Visual Servoing Platform  version 3.6.1 under development (2024-04-16)
vpConvert.h
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33 
34 #ifndef _vpConvert_h_
35 #define _vpConvert_h_
36 
42 #include <visp3/core/vpConfig.h>
43 
44 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
45 #include <opencv2/features2d/features2d.hpp>
46 
47 #include <visp3/core/vpImagePoint.h>
48 #include <visp3/core/vpPoint.h>
49 
55 class VISP_EXPORT vpConvert
56 {
57 public:
58  static void convertFromOpenCV(const cv::KeyPoint &from, vpImagePoint &to);
59  static void convertFromOpenCV(const cv::Point2f &from, vpImagePoint &to);
60  static void convertFromOpenCV(const cv::Point2d &from, vpImagePoint &to);
61  static void convertFromOpenCV(const cv::Point3f &from, vpPoint &to, bool cameraFrame = false);
62  static void convertFromOpenCV(const cv::Point3d &from, vpPoint &to, bool cameraFrame = false);
63 
64  static void convertFromOpenCV(const std::vector<cv::KeyPoint> &from, std::vector<vpImagePoint> &to);
65  static void convertFromOpenCV(const std::vector<cv::Point2f> &from, std::vector<vpImagePoint> &to);
66  static void convertFromOpenCV(const std::vector<cv::Point2d> &from, std::vector<vpImagePoint> &to);
67  static void convertFromOpenCV(const std::vector<cv::Point3f> &from, std::vector<vpPoint> &to,
68  bool cameraFrame = false);
69  static void convertFromOpenCV(const std::vector<cv::Point3d> &from, std::vector<vpPoint> &to,
70  bool cameraFrame = false);
71  static void convertFromOpenCV(const std::vector<cv::DMatch> &from, std::vector<unsigned int> &to);
72 
73  static void convertToOpenCV(const vpImagePoint &from, cv::Point2f &to);
74  static void convertToOpenCV(const vpImagePoint &from, cv::Point2d &to);
75  static void convertToOpenCV(const vpPoint &from, cv::Point3f &to, bool cameraFrame = false);
76  static void convertToOpenCV(const vpPoint &from, cv::Point3d &to, bool cameraFrame = false);
77 
78  static void convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2f> &to);
79  static void convertToOpenCV(const std::vector<vpImagePoint> &from, std::vector<cv::Point2d> &to);
80  static void convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3f> &to, bool cameraFrame = false);
81  static void convertToOpenCV(const std::vector<vpPoint> &from, std::vector<cv::Point3d> &to, bool cameraFrame = false);
82 
83 private:
84  static vpImagePoint keyPointToVpImagePoint(const cv::KeyPoint &keypoint);
85  static vpImagePoint point2fToVpImagePoint(const cv::Point2f &point);
86  static vpImagePoint point2dToVpImagePoint(const cv::Point2d &point);
87  static vpPoint point3fToVpObjectPoint(const cv::Point3f &point3f);
88  static vpPoint point3dToVpObjectPoint(const cv::Point3d &point3d);
89  static vpPoint point3fToVpCamPoint(const cv::Point3f &point3f);
90  static vpPoint point3dToVpCamPoint(const cv::Point3d &point3d);
91  static int dMatchToTrainIndex(const cv::DMatch &match);
92 
93  static cv::Point2f vpImagePointToPoint2f(const vpImagePoint &point);
94  static cv::Point2d vpImagePointToPoint2d(const vpImagePoint &point);
95  static cv::Point3f vpCamPointToPoint3f(const vpPoint &point);
96  static cv::Point3d vpCamPointToPoint3d(const vpPoint &point);
97  static cv::Point3f vpObjectPointToPoint3f(const vpPoint &point);
98  static cv::Point3d vpObjectPointToPoint3d(const vpPoint &point);
99 
100 };
101 
102 #endif
103 #endif
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77