vpConvert.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * 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
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Directory management.
 */

 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_OPENCV) && (defined(HAVE_OPENCV_FEATURES2D) || defined(HAVE_OPENCV_FEATURES))
 
#include <algorithm> // std::transform
#include <vector>    // std::vector
 
#include <visp3/core/vpConvert.h>
 
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(static_cast<float>(point.get_u()), static_cast<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(static_cast<float>(point.get_X()), static_cast<float>(point.get_Y()), static_cast<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(static_cast<float>(point.get_oX()), static_cast<float>(point.get_oY()), static_cast<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