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Diffstat (limited to 'thirdparty/includes/OpenCV/opencv2/core/eigen.hpp')
| -rw-r--r-- | thirdparty/includes/OpenCV/opencv2/core/eigen.hpp | 280 |
1 files changed, 280 insertions, 0 deletions
diff --git a/thirdparty/includes/OpenCV/opencv2/core/eigen.hpp b/thirdparty/includes/OpenCV/opencv2/core/eigen.hpp new file mode 100644 index 00000000..a7b237f9 --- /dev/null +++ b/thirdparty/includes/OpenCV/opencv2/core/eigen.hpp @@ -0,0 +1,280 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009, Willow Garage Inc., all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef __OPENCV_CORE_EIGEN_HPP__ +#define __OPENCV_CORE_EIGEN_HPP__ + +#ifdef __cplusplus + +#include "opencv2/core/core_c.h" +#include "opencv2/core/core.hpp" + +#if defined _MSC_VER && _MSC_VER >= 1200 +#pragma warning( disable: 4714 ) //__forceinline is not inlined +#pragma warning( disable: 4127 ) //conditional expression is constant +#pragma warning( disable: 4244 ) //conversion from '__int64' to 'int', possible loss of data +#endif + +namespace cv +{ + +template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> +void eigen2cv( const Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& src, Mat& dst ) +{ + if( !(src.Flags & Eigen::RowMajorBit) ) + { + Mat _src(src.cols(), src.rows(), DataType<_Tp>::type, + (void*)src.data(), src.stride()*sizeof(_Tp)); + transpose(_src, dst); + } + else + { + Mat _src(src.rows(), src.cols(), DataType<_Tp>::type, + (void*)src.data(), src.stride()*sizeof(_Tp)); + _src.copyTo(dst); + } +} + +template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> +void cv2eigen( const Mat& src, + Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst ) +{ + CV_DbgAssert(src.rows == _rows && src.cols == _cols); + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(src.cols, src.rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + if( src.type() == _dst.type() ) + transpose(src, _dst); + else if( src.cols == src.rows ) + { + src.convertTo(_dst, _dst.type()); + transpose(_dst, _dst); + } + else + Mat(src.t()).convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(src.rows, src.cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + src.convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +// Matx case +template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols> +void cv2eigen( const Matx<_Tp, _rows, _cols>& src, + Eigen::Matrix<_Tp, _rows, _cols, _options, _maxRows, _maxCols>& dst ) +{ + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(_cols, _rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + transpose(src, _dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(_rows, _cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + Mat(src).copyTo(_dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +template<typename _Tp> +void cv2eigen( const Mat& src, + Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst ) +{ + dst.resize(src.rows, src.cols); + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(src.cols, src.rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + if( src.type() == _dst.type() ) + transpose(src, _dst); + else if( src.cols == src.rows ) + { + src.convertTo(_dst, _dst.type()); + transpose(_dst, _dst); + } + else + Mat(src.t()).convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(src.rows, src.cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + src.convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +// Matx case +template<typename _Tp, int _rows, int _cols> +void cv2eigen( const Matx<_Tp, _rows, _cols>& src, + Eigen::Matrix<_Tp, Eigen::Dynamic, Eigen::Dynamic>& dst ) +{ + dst.resize(_rows, _cols); + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(_cols, _rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + transpose(src, _dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(_rows, _cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + Mat(src).copyTo(_dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +template<typename _Tp> +void cv2eigen( const Mat& src, + Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst ) +{ + CV_Assert(src.cols == 1); + dst.resize(src.rows); + + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(src.cols, src.rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + if( src.type() == _dst.type() ) + transpose(src, _dst); + else + Mat(src.t()).convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(src.rows, src.cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + src.convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +// Matx case +template<typename _Tp, int _rows> +void cv2eigen( const Matx<_Tp, _rows, 1>& src, + Eigen::Matrix<_Tp, Eigen::Dynamic, 1>& dst ) +{ + dst.resize(_rows); + + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(1, _rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + transpose(src, _dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(_rows, 1, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + src.copyTo(_dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + + +template<typename _Tp> +void cv2eigen( const Mat& src, + Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst ) +{ + CV_Assert(src.rows == 1); + dst.resize(src.cols); + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(src.cols, src.rows, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + if( src.type() == _dst.type() ) + transpose(src, _dst); + else + Mat(src.t()).convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(src.rows, src.cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + src.convertTo(_dst, _dst.type()); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + +//Matx +template<typename _Tp, int _cols> +void cv2eigen( const Matx<_Tp, 1, _cols>& src, + Eigen::Matrix<_Tp, 1, Eigen::Dynamic>& dst ) +{ + dst.resize(_cols); + if( !(dst.Flags & Eigen::RowMajorBit) ) + { + Mat _dst(_cols, 1, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + transpose(src, _dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } + else + { + Mat _dst(1, _cols, DataType<_Tp>::type, + dst.data(), (size_t)(dst.stride()*sizeof(_Tp))); + Mat(src).copyTo(_dst); + CV_DbgAssert(_dst.data == (uchar*)dst.data()); + } +} + + +} + +#endif + +#endif |