vpConvert.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
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#include <algorithm> // std::transform
#include <vector>    // std::vector
 
#include <visp3/core/vpConvert.h>
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
BEGIN_VISP_NAMESPACE
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, bool cameraFrame)
{
  if (cameraFrame) {
    to = point3fToVpCamPoint(from);
  }
  else {
    to = point3fToVpObjectPoint(from);
  }
}
 
void vpConvert::convertFromOpenCV(const cv::Point3d &from, vpPoint &to, 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, 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, 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, bool cameraFrame)
{
  if (cameraFrame) {
    to = vpCamPointToPoint3f(from);
  }
  else {
    to = vpObjectPointToPoint3f(from);
  }
}
 
void vpConvert::convertToOpenCV(const vpPoint &from, cv::Point3d &to, 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, 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, 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);
  }
}
END_VISP_NAMESPACE
#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work around to avoid warning: libvisp_core.a(vpConvert.cpp.o) has no symbols
void dummy_vpConvert() { };
#endif