Visual Servoing Platform  version 3.6.1 under development (2024-05-16)
testConvert.cpp
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32  * Test functions in vpIoTools.
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35 
44 #include <iostream> // std::cout
45 #include <limits> // std::numeric_limits
46 #include <math.h> // fabs
47 
48 #include <visp3/core/vpConfig.h>
49 #include <visp3/core/vpConvert.h>
50 
51 bool areSame(double a, double b) { return fabs(a - b) < std::numeric_limits<double>::epsilon(); }
52 
53 void testConvertFromImagePointToPoint2f()
54 {
55 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
56  vpImagePoint imPt1(12.5f, .85f);
57  vpImagePoint imPt2(-44.26f, 125.11f);
58  vpImagePoint imPt3(0.0f, -1.756e-10f);
59 
60  cv::Point2f pt1, pt2, pt3;
61  vpConvert::convertToOpenCV(imPt1, pt1);
62  vpConvert::convertToOpenCV(imPt2, pt2);
63  vpConvert::convertToOpenCV(imPt3, pt3);
64 
65  int nbOk = 0, nbNOk = 0;
66  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
67  nbOk++;
68  else
69  nbNOk++;
70  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
71  nbOk++;
72  else
73  nbNOk++;
74  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
75  nbOk++;
76  else
77  nbNOk++;
78 
79  std::vector<vpImagePoint> listOfImPts(3);
80  listOfImPts[0] = imPt1;
81  listOfImPts[1] = imPt2;
82  listOfImPts[2] = imPt3;
83 
84  std::vector<cv::Point2f> listOfPts;
85  vpConvert::convertToOpenCV(listOfImPts, listOfPts);
86 
87  if (listOfImPts.size() == listOfPts.size()) {
88  for (size_t i = 0; i < 3; i++) {
89  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
90  nbOk++;
91  else
92  nbNOk++;
93  }
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 defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
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  }
144  else {
145  nbNOk += 3;
146  }
147 
148  std::cout << "testConvertFromPoint2fToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
149 #endif
150 }
151 
152 void testConvertFromImagePointToPoint2d()
153 {
154 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
155  vpImagePoint imPt1(12.5, .85);
156  vpImagePoint imPt2(-44.26, 125.11);
157  vpImagePoint imPt3(0, -1.756e-10);
158 
159  cv::Point2d pt1, pt2, pt3;
160  vpConvert::convertToOpenCV(imPt1, pt1);
161  vpConvert::convertToOpenCV(imPt2, pt2);
162  vpConvert::convertToOpenCV(imPt3, pt3);
163 
164  int nbOk = 0, nbNOk = 0;
165  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
166  nbOk++;
167  else
168  nbNOk++;
169  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
170  nbOk++;
171  else
172  nbNOk++;
173  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
174  nbOk++;
175  else
176  nbNOk++;
177 
178  std::vector<vpImagePoint> listOfImPts(3);
179  listOfImPts[0] = imPt1;
180  listOfImPts[1] = imPt2;
181  listOfImPts[2] = imPt3;
182 
183  std::vector<cv::Point2d> listOfPts;
184  vpConvert::convertToOpenCV(listOfImPts, listOfPts);
185 
186  if (listOfImPts.size() == listOfPts.size()) {
187  for (size_t i = 0; i < 3; i++) {
188  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
189  nbOk++;
190  else
191  nbNOk++;
192  }
193  }
194  else {
195  nbNOk += 3;
196  }
197 
198  std::cout << "testConvertFromImagePointToPoint2d=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
199 #endif
200 }
201 
202 void testConvertFromPoint2dToImagePoint()
203 {
204 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
205  vpImagePoint imPt1, imPt2, imPt3;
206 
207  cv::Point2d pt1(12.5, .85), pt2(-44.26, 125.11), pt3(0, -1.756e-10);
