Visual Servoing Platform  version 3.4.0
testConvert.cpp
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30  *
31  * Description:
32  * Test functions in vpIoTools.
33  *
34  * Authors:
35  * Souriya Trinh
36  *
37  *****************************************************************************/
38 
47 #include <iostream> // std::cout
48 #include <limits> // std::numeric_limits
49 #include <visp3/core/vpConfig.h>
50 #include <visp3/core/vpConvert.h>
51 
52 bool areSame(double a, double b) { return fabs(a - b) < std::numeric_limits<double>::epsilon(); }
53 
54 void testConvertFromImagePointToPoint2f()
55 {
56 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
57  vpImagePoint imPt1(12.5f, .85f);
58  vpImagePoint imPt2(-44.26f, 125.11f);
59  vpImagePoint imPt3(0.0f, -1.756e-10f);
60 
61  cv::Point2f pt1, pt2, pt3;
62  vpConvert::convertToOpenCV(imPt1, pt1);
63  vpConvert::convertToOpenCV(imPt2, pt2);
64  vpConvert::convertToOpenCV(imPt3, pt3);
65 
66  int nbOk = 0, nbNOk = 0;
67  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
68  nbOk++;
69  else
70  nbNOk++;
71  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
72  nbOk++;
73  else
74  nbNOk++;
75  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
76  nbOk++;
77  else
78  nbNOk++;
79 
80  std::vector<vpImagePoint> listOfImPts(3);
81  listOfImPts[0] = imPt1;
82  listOfImPts[1] = imPt2;
83  listOfImPts[2] = imPt3;
84 
85  std::vector<cv::Point2f> listOfPts;
86  vpConvert::convertToOpenCV(listOfImPts, listOfPts);
87 
88  if (listOfImPts.size() == listOfPts.size()) {
89  for (size_t i = 0; i < 3; i++) {
90  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
91  nbOk++;
92  else
93  nbNOk++;
94  }
95  } else {
96  nbNOk += 3;
97  }
98 
99  std::cout << "testConvertFromImagePointToPoint2f=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
100 #endif
101 }
102 
103 void testConvertFromPoint2fToImagePoint()
104 {
105 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
106  vpImagePoint imPt1, imPt2, imPt3;
107 
108  cv::Point2f pt1(12.5f, .85f), pt2(-44.26f, 125.11f), pt3(0.0f, -1.756e-10f);
109  vpConvert::convertFromOpenCV(pt1, imPt1);
110  vpConvert::convertFromOpenCV(pt2, imPt2);
111  vpConvert::convertFromOpenCV(pt3, imPt3);
112 
113  int nbOk = 0, nbNOk = 0;
114  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
115  nbOk++;
116  else
117  nbNOk++;
118  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
119  nbOk++;
120  else
121  nbNOk++;
122  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
123  nbOk++;
124  else
125  nbNOk++;
126 
127  std::vector<vpImagePoint> listOfImPts;
128 
129  std::vector<cv::Point2f> listOfPts(3);
130  listOfPts[0] = pt1;
131  listOfPts[1] = pt2;
132  listOfPts[2] = pt3;
133 
134  vpConvert::convertFromOpenCV(listOfPts, listOfImPts);
135 
136  if (listOfImPts.size() == listOfPts.size()) {
137  for (size_t i = 0; i < 3; i++) {
138  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
139  nbOk++;
140  else
141  nbNOk++;
142  }
143  } else {
144  nbNOk += 3;
145  }
146 
147  std::cout << "testConvertFromPoint2fToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
148 #endif
149 }
150 
151 void testConvertFromImagePointToPoint2d()
152 {
153 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
154  vpImagePoint imPt1(12.5, .85);
155  vpImagePoint imPt2(-44.26, 125.11);
156  vpImagePoint imPt3(0, -1.756e-10);
157 
158  cv::Point2d pt1, pt2, pt3;
159  vpConvert::convertToOpenCV(imPt1, pt1);
160  vpConvert::convertToOpenCV(imPt2, pt2);
161  vpConvert::convertToOpenCV(imPt3, pt3);
162 
163  int nbOk = 0, nbNOk = 0;
164  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
165  nbOk++;
166  else
167  nbNOk++;
168  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
169  nbOk++;
170  else
171  nbNOk++;
172  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
173  nbOk++;
174  else
175  nbNOk++;
176 
177  std::vector<vpImagePoint> listOfImPts(3);
