoint vpConvert::point3dToVpCamPoint(const cv::Point3d &point3d) {
    vpPoint pt;
    pt.set_X(point3d.x);
    pt.set_Y(point3d.y);
    pt.set_Z(point3d.z);
    pt.set_W(1.0);
    return pt;
  }

  cv::Point2f vpConvert::vpImagePointToPoint2f(const vpImagePoint &point) {
    return cv::Point2f((float) point.get_u(), (float) point.get_v());
  }

  cv::Point2d vpConvert::vpImagePointToPoint2d(const vpImagePoint &point) {
    return cv::Point2d(point.get_u(), point.get_v());
  }

  cv::Point3f vpConvert::vpCamPointToPoint3f(const vpPoint &point) {
    return cv::Point3f((float) point.get_X(), (float) point.get_Y(), (float) point.get_Z());
  }

  cv::Point3d vpConvert::vpCamPointToPoint3d(const vpPoint &point) {
    return cv::Point3d(point.get_X(), point.get_Y(), point.get_Z());
  }

  cv::Point3f vpConvert::vpObjectPointToPoint3f(const vpPoint &point) {
    return cv::Point3f((float) point.get_oX(), (float) point.get_oY(), (float) point.get_oZ());
  }

  cv::Point3d vpConvert::vpObjectPointToPoint3d(const vpPoint &point) {
    return cv::Point3d(point.get_oX(), point.get_oY(), point.get_oZ());
  }

  int vpConvert::dMatchToTrainIndex(const cv::DMatch &match) {
    return match.trainIdx;
  }


  void vpConvert::convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to) {
    to = keyPointToVpImagePoint(from);
  }

  void vpConvert::convertFromOpenCV(const cv::Point2f &from, vpImagePoint &to) {
    to = point2fToVpImagePoint(from);
  }

  void vpConvert::convertFromOpenCV(const cv::Point2d &from, vpImagePoint &to) {
    to = point2dToVpImagePoint(from);
  }

  void vpConvert::convertFromOpenCV(const cv::Point3f &from, vpPoint &to, const bool cameraFrame) {
    if(cameraFrame) {
      to = point3fToVpCamPoint(from);
    } else {
      to = point3fToVpObjectPoint(from);
    }
  }

  void vpConvert::convertFromOpenCV(const cv::Point3d &from, vpPoint &to, const bool cameraFrame) {
    if(cameraFrame) {
      to = point3dToVpCamPoint(from);
    } else {
      to = point3dToVpObjectPoint(from);
    }
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::KeyPoint> &from, std::vector<vpImagePoint> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), keyPointToVpImagePoint);
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::Point2f> &from, std::vector<vpImagePoint> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), point2fToVpImagePoint);
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::Point2d> &from, std::vector<vpImagePoint> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), point2dToVpImagePoint);
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::Point3f> &from, std::vector<vpPoint> &to, const bool cameraFrame) {
    to.resize(from.size());
    if(cameraFrame) {
      std::transform(from.begin(), from.end(), to.begin(), point3fToVpCamPoint);
    } else {
      std::transform(from.begin(), from.end(), to.begin(), point3fToVpObjectPoint);
    }
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::Point3d> &from, std::vector<vpPoint> &to, const bool cameraFrame) {
    to.resize(from.size());
    if(cameraFrame) {
      std::transform(from.begin(), from.end(), to.begin(), point3dToVpCamPoint);
    } else {
      std::transform(from.begin(), from.end(), to.begin(), point3dToVpObjectPoint);
    }
  }

  void vpConvert::convertFromOpenCV(const std::vector<cv::DMatch> &from, std::vector<unsigned int> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), dMatchToTrainIndex);
  }

  void vpConvert::convertToOpenCV(const vpImagePoint &from, cv::Point2f &to) {
    to = vpImagePointToPoint2f(from);
  }

  void vpConvert::convertToOpenCV(const vpImagePoint &from, cv::Point2d &to) {
    to = vpImagePointToPoint2d(from);
  }

  void vpConvert::convertToOpenCV(const vpPoint &from, cv::Point3f &to, const bool cameraFrame) {
    if(cameraFrame) {
      to = vpCamPointToPoint3f(from);
    } else {
      to = vpObjectPointToPoint3f(from);
    }
  }

  void vpConvert::convertToOpenCV(const vpPoint &from, cv::Point3d &to, const bool cameraFrame) {
    if(cameraFrame) {
      to = vpCamPointToPoint3d(from);
    } else {
      to = vpObjectPointToPoint3d(from);
    }
  }

  void vpConvert::convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2f> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2f);
  }

  void vpConvert::convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2d> &to) {
    to.resize(from.size());
    std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2d);
  }

  void vpConvert::convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3f> &to, const bool cameraFrame) {
    to.resize(from.size());
    if(cameraFrame) {
      std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3f);
    } else {
      std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3f);
    }
  }

  void vpConvert::convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3d> &to, const bool cameraFrame) {
    to.resize(from.size());
    if(cameraFrame) {
      std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3d);
    } else {
      std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3d);
    }
  }
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_core.a(vpConvert.cpp.o) has no symbols
void dummy_vpConvert() {};
#endif