tutorial-bridge-opencv-matrix.cpp

#include <iostream>
#include <visp3/core/vpConfig.h>
 
#if defined(HAVE_OPENCV_CORE)
 
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
 
#include <opencv2/core/core.hpp>
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  {
    std::cout << "From OpenCV to ViSP conversion" << std::endl;
    cv::Mat M_cv = (cv::Mat_<double>(3, 4) << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12);
    std::cout << "M_cv: \n" << M_cv << std::endl;

    vpMatrix M(static_cast<unsigned int>(M_cv.rows), static_cast<unsigned int>(M_cv.cols));
    memcpy(M.data, M_cv.data, sizeof(double) * static_cast<size_t>(M_cv.rows * M_cv.cols));
    std::cout << "M: \n" << M << std::endl;
  }
 
  {
    std::cout << "From ViSP to OpenCV conversion" << std::endl;
    vpMatrix M(3, 4, { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 });
    std::cout << "M: \n" << M << std::endl;

    cv::Mat tmp(static_cast<int>(M.getRows()), static_cast<int>(M.getCols()), CV_64F, static_cast<void *>(M.data));
    cv::Mat M_cv_deep = tmp.clone();
    std::cout << "M_cv_deep: \n" << M_cv_deep << std::endl;

    cv::Mat M_cv(static_cast<int>(M.getRows()), static_cast<int>(M.getCols()), CV_64F, static_cast<void *>(M.data));
    std::cout << "M_cv: \n" << M_cv << std::endl;

    std::cout << "Set M = eye" << std::endl;
    M.eye();
    std::cout << "M: \n" << M << std::endl;
    std::cout << "M_cv: \n" << M_cv << std::endl;
  }
}
#else
int main()
{
#if !defined(HAVE_OPENCV_CORE)
  std::cout << "This tutorial requires OpenCV core module." << std::endl;
#endif
  return EXIT_SUCCESS;
}
#endif