178  listOfImPts[0] = imPt1;
179  listOfImPts[1] = imPt2;
180  listOfImPts[2] = imPt3;
181 
182  std::vector<cv::Point2d> listOfPts;
183  vpConvert::convertToOpenCV(listOfImPts, listOfPts);
184 
185  if (listOfImPts.size() == listOfPts.size()) {
186  for (size_t i = 0; i < 3; i++) {
187  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
188  nbOk++;
189  else
190  nbNOk++;
191  }
192  } else {
193  nbNOk += 3;
194  }
195 
196  std::cout << "testConvertFromImagePointToPoint2d=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
197 #endif
198 }
199 
200 void testConvertFromPoint2dToImagePoint()
201 {
202 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
203  vpImagePoint imPt1, imPt2, imPt3;
204 
205  cv::Point2d pt1(12.5, .85), pt2(-44.26, 125.11), pt3(0, -1.756e-10);
206  vpConvert::convertFromOpenCV(pt1, imPt1);
207  vpConvert::convertFromOpenCV(pt2, imPt2);
208  vpConvert::convertFromOpenCV(pt3, imPt3);
209 
210  int nbOk = 0, nbNOk = 0;
211  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
212  nbOk++;
213  else
214  nbNOk++;
215  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
216  nbOk++;
217  else
218  nbNOk++;
219  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
220  nbOk++;
221  else
222  nbNOk++;
223 
224  std::vector<vpImagePoint> listOfImPts;
225 
226  std::vector<cv::Point2d> listOfPts(3);
227  listOfPts[0] = pt1;
228  listOfPts[1] = pt2;
229  listOfPts[2] = pt3;
230 
231  vpConvert::convertFromOpenCV(listOfPts, listOfImPts);
232 
233  if (listOfImPts.size() == listOfPts.size()) {
234  for (size_t i = 0; i < 3; i++) {
235  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
236  nbOk++;
237  else
238  nbNOk++;
239  }
240  } else {
241  nbNOk += 3;
242  }
243 
244  std::cout << "testConvertFromPoint2dToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
245 #endif
246 }
247 
248 void testConvertFromKeyPointToImagePoint()
249 {
250 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
251  cv::KeyPoint kp1(12.5f, .85f, 0), kp2(-44.26f, 125.11f, 0), kp3(0.0f, -1.756e-10f, 0);
252  vpImagePoint imPt1, imPt2, imPt3;
253 
254  vpConvert::convertFromOpenCV(kp1, imPt1);
255  vpConvert::convertFromOpenCV(kp2, imPt2);
256  vpConvert::convertFromOpenCV(kp3, imPt3);
257 
258  int nbOk = 0, nbNOk = 0;
259  if (areSame(imPt1.get_u(), kp1.pt.x) && areSame(imPt1.get_v(), kp1.pt.y))
260  nbOk++;
261  else
262  nbNOk++;
263  if (areSame(imPt2.get_u(), kp2.pt.x) && areSame(imPt2.get_v(), kp2.pt.y))
264  nbOk++;
265  else
266  nbNOk++;
267  if (areSame(imPt3.get_u(), kp3.pt.x) && areSame(imPt3.get_v(), kp3.pt.y))
268  nbOk++;
269  else
270  nbNOk++;
271 
272  std::vector<cv::KeyPoint> listOfKeyPoints(3);
273  listOfKeyPoints[0] = kp1;
274  listOfKeyPoints[1] = kp2;
275  listOfKeyPoints[2] = kp3;
276 
277  std::vector<vpImagePoint> listOfImPts;
278  vpConvert::convertFromOpenCV(listOfKeyPoints, listOfImPts);
279 
280  if (listOfImPts.size() == listOfKeyPoints.size()) {
281  for (size_t i = 0; i < 3; i++) {
282  if (areSame(listOfImPts[i].get_u(), listOfKeyPoints[i].pt.x) &&
283  areSame(listOfImPts[i].get_v(), listOfKeyPoints[i].pt.y))
284  nbOk++;
285  else
286  nbNOk++;
287  }
288  } else {
289  nbNOk += 3;
290  }
291 
292  std::cout << "testConvertFromKeyPointToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
293 #endif
294 }
295 
296 void testConvertFromPoint3fToPoint()
297 {
298 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
299  cv::Point3f pt1(12.5f, .85f, 110.0f), pt2(-44.26f, 125.11f, -98e2f), pt3(0.0f, -1.756e-10f, 0.00015f);
300  vpPoint point1, point2, point3;
301 
302  vpConvert::convertFromOpenCV(pt1, point1);
303  vpConvert::convertFromOpenCV(pt2, point2);
304  vpConvert::convertFromOpenCV(pt3, point3);
305 
306  int nbOk = 0, nbNOk = 0;
307  if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
308  nbOk++;
309  else
310  nbNOk++;
311  if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
