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Updating code to match default OpenCV version on Ubuntu 20.04 (4.X) #2

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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ find_package(SofaFramework REQUIRED)
find_package(SofaGeneral REQUIRED)
find_package(SofaGui REQUIRED)

find_package(OpenCV 3.0 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(SofaCV REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})
Expand Down Expand Up @@ -150,7 +150,7 @@ set(SOURCE_FILES
src/ImageProcessing/utils/AddCam.h
)

set(${PROJECT_NAME}_LIBRARIES SofaCore SofaSimulationCommon SofaConstraint ${OpenCV_LIBRARIES} SofaCV)
set(${PROJECT_NAME}_LIBRARIES SofaCore SofaSimulationCommon SofaConstraint Sofa.GL ${OpenCV_LIBRARIES} SofaCV)

set(CMAKE_INCLUDE_CURRENT_DIR ON)

Expand Down
74 changes: 37 additions & 37 deletions src/ImageProcessing/camera/calib/CalibLoader.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,39 +38,39 @@ class SOFA_IMAGEPROCESSING_API CalibLoader : public ImplicitDataEngine
struct CalibData
{
CalibData() {}
CalibData(const sofa::defaulttype::Matrix3& _K1,
const sofa::defaulttype::Matrix3& _R1,
const sofa::defaulttype::Vector3& _T1,
CalibData(const sofa::type::Matrix3& _K1,
const sofa::type::Matrix3& _R1,
const sofa::type::Vector3& _T1,
const sofa::helper::vector<double>& _delta1,
const sofa::defaulttype::Vec2i _imSize1, double _error1,
const sofa::defaulttype::Matrix3& _K2,
const sofa::defaulttype::Matrix3& _R2,
const sofa::defaulttype::Vector3& _T2,
const sofa::type::Vec2i _imSize1, double _error1,
const sofa::type::Matrix3& _K2,
const sofa::type::Matrix3& _R2,
const sofa::type::Vector3& _T2,
const sofa::helper::vector<double>& _delta2,
const sofa::defaulttype::Vec2i _imSize2, double _error2,
const sofa::defaulttype::Matrix3& _Rs,
const sofa::defaulttype::Vector3& _Ts,
const sofa::defaulttype::Matrix3& _F,
const sofa::defaulttype::Matrix3& _E, double _totalError);

sofa::defaulttype::Vec2i imSize1;
sofa::defaulttype::Matrix3 K1;
sofa::defaulttype::Matrix3 R1;
sofa::defaulttype::Vector3 T1;
const sofa::type::Vec2i _imSize2, double _error2,
const sofa::type::Matrix3& _Rs,
const sofa::type::Vector3& _Ts,
const sofa::type::Matrix3& _F,
const sofa::type::Matrix3& _E, double _totalError);

sofa::type::Vec2i imSize1;
sofa::type::Matrix3 K1;
sofa::type::Matrix3 R1;
sofa::type::Vector3 T1;
sofa::helper::vector<double> delta1;
double error1;

sofa::defaulttype::Vec2i imSize2;
sofa::defaulttype::Matrix3 K2;
sofa::defaulttype::Matrix3 R2;
sofa::defaulttype::Vector3 T2;
sofa::type::Vec2i imSize2;
sofa::type::Matrix3 K2;
sofa::type::Matrix3 R2;
sofa::type::Vector3 T2;
sofa::helper::vector<double> delta2;
double error2;

sofa::defaulttype::Matrix3 Rs;
sofa::defaulttype::Vector3 Ts;
sofa::defaulttype::Matrix3 F;
sofa::defaulttype::Matrix3 E;
sofa::type::Matrix3 Rs;
sofa::type::Vector3 Ts;
sofa::type::Matrix3 F;
sofa::type::Matrix3 E;
double totalError;
};

Expand All @@ -92,24 +92,24 @@ class SOFA_IMAGEPROCESSING_API CalibLoader : public ImplicitDataEngine
bool m_isStereo;
bool m_isInitialized;

sofa::Data<sofa::defaulttype::Vec2i> d_imSize1;
sofa::Data<sofa::defaulttype::Matrix3> d_K1;
sofa::Data<sofa::defaulttype::Matrix3> d_R1;
sofa::Data<sofa::defaulttype::Vector3> d_T1;
sofa::Data<sofa::type::Vec2i> d_imSize1;
sofa::Data<sofa::type::Matrix3> d_K1;
sofa::Data<sofa::type::Matrix3> d_R1;
sofa::Data<sofa::type::Vector3> d_T1;
sofa::Data<sofa::helper::vector<double> > d_delta1;
sofa::Data<double> d_error1;

sofa::Data<sofa::defaulttype::Vec2i> d_imSize2;
sofa::Data<sofa::defaulttype::Matrix3> d_K2;
sofa::Data<sofa::defaulttype::Matrix3> d_R2;
sofa::Data<sofa::defaulttype::Vector3> d_T2;
sofa::Data<sofa::type::Vec2i> d_imSize2;
sofa::Data<sofa::type::Matrix3> d_K2;
sofa::Data<sofa::type::Matrix3> d_R2;
sofa::Data<sofa::type::Vector3> d_T2;
sofa::Data<sofa::helper::vector<double> > d_delta2;
sofa::Data<double> d_error2;

