Visual Servoing Platform version 3.5.0
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 VISP_HAVE_OPENCV_VERSION >= 0x020300
8#include <opencv2/core/core.hpp>
9#include <opencv2/imgproc/imgproc.hpp>
10#endif
11
12int main()
13{
14#if VISP_HAVE_OPENCV_VERSION >= 0x020300
15 // From ViSP to OpenCV conversion
16 {
18 vpImage<vpRGBa> Irgba;
19 vpImageIo::read(Irgba, "monkey.jpeg");
21
24 vpImageIo::read(Igrey, "monkey.jpeg");
26
28 cv::Mat cv_img_color;
29 vpImageConvert::convert(Irgba, cv_img_color);
31
33 cv::Mat cv_img_grey;
34 vpImageConvert::convert(Igrey, cv_img_grey);
36
37 std::cout << "Save converted images from vpImage to cv::Mat" << std::endl;
38 std::cout << "- monkey-cv-color.jpeg" << std::endl;
39 std::cout << "- monkey-cv-grey.jpeg" << std::endl;
41 cv::imwrite("monkey-cv-color.jpeg", cv_img_color);
44 cv::imwrite("monkey-cv-grey.jpeg", cv_img_grey);
46 }
47
48 // From OpenCV to ViSP conversion
49 {
51#if VISP_HAVE_OPENCV_VERSION >= 0x030000
52 cv::Mat cv_img_color = cv::imread("monkey.jpeg", cv::IMREAD_COLOR);
53#else
54 cv::Mat cv_img_color = cv::imread("monkey.jpeg", CV_LOAD_IMAGE_COLOR);
55#endif
57
59 vpImage<vpRGBa> Irgba;
60 vpImageConvert::convert(cv_img_color, Irgba);
62
64#if VISP_HAVE_OPENCV_VERSION >= 0x030000
65 cv::Mat cv_img_grey = cv::imread("monkey.jpeg", cv::IMREAD_GRAYSCALE);
66#else
67 cv::Mat cv_img_grey = cv::imread("monkey.jpeg", CV_LOAD_IMAGE_GRAYSCALE);
68#endif
70
73 vpImageConvert::convert(cv_img_grey, Igrey);
75
76 std::cout << "Save converted images from cv::Mat to vpImage" << std::endl;
77 std::cout << "- monkey-vp-color.jpeg" << std::endl;
78 std::cout << "- monkey-vp-grey.jpeg" << std::endl;
80 vpImageIo::write(Irgba, "monkey-vp-color.jpeg");
83 vpImageIo::write(Igrey, "monkey-vp-grey.jpeg");
85 }
86#endif
87}
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)
Definition: vpImageIo.cpp:149
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:293