opencv 2.2.0
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00001 /*M/////////////////////////////////////////////////////////////////////////////////////// 00002 // 00003 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 00004 // 00005 // By downloading, copying, installing or using the software you agree to this license. 00006 // If you do not agree to this license, do not download, install, 00007 // copy or use the software. 00008 // 00009 // 00010 // License Agreement 00011 // For Open Source Computer Vision Library 00012 // 00013 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 00014 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 00015 // Third party copyrights are property of their respective owners. 00016 // 00017 // Redistribution and use in source and binary forms, with or without modification, 00018 // are permitted provided that the following conditions are met: 00019 // 00020 // * Redistribution's of source code must retain the above copyright notice, 00021 // this list of conditions and the following disclaimer. 00022 // 00023 // * Redistribution's in binary form must reproduce the above copyright notice, 00024 // this list of conditions and the following disclaimer in the documentation 00025 // and/or other materials provided with the distribution. 00026 // 00027 // * The name of the copyright holders may not be used to endorse or promote products 00028 // derived from this software without specific prior written permission. 00029 // 00030 // This software is provided by the copyright holders and contributors "as is" and 00031 // any express or implied warranties, including, but not limited to, the implied 00032 // warranties of merchantability and fitness for a particular purpose are disclaimed. 00033 // In no event shall the Intel Corporation or contributors be liable for any direct, 00034 // indirect, incidental, special, exemplary, or consequential damages 00035 // (including, but not limited to, procurement of substitute goods or services; 00036 // loss of use, data, or profits; or business interruption) however caused 00037 // and on any theory of liability, whether in contract, strict liability, 00038 // or tort (including negligence or otherwise) arising in any way out of 00039 // the use of this software, even if advised of the possibility of such damage. 00040 // 00041 //M*/ 00042 00043 #ifndef __OPENCV_CORE_EIGEN_HPP__ 00044 #define __OPENCV_CORE_EIGEN_HPP__ 00045 00046 #ifdef __cplusplus 00047 00048 #include "cxcore.h" 00049 00050 namespace cv 00051 { 00052 00053 template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> 00054 void eigen2cv( const Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& src, Mat& dst ) 00055 { 00056 if( !(src.Flags & Eigen::RowMajorBit) ) 00057 { 00058 Mat _src(src.cols(), src.rows(), DataType<_Tp>::type, 00059 (void*)src.data(), src.stride()*sizeof(_Tp)); 00060 transpose(_src, dst); 00061 } 00062 else 00063 { 00064 Mat _src(src.rows(), src.cols(), DataType<_Tp>::type, 00065 (void*)src.data(), src.stride()*sizeof(_Tp)); 00066 _src.copyTo(dst); 00067 } 00068 } 00069 00070 template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> 00071 void cv2eigen( const Mat& src, 00072 Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst ) 00073 { 00074 CV_DbgAssert(src.rows == _rows && src.cols == _cols); 00075 if( !(dst.Flags & Eigen::RowMajorBit) ) 00076 { 00077 Mat _dst(src.cols, src.rows, DataType<_Tp>::type, 00078 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00079 if( src.type() == _dst.type() ) 00080 transpose(src, _dst); 00081 else if( src.cols == src.rows ) 00082 { 00083 src.convertTo(_dst, _dst.type()); 00084 transpose(_dst, _dst); 00085 } 00086 else 00087 Mat(src.t()).convertTo(_dst, _dst.type()); 00088 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00089 } 00090 else 00091 { 00092 Mat _dst(src.rows, src.cols, DataType<_Tp>::type, 00093 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00094 src.convertTo(_dst, _dst.type()); 00095 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00096 } 00097 } 00098 00099 template<typename _Tp> 00100 void cv2eigen( const Mat& src, 00101 Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst ) 00102 { 00103 dst.resize(src.rows, src.cols); 00104 if( !(dst.Flags & Eigen::RowMajorBit) ) 00105 { 00106 Mat _dst(src.cols, src.rows, DataType<_Tp>::type, 00107 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00108 if( src.type() == _dst.type() ) 00109 transpose(src, _dst); 00110 else if( src.cols == src.rows ) 00111 { 00112 src.convertTo(_dst, _dst.type()); 00113 transpose(_dst, _dst); 00114 } 00115 else 00116 Mat(src.t()).convertTo(_dst, _dst.type()); 00117 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00118 } 00119 else 00120 { 00121 Mat _dst(src.rows, src.cols, DataType<_Tp>::type, 00122 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00123 src.convertTo(_dst, _dst.type()); 00124 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00125 } 00126 } 00127 00128 00129 template<typename _Tp> 00130 void cv2eigen( const Mat& src, 00131 Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst ) 00132 { 00133 CV_Assert(src.cols == 1); 00134 dst.resize(src.rows); 00135 00136 if( !(dst.Flags & Eigen::RowMajorBit) ) 00137 { 00138 Mat _dst(src.cols, src.rows, DataType<_Tp>::type, 00139 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00140 if( src.type() == _dst.type() ) 00141 transpose(src, _dst); 00142 else 00143 Mat(src.t()).convertTo(_dst, _dst.type()); 00144 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00145 } 00146 else 00147 { 00148 Mat _dst(src.rows, src.cols, DataType<_Tp>::type, 00149 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00150 src.convertTo(_dst, _dst.type()); 00151 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00152 } 00153 } 00154 00155 00156 template<typename _Tp> 00157 void cv2eigen( const Mat& src, 00158 Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst ) 00159 { 00160 CV_Assert(src.rows == 1); 00161 dst.resize(src.cols); 00162 if( !(dst.Flags & Eigen::RowMajorBit) ) 00163 { 00164 Mat _dst(src.cols, src.rows, DataType<_Tp>::type, 00165 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00166 if( src.type() == _dst.type() ) 00167 transpose(src, _dst); 00168 else 00169 Mat(src.t()).convertTo(_dst, _dst.type()); 00170 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00171 } 00172 else 00173 { 00174 Mat _dst(src.rows, src.cols, DataType<_Tp>::type, 00175 dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); 00176 src.convertTo(_dst, _dst.type()); 00177 CV_DbgAssert(_dst.data == (uchar*)dst.data()); 00178 } 00179 } 00180 00181 } 00182 00183 #endif 00184 00185 #endif 00186