208  vpConvert::convertFromOpenCV(pt1, imPt1);
209  vpConvert::convertFromOpenCV(pt2, imPt2);
210  vpConvert::convertFromOpenCV(pt3, imPt3);
211 
212  int nbOk = 0, nbNOk = 0;
213  if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
214  nbOk++;
215  else
216  nbNOk++;
217  if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
218  nbOk++;
219  else
220  nbNOk++;
221  if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
222  nbOk++;
223  else
224  nbNOk++;
225 
226  std::vector<vpImagePoint> listOfImPts;
227 
228  std::vector<cv::Point2d> listOfPts(3);
229  listOfPts[0] = pt1;
230  listOfPts[1] = pt2;
231  listOfPts[2] = pt3;
232 
233  vpConvert::convertFromOpenCV(listOfPts, listOfImPts);
234 
235  if (listOfImPts.size() == listOfPts.size()) {
236  for (size_t i = 0; i < 3; i++) {
237  if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
238  nbOk++;
239  else
240  nbNOk++;
241  }
242  }
243  else {
244  nbNOk += 3;
245  }
246 
247  std::cout << "testConvertFromPoint2dToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
248 #endif
249 }
250 
251 void testConvertFromKeyPointToImagePoint()
252 {
253 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
254  cv::KeyPoint kp1(12.5f, .85f, 0), kp2(-44.26f, 125.11f, 0), kp3(0.0f, -1.756e-10f, 0);
255  vpImagePoint imPt1, imPt2, imPt3;
256 
257  vpConvert::convertFromOpenCV(kp1, imPt1);
258  vpConvert::convertFromOpenCV(kp2, imPt2);
259  vpConvert::convertFromOpenCV(kp3, imPt3);
260 
261  int nbOk = 0, nbNOk = 0;
262  if (areSame(imPt1.get_u(), kp1.pt.x) && areSame(imPt1.get_v(), kp1.pt.y))
263  nbOk++;
264  else
265  nbNOk++;
266  if (areSame(imPt2.get_u(), kp2.pt.x) && areSame(imPt2.get_v(), kp2.pt.y))
267  nbOk++;
268  else
269  nbNOk++;
270  if (areSame(imPt3.get_u(), kp3.pt.x) && areSame(imPt3.get_v(), kp3.pt.y))
271  nbOk++;
272  else
273  nbNOk++;
274 
275  std::vector<cv::KeyPoint> listOfKeyPoints(3);
276  listOfKeyPoints[0] = kp1;
277  listOfKeyPoints[1] = kp2;
278  listOfKeyPoints[2] = kp3;
279 
280  std::vector<vpImagePoint> listOfImPts;
281  vpConvert::convertFromOpenCV(listOfKeyPoints, listOfImPts);
282 
283  if (listOfImPts.size() == listOfKeyPoints.size()) {
284  for (size_t i = 0; i < 3; i++) {
285  if (areSame(listOfImPts[i].get_u(), listOfKeyPoints[i].pt.x) &&
286  areSame(listOfImPts[i].get_v(), listOfKeyPoints[i].pt.y))
287  nbOk++;
288  else
289  nbNOk++;
290  }
291  }
292  else {
293  nbNOk += 3;
294  }
295 
296  std::cout << "testConvertFromKeyPointToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
297 #endif
298 }
299 
300 void testConvertFromPoint3fToPoint()
301 {
302 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
303  cv::Point3f pt1(12.5f, .85f, 110.0f), pt2(-44.26f, 125.11f, -98e2f), pt3(0.0f, -1.756e-10f, 0.00015f);
304  vpPoint point1, point2, point3;
305 
306  vpConvert::convertFromOpenCV(pt1, point1);
307  vpConvert::convertFromOpenCV(pt2, point2);
308  vpConvert::convertFromOpenCV(pt3, point3);
309 
310  int nbOk = 0, nbNOk = 0;
311  if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
312  nbOk++;
313  else
314  nbNOk++;
315  if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
316  nbOk++;
317  else
318  nbNOk++;
319  if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
320  nbOk++;
321  else
322  nbNOk++;
323 
324  std::vector<cv::Point3f> listOfPoints3f(3);
325  listOfPoints3f[0] = pt1;
326  listOfPoints3f[1] = pt2;
327  listOfPoints3f[2] = pt3;
328 
329  std::vector<vpPoint> listOfPts;
330  vpConvert::convertFromOpenCV(listOfPoints3f, listOfPts);
331 
