Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
vpImageIoOpenCV.cpp
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31  * Description:
32  * OpenCV backend for image I/O operations.
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35 
41 #include "vpImageIoBackend.h"
42 
43 #ifdef VISP_HAVE_OPENCV
44 #if (VISP_HAVE_OPENCV_VERSION >= 0x030000) // Require opencv >= 3.0.0
45 # include <opencv2/imgcodecs.hpp>
46 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020408) // Require opencv >= 2.4.8
47 # include <opencv2/core/core.hpp>
48 # include <opencv2/highgui/highgui.hpp>
49 # include <opencv2/imgproc/imgproc.hpp>
50 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020101) // Require opencv >= 2.1.1
51 # include <opencv2/core/core.hpp>
52 # include <opencv2/highgui/highgui.hpp>
53 # include <opencv2/highgui/highgui_c.h>
54 # include <opencv2/legacy/legacy.hpp>
55 #else
56 # include <highgui.h>
57 #endif
58 #endif
59 
60 #include <visp3/core/vpImageConvert.h>
61 
62 
63 #if defined(VISP_HAVE_OPENCV)
64 
80 void readOpenCV(vpImage<unsigned char> &I, const std::string &filename)
81 {
82 #if defined(VISP_HAVE_OPENCV) && VISP_HAVE_OPENCV_VERSION >= 0x020100
83 #if VISP_HAVE_OPENCV_VERSION >= 0x030200
84  int flags = cv::IMREAD_GRAYSCALE | cv::IMREAD_IGNORE_ORIENTATION;
85 #elif VISP_HAVE_OPENCV_VERSION >= 0x030000
86  int flags = cv::IMREAD_GRAYSCALE;
87 #elif VISP_HAVE_OPENCV_VERSION >= 0x020100
88  int flags = CV_LOAD_IMAGE_GRAYSCALE;
89 #endif
90  cv::Mat Ip = cv::imread(filename.c_str(), flags);
91  if (!Ip.empty())
92  vpImageConvert::convert(Ip, I);
93  else
94  throw(vpImageException(vpImageException::ioError, "Can't read the image"));
95 #else
96  IplImage *Ip = NULL;
97  Ip = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_GRAYSCALE);
98  if (Ip != NULL)
99  vpImageConvert::convert(Ip, I);
100  else
101  throw(vpImageException(vpImageException::ioError, "Can't read the image"));
102  cvReleaseImage(&Ip);
103 #endif
104 }
105 
123 void readOpenCV(vpImage<vpRGBa> &I, const std::string &filename)
124 {
125 #if defined(VISP_HAVE_OPENCV) && VISP_HAVE_OPENCV_VERSION >= 0x020100
126 #if VISP_HAVE_OPENCV_VERSION >= 0x030200
127  int flags = cv::IMREAD_COLOR | cv::IMREAD_IGNORE_ORIENTATION;
128 #elif VISP_HAVE_OPENCV_VERSION >= 0x030000
129  int flags = cv::IMREAD_COLOR;
130 #elif VISP_HAVE_OPENCV_VERSION >= 0x020100
131  int flags = CV_LOAD_IMAGE_COLOR;
132 #endif
133  cv::Mat Ip = cv::imread(filename.c_str(), flags);
134  if (!Ip.empty())
135  vpImageConvert::convert(Ip, I);
136  else
137  throw(vpImageException(vpImageException::ioError, "Can't read the image"));
138 #else
139  IplImage *Ip = NULL;
140  Ip = cvLoadImage(filename.c_str(), CV_LOAD_IMAGE_COLOR);
141  if (Ip != NULL)
142  vpImageConvert::convert(Ip, I);
143  else
144  throw(vpImageException(vpImageException::ioError, "Can't read the image"));
145  cvReleaseImage(&Ip);
146 #endif
147 }
148 
156 void writeOpenCV(const vpImage<unsigned char> &I, const std::string &filename, int quality)
157 {
158 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
159  cv::Mat Ip;
160  vpImageConvert::convert(I, Ip);
161 
162  std::vector<int> compression_params;
163  compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
164  compression_params.push_back(quality);
165  cv::imwrite(filename.c_str(), Ip, compression_params);
166 #else
167  IplImage *Ip = NULL;
168  vpImageConvert::convert(I, Ip);
169 
170  cvSaveImage(filename.c_str(), Ip);
171 
172  cvReleaseImage(&Ip);
173  (void)quality;
174 #endif
175 }
176 
184 void writeOpenCV(const vpImage<vpRGBa> &I, const std::string &filename, int quality)
185 {
186 #if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
187  cv::Mat Ip;
188  vpImageConvert::convert(I, Ip);
189 
190  std::vector<int> compression_params;
191  compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
192  compression_params.push_back(quality);
193  cv::imwrite(filename.c_str(), Ip, compression_params);
194 #else
195  IplImage *Ip = NULL;
196  vpImageConvert::convert(I, Ip);
197 
198  cvSaveImage(filename.c_str(), Ip);
199 
200  cvReleaseImage(&Ip);
201  (void)quality;
202 #endif
203 }
204 
205 #endif
vpImageConvert::convert
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Definition: vpImageConvert.cpp:74
vpImageException
Error that can be emited by the vpImage class and its derivates.
Definition: vpImageException.h:73