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/************************************************************************
*
* Copyright (C) 2018-2024 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/>.
*
***********************************************************************/
#pragma once
#include <sight/io/opencv/config.hpp>
#include <data/matrix4.hpp>
#include <opencv2/core.hpp>
namespace sight::io::opencv
{
/**
* @brief The matrix helper class contains static method to convert data::matrix4 to opencv Mat.
*/
class SIGHT_IO_OPENCV_CLASS_API matrix
{
public:
/**
* @brief copy_from_cv: copies values from OpenCV structure to Sight data.
* @param _src [cv::Matx44f]: OpenCV 4x4 double matrix.
* @param _dst [data::matrix4::sptr]: TransformationMatrix (need to be initialized).
*/
SIGHT_IO_OPENCV_API static void copy_from_cv(const cv::Matx44d& _src, data::matrix4::sptr& _dst);
/**
* @brief copyToCv: copies values from Sight Matrix4 to OpenCV structure.
* @param _src [data::matrix4::csptr]: Sight matrix to be copied.
* @param _dst [cv::Matx44d]: OpenCV 4x4 double matrix.
*/
SIGHT_IO_OPENCV_API static void copy_to_cv(const data::matrix4::csptr& _src, cv::Matx44d& _dst);
/**
* @brief copy_from_cv: copies values from OpenCV structure to Sight data.
* @param _src [cv::Matx44f]: OpenCV 4x4 float matrix.
* @param _dst [data::matrix4::sptr]: TransformationMatrix (need to be initialized).
*/
SIGHT_IO_OPENCV_API static void copy_from_cv(const cv::Matx44f& _src, data::matrix4::sptr& _dst);
/**
* @brief copyToCv: copies values from Sight Matrix4 to OpenCV structure.
* @param _src [data::matrix4::csptr]: Sight matrix to be copied.
* @param _dst [cv::Matx44f]: OpenCV 4x4 float matrix.
*/
SIGHT_IO_OPENCV_API static void copy_to_cv(const data::matrix4::csptr& _src, cv::Matx44f& _dst);
/**
* @brief copy_from_cv: copies values from OpenCV structure (rotation & translation matrix) to Sight data.
* @param _rvec [cv::Mat]: OpenCV 1x3 rotation vector (cast in CV_64F).
* @param _tvec [cv::Mat]: OpenCV 1x3 translation vector (cast in CV_64F).
* @param _dst [data::matrix4::sptr]: TransformationMatrix (need to be initialized).
*/
SIGHT_IO_OPENCV_API static void copy_from_cv(
const cv::Mat& _rvec,
const cv::Mat& _tvec,
data::matrix4::sptr& _dst
);
/**
* @brief copyToCv copies values from Sight Matrix4 to OpenCV structures.
* @param _src [data::matrix4::csptr]: Sight matrix to be copied.
* @param _rvec [cv::Mat]: OpenCV 1x3 rotation vector of type CV_64F.
* @param _tvec [cv::Mat]: OpenCV 1x3 translation vector of type CV_64F.
*/
SIGHT_IO_OPENCV_API static void copy_to_cv(
const data::matrix4::csptr& _src,
cv::Mat& _rvec,
cv::Mat& _tvec
);
/**
* @brief copy_from_cv copies values from OpenCV structure to Sight data.
* @param _src [cv::Mat] OpenCV 4x4 matrix (cast in CV_64F).
* @param _dst [data::matrix4::sptr]:TransformationMatrix (need to be initialized).
*/
SIGHT_IO_OPENCV_API static void copy_from_cv(const cv::Mat& _src, data::matrix4::sptr& _dst);
/**
* @brief copyToCv: copies values from Sight Matrix4 to OpenCV structure.
* @param _src [data::matrix4::csptr]: Sight matrix to be copied.
* @param _dst [cv::Mat]: OpenCV 4x4 matrix of type CV_64F.
*/
SIGHT_IO_OPENCV_API static void copy_to_cv(const data::matrix4::csptr& _src, cv::Mat& _dst);
};
} //namespace sight::io::opencv
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