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280 lines
9.2 KiB
280 lines
9.2 KiB
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_CORE_EIGEN_HPP__
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#define __OPENCV_CORE_EIGEN_HPP__
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#ifdef __cplusplus
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#include "opencv2/core/core_c.h"
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#include "opencv2/core/core.hpp"
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#if defined _MSC_VER && _MSC_VER >= 1200
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#pragma warning( disable: 4714 ) //__forceinline is not inlined
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#pragma warning( disable: 4127 ) //conditional expression is constant
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#pragma warning( disable: 4244 ) //conversion from '__int64' to 'int', possible loss of data
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#endif
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namespace cv
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{
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template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
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void eigen2cv( const Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& src, Mat& dst )
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{
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if( !(src.Flags & Eigen::RowMajorBit) )
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{
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Mat _src(src.cols(), src.rows(), DataType<_Tp>::type,
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(void*)src.data(), src.stride()*sizeof(_Tp));
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transpose(_src, dst);
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}
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else
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{
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Mat _src(src.rows(), src.cols(), DataType<_Tp>::type,
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(void*)src.data(), src.stride()*sizeof(_Tp));
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_src.copyTo(dst);
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}
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}
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template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
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void cv2eigen( const Mat& src,
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Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst )
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{
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CV_DbgAssert(src.rows == _rows && src.cols == _cols);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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if( src.type() == _dst.type() )
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transpose(src, _dst);
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else if( src.cols == src.rows )
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{
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src.convertTo(_dst, _dst.type());
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transpose(_dst, _dst);
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}
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else
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Mat(src.t()).convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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src.convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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// Matx case
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template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
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void cv2eigen( const Matx<_Tp, _rows, _cols>& src,
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Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst )
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{
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(_cols, _rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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transpose(src, _dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(_rows, _cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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Mat(src).copyTo(_dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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template<typename _Tp>
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void cv2eigen( const Mat& src,
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Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst )
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{
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dst.resize(src.rows, src.cols);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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if( src.type() == _dst.type() )
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transpose(src, _dst);
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else if( src.cols == src.rows )
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{
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src.convertTo(_dst, _dst.type());
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transpose(_dst, _dst);
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}
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else
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Mat(src.t()).convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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src.convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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// Matx case
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template<typename _Tp, int _rows, int _cols>
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void cv2eigen( const Matx<_Tp, _rows, _cols>& src,
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Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst )
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{
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dst.resize(_rows, _cols);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(_cols, _rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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transpose(src, _dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(_rows, _cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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Mat(src).copyTo(_dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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template<typename _Tp>
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void cv2eigen( const Mat& src,
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Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst )
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{
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CV_Assert(src.cols == 1);
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dst.resize(src.rows);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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if( src.type() == _dst.type() )
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transpose(src, _dst);
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else
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Mat(src.t()).convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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src.convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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// Matx case
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template<typename _Tp, int _rows>
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void cv2eigen( const Matx<_Tp, _rows, 1>& src,
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Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst )
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{
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dst.resize(_rows);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(1, _rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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transpose(src, _dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(_rows, 1, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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src.copyTo(_dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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template<typename _Tp>
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void cv2eigen( const Mat& src,
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Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst )
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{
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CV_Assert(src.rows == 1);
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dst.resize(src.cols);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(src.cols, src.rows, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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if( src.type() == _dst.type() )
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transpose(src, _dst);
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else
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Mat(src.t()).convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(src.rows, src.cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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src.convertTo(_dst, _dst.type());
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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//Matx
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template<typename _Tp, int _cols>
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void cv2eigen( const Matx<_Tp, 1, _cols>& src,
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Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst )
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{
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dst.resize(_cols);
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if( !(dst.Flags & Eigen::RowMajorBit) )
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{
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Mat _dst(_cols, 1, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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transpose(src, _dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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else
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{
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Mat _dst(1, _cols, DataType<_Tp>::type,
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dst.data(), (size_t)(dst.stride()*sizeof(_Tp)));
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Mat(src).copyTo(_dst);
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CV_DbgAssert(_dst.data == (uchar*)dst.data());
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}
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}
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}
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#endif
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#endif
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