Visual Servoing Platform version 3.6.0
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vpConvert.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Directory management.
32 */
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
55class VISP_EXPORT vpConvert
56{
57public:
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
83private:
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 ...
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77