slmat_to_cvmat.cpp

//
// This code is from stereolabs github https://github.com/stereolabs/zed-opencv
// and at the point of writing licensed with the MIT License
//
#include "slmat_to_cvmat.h"

#include <opencv2/core/mat.hpp>
#include <sl/Camera.hpp>
#include <opencv2/opencv.hpp>
// OpenCV dep
//#include <opencv2/cvconfig.h>


// todo: integrate to object_detector

int getOCVtype(sl::MAT_TYPE type) {
    int cv_type = -1;
    switch (type) {
        case sl::MAT_TYPE::F32_C1: cv_type = CV_32FC1; break;
        case sl::MAT_TYPE::F32_C2: cv_type = CV_32FC2; break;
        case sl::MAT_TYPE::F32_C3: cv_type = CV_32FC3; break;
        case sl::MAT_TYPE::F32_C4: cv_type = CV_32FC4; break;
        case sl::MAT_TYPE::U8_C1: cv_type = CV_8UC1; break;
        case sl::MAT_TYPE::U8_C2: cv_type = CV_8UC2; break;
        case sl::MAT_TYPE::U8_C3: cv_type = CV_8UC3; break;
        case sl::MAT_TYPE::U8_C4: cv_type = CV_8UC4; break;
        default: break;
    }
    return cv_type;
}

/**
* Conversion function between sl::Mat and cv::Mat
**/


cv::Mat slMat2cvMat(sl::Mat &input) {
    // Since cv::Mat data requires a uchar* pointer, we get the uchar1 pointer from sl::Mat (getPtr<T>())
    // cv::Mat and sl::Mat will share a single memory structure
    return cv::Mat(input.getHeight(), input.getWidth(), getOCVtype(input.getDataType()), input.getPtr<sl::uchar1>(sl::MEM::CPU), input.getStepBytes(sl::MEM::CPU));
}

//#ifdef HAVE_CUDA
//cv::cuda::GpuMat slMat2cvMatGPU(sl::Mat& input) {
//    // Since cv::Mat data requires a uchar* pointer, we get the uchar1 pointer from sl::Mat (getPtr<T>())
//    // cv::Mat and sl::Mat will share a single memory structure
//    return cv::cuda::GpuMat(input.getHeight(), input.getWidth(), getOCVtype(input.getDataType()), input.getPtr<sl::uchar1>(MEM::GPU), input.getStepBytes(sl::MEM::GPU));
//}
//#endif