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vpConvert.h
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28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Directory management.
32  *
33  * Authors:
34  * Fabien Spindler
35  * Souriya Trinh
36  *
37  *****************************************************************************/
38 
39 
40 #ifndef __vpConvert_h__
41 #define __vpConvert_h__
42 
48 #include <visp3/core/vpConfig.h>
49 
50 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
51  #include <opencv2/core/core.hpp>
52  #include <opencv2/features2d/features2d.hpp>
53 #endif
54 
55 #include <visp3/core/vpImagePoint.h>
56 #include <visp3/core/vpPoint.h>
57 
63 class VISP_EXPORT vpConvert
64 {
65 
66 public:
67 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
68  static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to);
69  static void convertFromOpenCV(const cv::Point2f &from, vpImagePoint &to);
70  static void convertFromOpenCV(const cv::Point2d &from, vpImagePoint &to);
71  static void convertFromOpenCV(const cv::Point3f &from, vpPoint &to, const bool cameraFrame=false);
72  static void convertFromOpenCV(const cv::Point3d &from, vpPoint &to, const bool cameraFrame=false);
73 
74  static void convertFromOpenCV(const std::vector<cv::KeyPoint> &from, std::vector<vpImagePoint> &to);
75  static void convertFromOpenCV(const std::vector<cv::Point2f> &from, std::vector<vpImagePoint> &to);
76  static void convertFromOpenCV(const std::vector<cv::Point2d> &from, std::vector<vpImagePoint> &to);
77  static void convertFromOpenCV(const std::vector<cv::Point3f> &from, std::vector<vpPoint> &to, const bool cameraFrame=false);
78  static void convertFromOpenCV(const std::vector<cv::Point3d> &from, std::vector<vpPoint> &to, const bool cameraFrame=false);
79  static void convertFromOpenCV(const std::vector<cv::DMatch> &from, std::vector<unsigned int> &to);
80 
81  static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to);
82  static void convertToOpenCV(const vpImagePoint &from, cv::Point2d &to);
83  static void convertToOpenCV(const vpPoint &from, cv::Point3f &to, const bool cameraFrame=false);
84  static void convertToOpenCV(const vpPoint &from, cv::Point3d &to, const bool cameraFrame=false);
85 
86  static void convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2f> &to);
87  static void convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2d> &to);
88  static void convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3f> &to, const bool cameraFrame=false);
89  static void convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3d> &to, const bool cameraFrame=false);
90 
91 private:
92  static vpImagePoint keyPointToVpImagePoint(const cv::KeyPoint &keypoint);
93  static vpImagePoint point2fToVpImagePoint(const cv::Point2f &point);
94  static vpImagePoint point2dToVpImagePoint(const cv::Point2d &point);
95  static vpPoint point3fToVpObjectPoint(const cv::Point3f &point3f);
96  static vpPoint point3dToVpObjectPoint(const cv::Point3d &point3d);
97  static vpPoint point3fToVpCamPoint(const cv::Point3f &point3f);
98  static vpPoint point3dToVpCamPoint(const cv::Point3d &point3d);
99  static int dMatchToTrainIndex(const cv::DMatch &match);
100 
101  static cv::Point2f vpImagePointToPoint2f(const vpImagePoint &point);
102  static cv::Point2d vpImagePointToPoint2d(const vpImagePoint &point);
103  static cv::Point3f vpCamPointToPoint3f(const vpPoint &point);
104  static cv::Point3d vpCamPointToPoint3d(const vpPoint &point);
105  static cv::Point3f vpObjectPointToPoint3f(const vpPoint &point);
106  static cv::Point3d vpObjectPointToPoint3d(const vpPoint &point);
107 
108 #endif
109 
110 };
111 
112 #endif
Class that defines what is a point.
Definition: vpPoint.h:59
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88