42 #include <visp3/core/vpConfig.h>
44 #if defined(VISP_HAVE_OPENCV) && (defined(HAVE_OPENCV_FEATURES2D) || defined(HAVE_OPENCV_FEATURES))
46 #if defined(HAVE_OPENCV_FEATURES2D)
47 #include <opencv2/features2d/features2d.hpp>
48 #elif defined(HAVE_OPENCV_FEATURES)
49 #include <opencv2/features.hpp>
52 #include <visp3/core/vpImagePoint.h>
53 #include <visp3/core/vpPoint.h>
64 static void convertFromOpenCV(
const cv::KeyPoint &from,
vpImagePoint &to);
65 static void convertFromOpenCV(
const cv::Point2f &from,
vpImagePoint &to);
66 static void convertFromOpenCV(
const cv::Point2d &from,
vpImagePoint &to);
67 static void convertFromOpenCV(
const cv::Point3f &from,
vpPoint &to,
bool cameraFrame =
false);
68 static void convertFromOpenCV(
const cv::Point3d &from,
vpPoint &to,
bool cameraFrame =
false);
70 static void convertFromOpenCV(
const std::vector<cv::KeyPoint> &from, std::vector<vpImagePoint> &to);
71 static void convertFromOpenCV(
const std::vector<cv::Point2f> &from, std::vector<vpImagePoint> &to);
72 static void convertFromOpenCV(
const std::vector<cv::Point2d> &from, std::vector<vpImagePoint> &to);
73 static void convertFromOpenCV(
const std::vector<cv::Point3f> &from, std::vector<vpPoint> &to,
74 bool cameraFrame =
false);
75 static void convertFromOpenCV(
const std::vector<cv::Point3d> &from, std::vector<vpPoint> &to,
76 bool cameraFrame =
false);
77 static void convertFromOpenCV(
const std::vector<cv::DMatch> &from, std::vector<unsigned int> &to);
79 static void convertToOpenCV(
const vpImagePoint &from, cv::Point2f &to);
80 static void convertToOpenCV(
const vpImagePoint &from, cv::Point2d &to);
81 static void convertToOpenCV(
const vpPoint &from, cv::Point3f &to,
bool cameraFrame =
false);
82 static void convertToOpenCV(
const vpPoint &from, cv::Point3d &to,
bool cameraFrame =
false);
84 static void convertToOpenCV(
const std::vector<vpImagePoint> &from, std::vector<cv::Point2f> &to);
85 static void convertToOpenCV(
const std::vector<vpImagePoint> &from, std::vector<cv::Point2d> &to);
86 static void convertToOpenCV(
const std::vector<vpPoint> &from, std::vector<cv::Point3f> &to,
bool cameraFrame =
false);
87 static void convertToOpenCV(
const std::vector<vpPoint> &from, std::vector<cv::Point3d> &to,
bool cameraFrame =
false);
90 static vpImagePoint keyPointToVpImagePoint(
const cv::KeyPoint &keypoint);
91 static vpImagePoint point2fToVpImagePoint(
const cv::Point2f &point);
92 static vpImagePoint point2dToVpImagePoint(
const cv::Point2d &point);
93 static vpPoint point3fToVpObjectPoint(
const cv::Point3f &point3f);
94 static vpPoint point3dToVpObjectPoint(
const cv::Point3d &point3d);
95 static vpPoint point3fToVpCamPoint(
const cv::Point3f &point3f);
96 static vpPoint point3dToVpCamPoint(
const cv::Point3d &point3d);
97 static int dMatchToTrainIndex(
const cv::DMatch &match);
99 static cv::Point2f vpImagePointToPoint2f(
const vpImagePoint &point);
100 static cv::Point2d vpImagePointToPoint2d(
const vpImagePoint &point);
101 static cv::Point3f vpCamPointToPoint3f(
const vpPoint &point);
102 static cv::Point3d vpCamPointToPoint3d(
const vpPoint &point);
103 static cv::Point3f vpObjectPointToPoint3f(
const vpPoint &point);
104 static cv::Point3d vpObjectPointToPoint3d(
const vpPoint &point);
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 ...