Visual Servoing Platform version 3.6.0
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tutorial-bridge-opencv-image.cpp
1
2#include <iostream>
3
4#include <visp3/core/vpImageConvert.h>
5#include <visp3/io/vpImageIo.h>
6
7#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_IMGCODECS)
8#include <opencv2/core/core.hpp>
9#include <opencv2/imgproc/imgproc.hpp>
10#include <opencv2/imgcodecs/imgcodecs.hpp>
11
12int main()
13{
14 // From ViSP to OpenCV conversion
15 {
17 vpImage<vpRGBa> Irgba;
18 vpImageIo::read(Irgba, "monkey.jpeg");
20
23 vpImageIo::read(Igrey, "monkey.jpeg");
25
27 cv::Mat cv_img_color;
28 vpImageConvert::convert(Irgba, cv_img_color);
30
32 cv::Mat cv_img_grey;
33 vpImageConvert::convert(Igrey, cv_img_grey);
35
36 std::cout << "Save converted images from vpImage to cv::Mat" << std::endl;
37 std::cout << "- monkey-cv-color.jpeg" << std::endl;
38 std::cout << "- monkey-cv-grey.jpeg" << std::endl;
40 cv::imwrite("monkey-cv-color.jpeg", cv_img_color);
43 cv::imwrite("monkey-cv-grey.jpeg", cv_img_grey);
45 }
46
47 // From OpenCV to ViSP conversion
48 {
50#if VISP_HAVE_OPENCV_VERSION >= 0x030000
51 cv::Mat cv_img_color = cv::imread("monkey.jpeg", cv::IMREAD_COLOR);
52#else
53 cv::Mat cv_img_color = cv::imread("monkey.jpeg", CV_LOAD_IMAGE_COLOR);
54#endif
56
58 vpImage<vpRGBa> Irgba;
59 vpImageConvert::convert(cv_img_color, Irgba);
61
63#if VISP_HAVE_OPENCV_VERSION >= 0x030000
64 cv::Mat cv_img_grey = cv::imread("monkey.jpeg", cv::IMREAD_GRAYSCALE);
65#else
66 cv::Mat cv_img_grey = cv::imread("monkey.jpeg", CV_LOAD_IMAGE_GRAYSCALE);
67#endif
69
72 vpImageConvert::convert(cv_img_grey, Igrey);
74
75 std::cout << "Save converted images from cv::Mat to vpImage" << std::endl;
76 std::cout << "- monkey-vp-color.jpeg" << std::endl;
77 std::cout << "- monkey-vp-grey.jpeg" << std::endl;
79 vpImageIo::write(Irgba, "monkey-vp-color.jpeg");
82 vpImageIo::write(Igrey, "monkey-vp-grey.jpeg");
84 }
85}
86#else
87int main()
88{
89 std::cout << "This tutorial required OpenCV imgproc and imgcodecs modules." << std::endl;
90 return EXIT_SUCCESS;
91}
92#endif
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition of the vpImage class member functions.
Definition vpImage.h:135