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/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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:
* Test functions in vpIoTools.
*
*****************************************************************************/
/*!
\example testConvert.cpp
\brief Test functions in Convert.
*/
#include <iostream> // std::cout
#include <limits> // std::numeric_limits
#include <math.h> // fabs
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpConvert.h>
bool areSame(double a, double b) { return fabs(a - b) < std::numeric_limits<double>::epsilon(); }
void testConvertFromImagePointToPoint2f()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
vpImagePoint imPt1(12.5f, .85f);
vpImagePoint imPt2(-44.26f, 125.11f);
vpImagePoint imPt3(0.0f, -1.756e-10f);
cv::Point2f pt1, pt2, pt3;
vpConvert::convertToOpenCV(imPt1, pt1);
vpConvert::convertToOpenCV(imPt2, pt2);
vpConvert::convertToOpenCV(imPt3, pt3);
int nbOk = 0, nbNOk = 0;
if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
nbOk++;
else
nbNOk++;
std::vector<vpImagePoint> listOfImPts(3);
listOfImPts[0] = imPt1;
listOfImPts[1] = imPt2;
listOfImPts[2] = imPt3;
std::vector<cv::Point2f> listOfPts;
vpConvert::convertToOpenCV(listOfImPts, listOfPts);
if (listOfImPts.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromImagePointToPoint2f=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromPoint2fToImagePoint()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
vpImagePoint imPt1, imPt2, imPt3;
cv::Point2f pt1(12.5f, .85f), pt2(-44.26f, 125.11f), pt3(0.0f, -1.756e-10f);
vpConvert::convertFromOpenCV(pt1, imPt1);
vpConvert::convertFromOpenCV(pt2, imPt2);
vpConvert::convertFromOpenCV(pt3, imPt3);
int nbOk = 0, nbNOk = 0;
if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
nbOk++;
else
nbNOk++;
std::vector<vpImagePoint> listOfImPts;
std::vector<cv::Point2f> listOfPts(3);
listOfPts[0] = pt1;
listOfPts[1] = pt2;
listOfPts[2] = pt3;
vpConvert::convertFromOpenCV(listOfPts, listOfImPts);
if (listOfImPts.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromPoint2fToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromImagePointToPoint2d()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
vpImagePoint imPt1(12.5, .85);
vpImagePoint imPt2(-44.26, 125.11);
vpImagePoint imPt3(0, -1.756e-10);
cv::Point2d pt1, pt2, pt3;
vpConvert::convertToOpenCV(imPt1, pt1);
vpConvert::convertToOpenCV(imPt2, pt2);
vpConvert::convertToOpenCV(imPt3, pt3);
int nbOk = 0, nbNOk = 0;
if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
nbOk++;
else
nbNOk++;
std::vector<vpImagePoint> listOfImPts(3);
listOfImPts[0] = imPt1;
listOfImPts[1] = imPt2;
listOfImPts[2] = imPt3;
std::vector<cv::Point2d> listOfPts;
vpConvert::convertToOpenCV(listOfImPts, listOfPts);
if (listOfImPts.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromImagePointToPoint2d=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromPoint2dToImagePoint()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
vpImagePoint imPt1, imPt2, imPt3;
cv::Point2d pt1(12.5, .85), pt2(-44.26, 125.11), pt3(0, -1.756e-10);
vpConvert::convertFromOpenCV(pt1, imPt1);
vpConvert::convertFromOpenCV(pt2, imPt2);
vpConvert::convertFromOpenCV(pt3, imPt3);
int nbOk = 0, nbNOk = 0;
if (areSame(imPt1.get_u(), pt1.x) && areSame(imPt1.get_v(), pt1.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt2.get_u(), pt2.x) && areSame(imPt2.get_v(), pt2.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt3.get_u(), pt3.x) && areSame(imPt3.get_v(), pt3.y))
nbOk++;
else
nbNOk++;
std::vector<vpImagePoint> listOfImPts;
std::vector<cv::Point2d> listOfPts(3);
listOfPts[0] = pt1;
listOfPts[1] = pt2;
listOfPts[2] = pt3;
vpConvert::convertFromOpenCV(listOfPts, listOfImPts);
if (listOfImPts.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfImPts[i].get_u(), listOfPts[i].x) && areSame(listOfImPts[i].get_v(), listOfPts[i].y))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromPoint2dToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromKeyPointToImagePoint()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