sofa::Data<sofa::defaulttype::Matrix3> d_Rs;
sofa::Data<sofa::defaulttype::Vector3> d_Ts;
sofa::Data<sofa::defaulttype::Matrix3> d_F;
sofa::Data<sofa::defaulttype::Matrix3> d_E;
sofa::Data<sofa::type::Matrix3> d_Rs;
sofa::Data<sofa::type::Vector3> d_Ts;
sofa::Data<sofa::type::Matrix3> d_F;
sofa::Data<sofa::type::Matrix3> d_E;
sofa::Data<double> d_totalError;

protected:
Expand Down
3 changes: 1 addition & 2 deletions src/ImageProcessing/camera/common/CalibratedCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -209,8 +209,7 @@ void CalibratedCamera::computeBBox(const sofa::core::ExecParams *params, bool)
if (p[c] < minBBox[c]) minBBox[c] = p[c];
}
}
this->f_bbox.setValue(
params, sofa::defaulttype::TBoundingBox<double>(minBBox, maxBBox));
this->f_bbox.setValue(sofa::defaulttype::TBoundingBox<double>(minBBox, maxBBox));
}

} // namespace cam
Expand Down
52 changes: 26 additions & 26 deletions src/ImageProcessing/camera/common/CameraSettings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ int CameraSettingsClass =
"transformations")
.add<CameraSettings>();

sofa::defaulttype::Vector2 CameraSettings::get2DFrom3DPosition(
sofa::type::Vector2 CameraSettings::get2DFrom3DPosition(
const Vector3& pt)
{
const Mat3x4d& M = d_M.getValue();
Expand All @@ -29,7 +29,7 @@ sofa::defaulttype::Vector2 CameraSettings::get2DFrom3DPosition(
return Vector2(rx, ry) * 1.0 / rz;
}

sofa::defaulttype::Vector3 CameraSettings::get3DFrom2DPosition(double x,
sofa::type::Vector3 CameraSettings::get3DFrom2DPosition(double x,
double y,
double f)
{
Expand All @@ -46,7 +46,7 @@ sofa::defaulttype::Vector3 CameraSettings::get3DFrom2DPosition(double x,
return R.transposed() * (point3D - t);
}

sofa::defaulttype::Vector3 CameraSettings::get3DFrom2DPosition(const Vector2& p,
sofa::type::Vector3 CameraSettings::get3DFrom2DPosition(const Vector2& p,
double f)
{
return get3DFrom2DPosition(p[0], p[1], f);
Expand All @@ -72,7 +72,7 @@ void CameraSettings::getCornersPosition(Vector3& p1, Vector3& p2, Vector3& p3,
p4 = get3DFrom2DPosition(0, h, f);
}

const sofa::defaulttype::Mat3x4d& CameraSettings::getProjectionMatrix() const
const sofa::type::Mat3x4d& CameraSettings::getProjectionMatrix() const
{
return d_M.getValue();
}
Expand All @@ -86,7 +86,7 @@ void CameraSettings::setProjectionMatrix(const Mat3x4d& M)
recalculate3DCorners();
}

const sofa::defaulttype::Matrix3& CameraSettings::getIntrinsicCameraMatrix()
const sofa::type::Matrix3& CameraSettings::getIntrinsicCameraMatrix()
const
{
return d_K.getValue();
Expand All @@ -104,13 +104,13 @@ void CameraSettings::setIntrinsicCameraMatrix(const Matrix3& K, bool update)
recalculate3DCorners();
}

const sofa::helper::vector<double>& CameraSettings::getDistortionCoefficients()
const sofa::type::vector<double>& CameraSettings::getDistortionCoefficients()
const
{
return d_distCoefs.getValue();
}
void CameraSettings::setDistortionCoefficients(
const sofa::helper::vector<double>& distCoefs)
const sofa::type::vector<double>& distCoefs)
{
// Nothing to do, distortion coefficients are not (yet?) taken into account in
// OpenGL
Expand All @@ -119,7 +119,7 @@ void CameraSettings::setDistortionCoefficients(
recalculate3DCorners();
}

const sofa::defaulttype::Matrix3& CameraSettings::getRotationMatrix() const
const sofa::type::Matrix3& CameraSettings::getRotationMatrix() const
{
return d_R.getValue();
}
Expand All @@ -136,7 +136,7 @@ void CameraSettings::setRotationMatrix(const Matrix3& R, bool update)
recalculate3DCorners();
}

const sofa::defaulttype::Vector3& CameraSettings::getPosition() const
const sofa::type::Vector3& CameraSettings::getPosition() const
{
return d_t.getValue();
}
Expand All @@ -153,7 +153,7 @@ void CameraSettings::setPosition(const Vector3& t, bool update)
recalculate3DCorners();
}

