41 #include <visp3/core/vpConfig.h>
43 #if defined(VISP_HAVE_OPENCV) && (defined(HAVE_OPENCV_FEATURES2D) || defined(HAVE_OPENCV_FEATURES))
48 #include <visp3/core/vpConvert.h>
58 vpImagePoint vpConvert::keyPointToVpImagePoint(
const cv::KeyPoint &keypoint)
85 vpPoint vpConvert::point3fToVpObjectPoint(
const cv::Point3f &point3f)
101 vpPoint vpConvert::point3fToVpCamPoint(
const cv::Point3f &point3f)
117 vpPoint vpConvert::point3dToVpObjectPoint(
const cv::Point3d &point3d)
133 vpPoint vpConvert::point3dToVpCamPoint(
const cv::Point3d &point3d)
149 cv::Point2f vpConvert::vpImagePointToPoint2f(
const vpImagePoint &point)
151 return cv::Point2f((
float)point.
get_u(), (
float)point.
get_v());
160 cv::Point2d vpConvert::vpImagePointToPoint2d(
const vpImagePoint &point)
162 return cv::Point2d(point.
get_u(), point.
get_v());
173 cv::Point3f vpConvert::vpCamPointToPoint3f(
const vpPoint &point)
175 return cv::Point3f((
float)point.
get_X(), (
float)point.
get_Y(), (
float)point.
get_Z());
186 cv::Point3d vpConvert::vpCamPointToPoint3d(
const vpPoint &point)
198 cv::Point3f vpConvert::vpObjectPointToPoint3f(
const vpPoint &point)
200 return cv::Point3f((
float)point.
get_oX(), (
float)point.
get_oY(), (
float)point.
get_oZ());
210 cv::Point3d vpConvert::vpObjectPointToPoint3d(
const vpPoint &point)
221 int vpConvert::dMatchToTrainIndex(
const cv::DMatch &match) {
return match.trainIdx; }
254 to = point3fToVpCamPoint(from);
257 to = point3fToVpObjectPoint(from);
271 to = point3dToVpCamPoint(from);
274 to = point3dToVpObjectPoint(from);
285 to.resize(from.size());
286 std::transform(from.begin(), from.end(), to.begin(), keyPointToVpImagePoint);
296 to.resize(from.size());
297 std::transform(from.begin(), from.end(), to.begin(), point2fToVpImagePoint);
307 to.resize(from.size());
308 std::transform(from.begin(), from.end(), to.begin(), point2dToVpImagePoint);
320 to.resize(from.size());
322 std::transform(from.begin(), from.end(), to.begin(), point3fToVpCamPoint);
325 std::transform(from.begin(), from.end(), to.begin(), point3fToVpObjectPoint);
338 to.resize(from.size());
340 std::transform(from.begin(), from.end(), to.begin(), point3dToVpCamPoint);
343 std::transform(from.begin(), from.end(), to.begin(), point3dToVpObjectPoint);
359 to.resize(from.size());
360 std::transform(from.begin(), from.end(), to.begin(), dMatchToTrainIndex);
387 to = vpCamPointToPoint3f(from);
390 to = vpObjectPointToPoint3f(from);
404 to = vpCamPointToPoint3d(from);
407 to = vpObjectPointToPoint3d(from);
418 to.resize(from.size());
419 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2f);
429 to.resize(from.size());
430 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2d);
442 to.resize(from.size());
444 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3f);
447 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3f);
460 to.resize(from.size());
462 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3d);
465 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3d);
469 #elif !defined(VISP_BUILD_SHARED_LIBS)
471 void dummy_vpConvert() { };
static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to)
static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
double get_oX() const
Get the point oX coordinate in the object frame.
void set_W(double cW)
Set the point cW coordinate in the camera frame.
void set_oW(double oW)
Set the point oW coordinate in the object frame.
double get_Y() const
Get the point cY coordinate in the camera frame.
double get_oZ() const
Get the point oZ coordinate in the object frame.
void set_oY(double oY)
Set the point oY coordinate in the object frame.
void set_X(double cX)
Set the point cX coordinate in the camera frame.
void set_Y(double cY)
Set the point cY coordinate in the camera frame.
double get_Z() const
Get the point cZ coordinate in the camera frame.
void set_oZ(double oZ)
Set the point oZ coordinate in the object frame.
void set_Z(double cZ)
Set the point cZ coordinate in the camera frame.
void set_oX(double oX)
Set the point oX coordinate in the object frame.
double get_oY() const
Get the point oY coordinate in the object frame.
double get_X() const
Get the point cX coordinate in the camera frame.