Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-bridge-opencv-matrix.cpp
1 #include <visp3/core/vpImageConvert.h>
3 #include <visp3/io/vpImageIo.h>
4 
5 #if VISP_HAVE_OPENCV_VERSION >= 0x020300
6 #include <opencv2/core/core.hpp>
7 #include <opencv2/imgproc/imgproc.hpp>
8 #endif
9 
10 int main()
11 {
12 #if VISP_HAVE_OPENCV_VERSION >= 0x020300 && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
13  {
14  std::cout << "From OpenCV to ViSP conversion" << std::endl;
16  cv::Mat M_cv = (cv::Mat_<double>(3, 4) << 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12);
17  std::cout << "M_cv: \n" << M_cv << std::endl;
19 
21  vpMatrix M(static_cast<unsigned int>(M_cv.rows), static_cast<unsigned int>(M_cv.cols));
22  memcpy(M.data, M_cv.data, sizeof(double) * static_cast<size_t>(M_cv.rows * M_cv.cols));
23  std::cout << "M: \n" << M << std::endl;
25  }
26 
27  {
28  std::cout << "From ViSP to OpenCV conversion" << std::endl;
30  vpMatrix M(3, 4, {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12});
31  std::cout << "M: \n" << M << std::endl;
33 
35  cv::Mat tmp(static_cast<int>(M.getRows()), static_cast<int>(M.getCols()), CV_64F, static_cast<void *>(M.data));
36  cv::Mat M_cv_deep = tmp.clone();
37  std::cout << "M_cv_deep: \n" << M_cv_deep << std::endl;
39 
41  cv::Mat M_cv(static_cast<int>(M.getRows()), static_cast<int>(M.getCols()), CV_64F, static_cast<void *>(M.data));
42  std::cout << "M_cv: \n" << M_cv << std::endl;
44 
46  std::cout << "Set M = eye" << std::endl;
47  M.eye();
48  std::cout << "M: \n" << M << std::endl;
49  std::cout << "M_cv: \n" << M_cv << std::endl;
51  }
52 #endif
53 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154