Function cvMatToArray

src/detect_grasps_python.cpp:89–120

}

int *cvMatToArray(const cv::Mat &image) {
  printf("HELLO\n");
  printf("%d, %d, %d\n", image.rows, image.rows, image.channels());
  int *array = new int[image.rows * image.cols * image.channels()];
  int l = 0;
  printf("%d, %d, %d\n", image.rows, image.rows, image.channels());

  for (int i = 0; i < image.rows; i++) {
    const uchar *ptr = image.ptr(i);

    for (int j = 0; j < image.cols; j++) {
      const uchar *uc_pixel = ptr;

      for (int k = 0; k < image.channels(); k++) {
        if ((int)uc_pixel[k] > 0) {
          printf("%d, %d, %d\n", i, j, k);
          std::cout << "uc_pixel:" << (int)uc_pixel[k] << "\n";
        }
        //        array[l] = uc_pixel[k];
        l++;
        //        printf(" %d\n", uc_pixel[k]);
        //        std::cout << image.at<uchar>(i, j, k) << "\n";
        //        image.at<uchar>(i, j, k)
        //        array[l] = (float) image.at<uchar>(i, j, k);
        //        printf("%.2f\n", array[l]);
        l++;
      }
    }
  }

  return array;
}

PointCloudRGB arrayToPCLPointCloud(float *points, int num_points) {
  PointCloudRGB cloud;