OpenCV Mat <-> ZED SDK Mat

mat_conversion.hpp

inline cv::Mat slMat2cvMat(const sl::Mat& input) {
    int cv_type = -1;
    switch (input.getDataType()) {
        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::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM::CPU), input.getStepBytes(sl::MEM::CPU));
}


// Be careful about the memory owner, might want to use it like : 
//     cvMat2slMat(cv_mat).copyTo(sl_mat, sl::COPY_TYPE::CPU_CPU);
inline sl::Mat cvMat2slMat(const cv::Mat& input) {
    sl::MAT_TYPE sl_type;
    switch (input.type()) {
        case CV_32FC1: sl_type = sl::MAT_TYPE::F32_C1;
            break;
        case CV_32FC2: sl_type = sl::MAT_TYPE::F32_C2;
            break;
        case CV_32FC3: sl_type = sl::MAT_TYPE::F32_C3;
            break;
        case CV_32FC4: sl_type = sl::MAT_TYPE::F32_C4;
            break;
        case CV_8UC1: sl_type = sl::MAT_TYPE::U8_C1;
            break;
        case CV_8UC2: sl_type = sl::MAT_TYPE::U8_C2;
            break;
        case CV_8UC3: sl_type = sl::MAT_TYPE::U8_C3;
            break;
        case CV_8UC4: sl_type = sl::MAT_TYPE::U8_C4;
            break;
        default: break;
    }
    return sl::Mat(input.cols, input.rows, sl_type, input.data, input.step, sl::MEM::CPU);
}