vtec_opencv.h

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#ifndef VTEC_COMPARISON_TESTS_VTEC_OPENCV_HEADER
#define VTEC_COMPARISON_TESTS_VTEC_OPENCV_HEADER

#include <vtec_core/image.h>
#include <vtec_core/types.h>
#include <homography_optimizer/types.h>
#include <opencv2/opencv.hpp>

namespace VTEC
{
void cv2vtecImg(const cv::Mat& image, VTEC::Image& vtec_img)
{
  cv::Mat img_copy;
  image.convertTo(img_copy, CV_8U);  // ALWAYS DEEP COPY TO KEEP REF IMAGE
  vtec_img.resize(image.cols, image.rows);
  size_t img_size = vtec_img.size();
  for (size_t i = 0; i < img_size; ++i)
  {
    vtec_img.I->data[i] = img_copy.data[i];
  }
}

void vtec2cvImg(const VTEC::Image& vtec_img, cv::Mat& image)
{
  image.create(vtec_img.I->rows, vtec_img.I->cols, CV_32F);
  size_t img_size = vtec_img.I->rows * vtec_img.I->cols;

  float* data = (float*)image.data;
  for (size_t i = 0; i < img_size; ++i)
  {
    data[i] = (float)vtec_img.I->data[i] / 255.0;
  }
}

void vtec2cvHomography(const VTEC::Homography& vtec_h, cv::Mat& cv_h)
{
  cv_h.create(3, 3, CV_64F);
  for (int i = 0; i < 3; i++)
  {
    for (int j = 0; j < 3; j++)
    {
      cv_h.at<double>(j, i) = vtec_h[i + 3 * j];
    }
  }
}

void cv2vtecHomography(const cv::Mat& cv_h, VTEC::Homography& vtec_h)
{
  for (int i = 0; i < 3; i++)
  {
    for (int j = 0; j < 3; j++)
    {
      vtec_h[i + 3 * j] = cv_h.at<double>(j, i);
    }
  }
}

void warpPoints(cv::Point2f& p, cv::Mat H)
{
  double w = p.x * H.at<double>(2, 0) + p.y * H.at<double>(2, 1) + H.at<double>(2, 2);
  double u2 = (p.x * H.at<double>(0, 0) + p.y * H.at<double>(0, 1) + H.at<double>(0, 2)) / w;
  double v2 = (p.x * H.at<double>(1, 0) + p.y * H.at<double>(1, 1) + H.at<double>(1, 2)) / w;
  p.x = u2;
  p.y = v2;
}

} /* namespace VTEC */

#endif /* VTEC_COMPARISON_TESTS_VTEC_OPENCV_HEADER */