CCV - Multi Camera

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#ifndef __OPENCV_CORE_EIGEN_HPP__

#define __OPENCV_CORE_EIGEN_HPP__

#ifdef __cplusplus

#include "cxcore.h"

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());

    }

}

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());

    }

}

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());

    }

}

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());

    }

}                     

}

#endif

#endif