Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
tutorial-bridge-opencv.cpp
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/io/vpImageIo.h>
#if VISP_HAVE_OPENCV_VERSION >= 0x040000
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#elif VISP_HAVE_OPENCV_VERSION >= 0x020300
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#endif
int main()
{
#if VISP_HAVE_OPENCV_VERSION >= 0x020300
double u0 = 326.6;
double v0 = 215.0;
double px = 582.7;
double py = 580.6;
double kud = -0.3372;
double kdu = 0.4021;
vpCameraParameters cam(px, py, u0, v0, kud, kdu);
cv::Mat K = (cv::Mat_<double>(3, 3) << cam.get_px(), 0, cam.get_u0(), 0, cam.get_py(), cam.get_v0(), 0, 0, 1);
cv::Mat D = (cv::Mat_<double>(4, 1) << cam.get_kud(), 0, 0, 0);
vpImageIo::read(I, "chessboard.pgm");
cv::Mat image;
cv::Mat imageUndistorted;
cv::undistort(image, imageUndistorted, K, D);
vpImage<unsigned char> IUndistorted;
vpImageConvert::convert(imageUndistorted, IUndistorted);
vpImageIo::write(IUndistorted, "chessboard-undistorted.pgm");
#endif
}