44#include <visp3/core/vpConvert.h>
46#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
54vpImagePoint vpConvert::keyPointToVpImagePoint(
const cv::KeyPoint &keypoint)
81vpPoint vpConvert::point3fToVpObjectPoint(
const cv::Point3f &point3f)
97vpPoint vpConvert::point3fToVpCamPoint(
const cv::Point3f &point3f)
113vpPoint vpConvert::point3dToVpObjectPoint(
const cv::Point3d &point3d)
129vpPoint vpConvert::point3dToVpCamPoint(
const cv::Point3d &point3d)
145cv::Point2f vpConvert::vpImagePointToPoint2f(
const vpImagePoint &point)
147 return cv::Point2f((
float)point.
get_u(), (
float)point.
get_v());
156cv::Point2d vpConvert::vpImagePointToPoint2d(
const vpImagePoint &point)
158 return cv::Point2d(point.
get_u(), point.
get_v());
169cv::Point3f vpConvert::vpCamPointToPoint3f(
const vpPoint &point)
171 return cv::Point3f((
float)point.
get_X(), (
float)point.
get_Y(), (
float)point.
get_Z());
182cv::Point3d vpConvert::vpCamPointToPoint3d(
const vpPoint &point)
194cv::Point3f vpConvert::vpObjectPointToPoint3f(
const vpPoint &point)
196 return cv::Point3f((
float)point.
get_oX(), (
float)point.
get_oY(), (
float)point.
get_oZ());
206cv::Point3d vpConvert::vpObjectPointToPoint3d(
const vpPoint &point)
217int vpConvert::dMatchToTrainIndex(
const cv::DMatch &match) {
return match.trainIdx; }
250 to = point3fToVpCamPoint(from);
252 to = point3fToVpObjectPoint(from);
266 to = point3dToVpCamPoint(from);
268 to = point3dToVpObjectPoint(from);
279 to.resize(from.size());
280 std::transform(from.begin(), from.end(), to.begin(), keyPointToVpImagePoint);
290 to.resize(from.size());
291 std::transform(from.begin(), from.end(), to.begin(), point2fToVpImagePoint);
301 to.resize(from.size());
302 std::transform(from.begin(), from.end(), to.begin(), point2dToVpImagePoint);
314 to.resize(from.size());
316 std::transform(from.begin(), from.end(), to.begin(), point3fToVpCamPoint);
318 std::transform(from.begin(), from.end(), to.begin(), point3fToVpObjectPoint);
331 to.resize(from.size());
333 std::transform(from.begin(), from.end(), to.begin(), point3dToVpCamPoint);
335 std::transform(from.begin(), from.end(), to.begin(), point3dToVpObjectPoint);
351 to.resize(from.size());
352 std::transform(from.begin(), from.end(), to.begin(), dMatchToTrainIndex);
379 to = vpCamPointToPoint3f(from);
381 to = vpObjectPointToPoint3f(from);
395 to = vpCamPointToPoint3d(from);
397 to = vpObjectPointToPoint3d(from);
408 to.resize(from.size());
409 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2f);
419 to.resize(from.size());
420 std::transform(from.begin(), from.end(), to.begin(), vpImagePointToPoint2d);
432 to.resize(from.size());
434 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3f);
436 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3f);
449 to.resize(from.size());
451 std::transform(from.begin(), from.end(), to.begin(), vpCamPointToPoint3d);
453 std::transform(from.begin(), from.end(), to.begin(), vpObjectPointToPoint3d);
456#elif !defined(VISP_BUILD_SHARED_LIBS)
459void 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.