const sofa::defaulttype::Vec2i& CameraSettings::getImageSize() const
const sofa::type::Vec2i& CameraSettings::getImageSize() const
{
return d_imageSize.getValue();
}
Expand All @@ -168,7 +168,7 @@ void CameraSettings::setImageSize(const Vec2i& imgSize, bool update)

recalculate3DCorners();
}
const sofa::defaulttype::Matrix4& CameraSettings::getGLProjection() const
const sofa::type::Matrix4& CameraSettings::getGLProjection() const
{
return d_glProjection.getValue();
}
Expand All @@ -180,7 +180,7 @@ void CameraSettings::setGLProjection(const Matrix4& glProjection)

recalculate3DCorners();
}
const sofa::defaulttype::Matrix4& CameraSettings::getGLModelview() const
const sofa::type::Matrix4& CameraSettings::getGLModelview() const
{
return d_glModelview.getValue();
}
Expand All @@ -193,7 +193,7 @@ void CameraSettings::setGLModelview(const Matrix4& glModelview)
recalculate3DCorners();
}

const sofa::defaulttype::Vec<4, int>& CameraSettings::getGLViewport() const
const sofa::type::Vec<4, int>& CameraSettings::getGLViewport() const
{
return d_glViewport.getValue();
}
Expand All @@ -204,7 +204,7 @@ void CameraSettings::setGLViewport(const Vector4& glViewport)
recalculate3DCorners();
}

const sofa::defaulttype::Vector2& CameraSettings::getGLZClip() const
const sofa::type::Vector2& CameraSettings::getGLZClip() const
{
return d_zClip.getValue();
}
Expand All @@ -215,7 +215,7 @@ void CameraSettings::setGLZClip(const Vector2& zClip)

recalculate3DCorners();
}
const sofa::defaulttype::Quat& CameraSettings::getOrientation() const
const sofa::type::Quaternion& CameraSettings::getOrientation() const
{
return d_orientation.getValue();
}
Expand All @@ -231,7 +231,7 @@ void CameraSettings::setOrientation(const Quat& orientation)
recalculate3DCorners();
}

const sofa::defaulttype::Matrix3& CameraSettings::get2DScaleMatrix() const
const sofa::type::Matrix3& CameraSettings::get2DScaleMatrix() const
{
return d_scale2D.getValue();
}
Expand All @@ -252,7 +252,7 @@ void CameraSettings::setFocalDistance(double f)
recalculate3DCorners();
}

const sofa::defaulttype::Matrix3& CameraSettings::get2DTranslationMatrix() const
const sofa::type::Matrix3& CameraSettings::get2DTranslationMatrix() const
{
return d_translate2D.getValue();
}
Expand All @@ -265,7 +265,7 @@ void CameraSettings::set2DTranslationMatrix(const Matrix3& translation2D)
recalculate3DCorners();
}

const sofa::helper::vector<sofa::defaulttype::Vector3>&
const sofa::type::vector<sofa::type::Vector3>&
CameraSettings::getCorners() const
{
return d_3DCorners.getValue();
Expand Down Expand Up @@ -559,7 +559,7 @@ void CameraSettings::recalculate3DCorners()
Vector3 p1, p2, p3, p4;
this->getCornersPosition(p1, p2, p3, p4,
(d_f.getValue() != -1) ? (d_f.getValue()) : (1.0f));
sofa::helper::vector<Vector3>& corners3D = *d_3DCorners.beginEdit();
sofa::type::vector<Vector3>& corners3D = *d_3DCorners.beginEdit();
corners3D.clear();
corners3D.push_back(p1);
corners3D.push_back(p2);
Expand All @@ -569,16 +569,16 @@ void CameraSettings::recalculate3DCorners()
}

/// Projects a point p on a plane defined by a Point A and a normal n
sofa::defaulttype::Vector3 orthoProj(const sofa::defaulttype::Vector3& p,
const sofa::defaulttype::Vector3& A,
const sofa::defaulttype::Vector3& n)
sofa::type::Vector3 orthoProj(const sofa::type::Vector3& p,
const sofa::type::Vector3& A,
const sofa::type::Vector3& n)
{
double lambda = ((A * n) - (p * n)) / (n * n);
return p + lambda * n;
}

double length(const sofa::defaulttype::Vector3& a,
const sofa::defaulttype::Vector3& b)
double length(const sofa::type::Vector3& a,
const sofa::type::Vector3& b)
{
return sqrt((a.x() - b.x()) * (a.x() - b.x()) +
(a.y() - b.y()) * (a.y() - b.y()) +
Expand Down Expand Up @@ -732,8 +732,8 @@ void CameraSettings::buildFromKRT()
decomposeCV();
composeM();
composeGL();
sofa::defaulttype::Matrix3 rot;
sofa::defaulttype::Quat q = getOrientation();
sofa::type::Matrix3 rot;
sofa::type::Quat q = getOrientation();
q.toMatrix(rot);

Vector3 camPos = getPosition();
Expand Down
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