Convert an sl::Mat to a cv::Mat 'slMat2cvMat'

Lu-Sijie · April 5, 2023, 12:33pm

I’m using zed C++ API on Jetson TX2, but I get an error when using the function ‘slMat2cvMat’, so is there a C++ function called ‘slMat2cvMat’ provided by the SDK?

Myzhar · April 5, 2023, 10:44pm

Hi @Lu-Sijie
Welcome to the Stereolabs community.

The function slMat2cvMat is not part of the ZED SDK, but it’s defined in our examples:

github.com

stereolabs/zed-examples/blob/master/object detection/birds eye viewer/cpp/include/utils.hpp#L82-L106


      
          inline cv::Mat slMat2cvMat(sl::Mat& input) {
              // Mapping between MAT_TYPE and CV_TYPE
              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;

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Lu-Sijie · April 6, 2023, 1:51am

Thank you for the reply.