312  nbOk++;
313  else
314  nbNOk++;
315  if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
316  nbOk++;
317  else
318  nbNOk++;
319 
320  std::vector<cv::Point3f> listOfPoints3f(3);
321  listOfPoints3f[0] = pt1;
322  listOfPoints3f[1] = pt2;
323  listOfPoints3f[2] = pt3;
324 
325  std::vector<vpPoint> listOfPts;
326  vpConvert::convertFromOpenCV(listOfPoints3f, listOfPts);
327 
328  if (listOfPoints3f.size() == listOfPts.size()) {
329  for (size_t i = 0; i < 3; i++) {
330  if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
331  areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
332  nbOk++;
333  else
334  nbNOk++;
335  }
336  } else {
337  nbNOk += 3;
338  }
339 
340  std::cout << "testConvertFromPoint3fToPoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
341 #endif
342 }
343 
344 void testConvertFromPointToPoint3f()
345 {
346 #if (VISP_HAVE_OPENCV_VERSION >= 0x020101)
347  cv::Point3f pt1, pt2, pt3;
348  vpPoint point1, point2, point3;
349  point1.set_oX(12.5f);
350  point1.set_oY(.85f);
351  point1.set_oZ(110.0f);
352 
353  point2.set_oX(-44.26f);
354  point2.set_oY(125.11f);
355  point2.set_oZ(-98e2f);
356 
357  point3.set_oX(0.0f);
358  point3.set_oY(-1.756e-10f);
359  point3.set_oZ(0.00015f);
360 
361  vpConvert::convertToOpenCV(point1, pt1);
362  vpConvert::convertToOpenCV(point2, pt2);
363  vpConvert::convertToOpenCV(point3, pt3);
364 
365  int nbOk = 0, nbNOk = 0;
366  if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
367  nbOk++;
368  else
369  nbNOk++;
370  if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
371  nbOk++;
372  else
373  nbNOk++;
374  if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
375  nbOk++;
376  else
377  nbNOk++;
378 
379  std::vector<cv::Point3f> listOfPoints3f;
380  std::vector<vpPoint> listOfPts(3);
381  listOfPts[0] = point1;
382  listOfPts[1] = point2;
383  listOfPts[2] = point3;
384 
385  vpConvert::convertToOpenCV(listOfPts, listOfPoints3f);
386 
387  if (listOfPoints3f.size() == listOfPts.size()) {
388  for (size_t i = 0; i < 3; i++) {
389  if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
390  areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
391  nbOk++;
392  else
393  nbNOk++;
394  }
395  } else {
396  nbNOk += 3;
397  }
398 
399  std::cout << "testConvertFromPointToPoint3f=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
400 #endif
401 }
402 
403 int main()
404 {
405  testConvertFromImagePointToPoint2f();
406  testConvertFromPoint2fToImagePoint();
407  testConvertFromImagePointToPoint2d();
408  testConvertFromPoint2dToImagePoint();
409 
410  testConvertFromKeyPointToImagePoint();
411  testConvertFromPoint3fToPoint();
412  testConvertFromPointToPoint3f();
413  return 0;
414 }
vpImagePoint::get_v
double get_v() const
Definition: vpImagePoint.h:273
vpImagePoint::get_u
double get_u() const
Definition: vpImagePoint.h:262
vpPoint::get_oY
double get_oY() const
Get the point oY coordinate in the object frame.
Definition: vpPoint.cpp:449
vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:81
vpConvert::convertToOpenCV
static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to)
Definition: vpConvert.cpp:364
vpPoint::set_oY
void set_oY(double oY)
Set the point oY coordinate in the object frame.
Definition: vpPoint.cpp:490
vpPoint::get_oZ
double get_oZ() const
Get the point oZ coordinate in the object frame.
Definition: vpPoint.cpp:451
vpPoint::get_oX
double get_oX() const
Get the point oX coordinate in the object frame.
Definition: vpPoint.cpp:447
vpPoint::set_oZ
void set_oZ(double oZ)
Set the point oZ coordinate in the object frame.
Definition: vpPoint.cpp:492
vpPoint::set_oX
void set_oX(double oX)
Set the point oX coordinate in the object frame.
Definition: vpPoint.cpp:488
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpConvert::convertFromOpenCV
static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to)
Definition: vpConvert.cpp:226