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/************************************************************************
*
* Copyright (C) 2018-2023 IRCAD France
* Copyright (C) 2018 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "matrix.hpp"
#include <opencv2/calib3d.hpp>
namespace sight::io::opencv
{
//-----------------------------------------------------------------------------
void matrix::copy_from_cv(const cv::Matx44d& _src, data::matrix4::sptr& _dst)
{
SIGHT_ASSERT("sight::data::matrix4 is null", _dst);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
(*_dst)(i, j) = _src(i, j);
}
}
}
//-----------------------------------------------------------------------------
void matrix::copy_to_cv(const data::matrix4::csptr& _src, cv::Matx44d& _dst)
{
SIGHT_ASSERT("sight::data::matrix4 is null", _src);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
_dst(i, j) = (*_src)(i, j);
}
}
}
//-----------------------------------------------------------------------------
void matrix::copy_from_cv(const cv::Matx44f& _src, data::matrix4::sptr& _dst)
{
SIGHT_ASSERT("sight::data::matrix4 is null", _dst);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
(*_dst)(i, j) = static_cast<double>(_src(i, j));
}
}
}
//-----------------------------------------------------------------------------
void matrix::copy_to_cv(const data::matrix4::csptr& _src, cv::Matx44f& _dst)
{
SIGHT_ASSERT("sight::data::matrix4 is null", _src);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
_dst(i, j) = static_cast<float>((*_src)(i, j));
}
}
}
//-----------------------------------------------------------------------------
void matrix::copy_from_cv(const cv::Mat& _rvec, const cv::Mat& _tvec, data::matrix4::sptr& _dst)
{
// Check validity of _rvec & _tvec.
SIGHT_ASSERT("Rotation vector 'rvec' should be of size 1x3", _rvec.size().width == 1 && _rvec.size().height == 3);
SIGHT_ASSERT("Rotation vector 'tvec' should be of size 1x3", _tvec.size().width == 1 && _tvec.size().height == 3);
SIGHT_ASSERT(
"Could not convert opencv matrix with multi-channels",
_rvec.channels() == 1 && _tvec.channels() == 1
);
// Check that _dst has correctly been initialized.
SIGHT_ASSERT("sight::data::matrix4 is null", _dst);
SIGHT_WARN_IF(
"OpenCV matrices has non-double type but will be cast in 'double'.",
_rvec.type() != CV_64F || _tvec.type() != CV_64F
);
cv::Mat d_rvec;
cv::Mat d_tvec;
_rvec.convertTo(d_rvec, CV_64F);
_tvec.convertTo(d_tvec, CV_64F);
cv::Mat r_mat;
cv::Rodrigues(d_rvec, r_mat);
for(std::uint8_t i = 0 ; i < 3 ; ++i)
{
for(std::uint8_t j = 0 ; j < 3 ; ++j)
{
(*_dst)(i, j) = r_mat.at<double>(i, j);
}
(*_dst)(i, 3) = d_tvec.at<double>(i);
}
}
//-----------------------------------------------------------------------------
void matrix::copy_to_cv(const data::matrix4::csptr& _src, cv::Mat& _rvec, cv::Mat& _tvec)
{
// Check that _src is not null.
SIGHT_ASSERT("sight::data::matrix4 is null", _src);
cv::Mat mat4x4;
// reinitialize _R & _T.
_rvec = cv::Mat(1, 3, CV_64F);
_tvec = cv::Mat(1, 3, CV_64F);
// First convert Sight to OpenCV 4x4 matrix.
copy_to_cv(_src, mat4x4);
// Extract translation (_tvec) from mat4x4.
_tvec = mat4x4(cv::Rect(3, 0, 1, 3));
// Convert to rotation vector.
cv::Rodrigues(mat4x4(cv::Rect(0, 0, 3, 3)), _rvec);
}
//-----------------------------------------------------------------------------
void matrix::copy_from_cv(const cv::Mat& _src, data::matrix4::sptr& _dst)
{
SIGHT_ASSERT("Size of OpenCV matrix should be 4x4", _src.cols == 4 && _src.rows == 4);
SIGHT_ASSERT("Could not convert opencv matrix with multi-channels", _src.channels() == 1);
SIGHT_ASSERT("sight::data::matrix4 is null", _dst);
SIGHT_WARN_IF(
"OpenCV matrix has non-double type but will be cast in 'double'.",
_src.type() != CV_64F
);
cv::Mat dmat;
_src.convertTo(dmat, CV_64F);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
(*_dst)(i, j) = dmat.at<double>(i, j);
}
}
}
//-----------------------------------------------------------------------------
void matrix::copy_to_cv(const data::matrix4::csptr& _src, cv::Mat& _dst)
{
SIGHT_ASSERT("sight::data::matrix4 is null", _src);
// Reinitialize _dst.
_dst = cv::Mat(4, 4, CV_64F);
for(std::uint8_t i = 0 ; i < 4 ; ++i)
{
for(std::uint8_t j = 0 ; j < 4 ; ++j)
{
_dst.at<double>(i, j) = (*_src)(i, j);
}
}
}
//-----------------------------------------------------------------------------
} //namespace sight::io::opencv
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