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include/Converter.h

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+/**
+* This file is part of ORB-SLAM2.
+*
+* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
+* For more information see <https://github.com/raulmur/ORB_SLAM2>
+*
+* ORB-SLAM2 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 3 of the License, or
+* (at your option) any later version.
+*
+* ORB-SLAM2 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 General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef CONVERTER_H
+#define CONVERTER_H
+
+#include<opencv2/core/core.hpp>
+
+#include<Eigen/Dense>
+#include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
+#include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"
+
+namespace ORB_SLAM2
+{
+
+class Converter
+{
+public:
+    static std::vector<cv::Mat> toDescriptorVector(const cv::Mat &Descriptors);
+
+    static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT);
+    static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3);
+
+    static cv::Mat toCvMat(const g2o::SE3Quat &SE3);
+    static cv::Mat toCvMat(const g2o::Sim3 &Sim3);
+    static cv::Mat toCvMat(const Eigen::Matrix<double,4,4> &m);
+    static cv::Mat toCvMat(const Eigen::Matrix3d &m);
+    static cv::Mat toCvMat(const Eigen::Matrix<double,3,1> &m);
+    static cv::Mat toCvSE3(const Eigen::Matrix<double,3,3> &R, const Eigen::Matrix<double,3,1> &t);
+
+    static Eigen::Matrix<double,3,1> toVector3d(const cv::Mat &cvVector);
+    static Eigen::Matrix<double,3,1> toVector3d(const cv::Point3f &cvPoint);
+    static Eigen::Matrix<double,3,3> toMatrix3d(const cv::Mat &cvMat3);
+
+    static std::vector<float> toQuaternion(const cv::Mat &M);
+};
+
+}// namespace ORB_SLAM
+
+#endif // CONVERTER_H