cv::KeyPoint kp1(12.5f, .85f, 0), kp2(-44.26f, 125.11f, 0), kp3(0.0f, -1.756e-10f, 0);
vpImagePoint imPt1, imPt2, imPt3;
vpConvert::convertFromOpenCV(kp1, imPt1);
vpConvert::convertFromOpenCV(kp2, imPt2);
vpConvert::convertFromOpenCV(kp3, imPt3);
int nbOk = 0, nbNOk = 0;
if (areSame(imPt1.get_u(), kp1.pt.x) && areSame(imPt1.get_v(), kp1.pt.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt2.get_u(), kp2.pt.x) && areSame(imPt2.get_v(), kp2.pt.y))
nbOk++;
else
nbNOk++;
if (areSame(imPt3.get_u(), kp3.pt.x) && areSame(imPt3.get_v(), kp3.pt.y))
nbOk++;
else
nbNOk++;
std::vector<cv::KeyPoint> listOfKeyPoints(3);
listOfKeyPoints[0] = kp1;
listOfKeyPoints[1] = kp2;
listOfKeyPoints[2] = kp3;
std::vector<vpImagePoint> listOfImPts;
vpConvert::convertFromOpenCV(listOfKeyPoints, listOfImPts);
if (listOfImPts.size() == listOfKeyPoints.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfImPts[i].get_u(), listOfKeyPoints[i].pt.x) &&
areSame(listOfImPts[i].get_v(), listOfKeyPoints[i].pt.y))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromKeyPointToImagePoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromPoint3fToPoint()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
cv::Point3f pt1(12.5f, .85f, 110.0f), pt2(-44.26f, 125.11f, -98e2f), pt3(0.0f, -1.756e-10f, 0.00015f);
vpPoint point1, point2, point3;
vpConvert::convertFromOpenCV(pt1, point1);
vpConvert::convertFromOpenCV(pt2, point2);
vpConvert::convertFromOpenCV(pt3, point3);
int nbOk = 0, nbNOk = 0;
if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
nbOk++;
else
nbNOk++;
if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
nbOk++;
else
nbNOk++;
if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
nbOk++;
else
nbNOk++;
std::vector<cv::Point3f> listOfPoints3f(3);
listOfPoints3f[0] = pt1;
listOfPoints3f[1] = pt2;
listOfPoints3f[2] = pt3;
std::vector<vpPoint> listOfPts;
vpConvert::convertFromOpenCV(listOfPoints3f, listOfPts);
if (listOfPoints3f.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromPoint3fToPoint=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
void testConvertFromPointToPoint3f()
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_FEATURES2D)
cv::Point3f pt1, pt2, pt3;
vpPoint point1, point2, point3;
point1.set_oX(12.5f);
point1.set_oY(.85f);
point1.set_oZ(110.0f);
point2.set_oX(-44.26f);
point2.set_oY(125.11f);
point2.set_oZ(-98e2f);
point3.set_oX(0.0f);
point3.set_oY(-1.756e-10f);
point3.set_oZ(0.00015f);
vpConvert::convertToOpenCV(point1, pt1);
vpConvert::convertToOpenCV(point2, pt2);
vpConvert::convertToOpenCV(point3, pt3);
int nbOk = 0, nbNOk = 0;
if (areSame(pt1.x, point1.get_oX()) && areSame(pt1.y, point1.get_oY()) && areSame(pt1.z, point1.get_oZ()))
nbOk++;
else
nbNOk++;
if (areSame(pt2.x, point2.get_oX()) && areSame(pt2.y, point2.get_oY()) && areSame(pt2.z, point2.get_oZ()))
nbOk++;
else
nbNOk++;
if (areSame(pt3.x, point3.get_oX()) && areSame(pt3.y, point3.get_oY()) && areSame(pt3.z, point3.get_oZ()))
nbOk++;
else
nbNOk++;
std::vector<cv::Point3f> listOfPoints3f;
std::vector<vpPoint> listOfPts(3);
listOfPts[0] = point1;
listOfPts[1] = point2;
listOfPts[2] = point3;
vpConvert::convertToOpenCV(listOfPts, listOfPoints3f);
if (listOfPoints3f.size() == listOfPts.size()) {
for (size_t i = 0; i < 3; i++) {
if (areSame(listOfPts[i].get_oX(), listOfPoints3f[i].x) && areSame(listOfPts[i].get_oY(), listOfPoints3f[i].y) &&
areSame(listOfPts[i].get_oZ(), listOfPoints3f[i].z))
nbOk++;
else
nbNOk++;
}
}
else {
nbNOk += 3;
}
std::cout << "testConvertFromPointToPoint3f=" << nbOk << "/" << (nbOk + nbNOk) << std::endl;
#endif
}
int main()
{
testConvertFromImagePointToPoint2f();
testConvertFromPoint2fToImagePoint();
testConvertFromImagePointToPoint2d();
testConvertFromPoint2dToImagePoint();
testConvertFromKeyPointToImagePoint();
testConvertFromPoint3fToPoint();
testConvertFromPointToPoint3f();
return EXIT_SUCCESS;
}
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