opencv与eigen的交互
opencv矩阵结构为:cv::Mat,或者cv::Mat_等,当需要与eigen的矩阵结构相互转换时主要使用函数:
cv::eigen2cv和cv::cv2eigen,需要头文件:#include<opencv2/core/eigen.hpp>
cv::cv2eigen
#include <Eigen/Dense>
#include <iostream>
#include <opencv2/core/eigen.hpp>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
using namespace Eigen;
void main()
{
Mat img = imread("1.jpg",CV_LOAD_IMAGE_GRAYSCALE);
int row = img.rows;
int col = img.cols;
MatrixXd m(row, col);
cv2eigen(img,m);
return;
}
cv::eigen2cv
#include <Eigen/Dense>
#include <iostream>
#include <opencv2/core/eigen.hpp>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
using namespace Eigen;
void main()
{
Mat img;
Matrix<int,100,100> m ;
m.fill(255);
eigen2cv(m, img);
return;
}
平移和旋转向量转为欧式变换矩阵(4X4)
// cvMat2Eigen
Eigen::Isometry3d cvMat2Eigen( cv::Mat& rvec, cv::Mat& tvec )
{
cv::Mat R;
cv::Rodrigues( rvec, R );
Eigen::Matrix3d r;
cv::cv2eigen(R, r);
// 将平移向量和旋转矩阵转换成变换矩阵
Eigen::Isometry3d T = Eigen::Isometry3d::Identity();
Eigen::AngleAxisd angle(r);
Eigen::Translation<double,3> trans(tvec.at<double>(0,0), tvec.at<double>(0,1), tvec.at<double>(0,2));
T = angle;
T(0,3) = tvec.at<double>(0,0);
T(1,3) = tvec.at<double>(0,1);
T(2,3) = tvec.at<double>(0,2);
return T;
}