332  if (listOfPoints3f.size() == listOfPts.size()) {
333  for (size_t i = 0; i < 3; i++) {
334  if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
335  areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
336  nbOk++;
337  else
338  nbNOk++;
339  }
340  }
341  else {
342  nbNOk += 3;
343  }
344 
345  std::cout << "testConvertFromPoint3fToPoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
346 #endif
347 }
348 
349 void testConvertFromPointToPoint3f()
350 {
351 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
352  cv::Point3f pt1, pt2, pt3;
353  vpPoint point1, point2, point3;
354  point1.set_oX(12.5f);
355  point1.set_oY(.85f);
356  point1.set_oZ(110.0f);
357 
358  point2.set_oX(-44.26f);
359  point2.set_oY(125.11f);
360  point2.set_oZ(-98e2f);
361 
362  point3.set_oX(0.0f);
363  point3.set_oY(-1.756e-10f);
364  point3.set_oZ(0.00015f);
365 
366  vpConvert::convertToOpenCV(point1, pt1);
367  vpConvert::convertToOpenCV(point2, pt2);
368  vpConvert::convertToOpenCV(point3, pt3);
369 
370  int nbOk = 0, nbNOk = 0;
371  if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
372  nbOk++;
373  else
374  nbNOk++;
375  if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
376  nbOk++;
377  else
378  nbNOk++;
379  if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
380  nbOk++;
381  else
382  nbNOk++;
383 
384  std::vector<cv::Point3f> listOfPoints3f;
385  std::vector<vpPoint> listOfPts(3);
386  listOfPts[0] = point1;
387  listOfPts[1] = point2;
388  listOfPts[2] = point3;
389 
390  vpConvert::convertToOpenCV(listOfPts, listOfPoints3f);
391 
392  if (listOfPoints3f.size() == listOfPts.size()) {
393  for (size_t i = 0; i < 3; i++) {
394  if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
395  areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
396  nbOk++;
397  else
398  nbNOk++;
399  }
400  }
401  else {
402  nbNOk += 3;
403  }
404 
405  std::cout << "testConvertFromPointToPoint3f=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
406 #endif
407 }
408 
409 int main()
410 {
411  testConvertFromImagePointToPoint2f();
412  testConvertFromPoint2fToImagePoint();
413  testConvertFromImagePointToPoint2d();
414  testConvertFromPoint2dToImagePoint();
415 
416  testConvertFromKeyPointToImagePoint();
417  testConvertFromPoint3fToPoint();
418  testConvertFromPointToPoint3f();
419  return EXIT_SUCCESS;
420 }
vpConvert::convertFromOpenCV
static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to)
Definition: vpConvert.cpp:224
vpConvert::convertToOpenCV
static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to)
Definition: vpConvert.cpp:364
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
vpImagePoint::get_u
double get_u() const
Definition: vpImagePoint.h:136
vpImagePoint::get_v
double get_v() const
Definition: vpImagePoint.h:147
vpPoint
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
vpPoint::get_oX
double get_oX() const
Get the point oX coordinate in the object frame.
Definition: vpPoint.cpp:454
vpPoint::get_oZ
double get_oZ() const
Get the point oZ coordinate in the object frame.
Definition: vpPoint.cpp:458
vpPoint::set_oY
void set_oY(double oY)
Set the point oY coordinate in the object frame.
Definition: vpPoint.cpp:497
vpPoint::set_oZ
void set_oZ(double oZ)
Set the point oZ coordinate in the object frame.
Definition: vpPoint.cpp:499
vpPoint::set_oX
void set_oX(double oX)
Set the point oX coordinate in the object frame.
Definition: vpPoint.cpp:495
vpPoint::get_oY
double get_oY() const
Get the point oY coordinate in the object frame.
Definition: vpPoint.cpp:456