passing in a cv::Mat?

[antithing]

Hi, Thank you again for this code. i am attempting to pass cv::mat frames in,instead of using pangolin::Image format. I have this working, but the results are different when i run Mats, vs when I run the pangolin Image as in the example. My code is:

Eigen::Matrix4f IcpCuda::RunIcp(cv::Mat frame1, cv::Mat frame2)
{

        cv::Mat mat_ushort1(frame1.cols,frame1.rows, CV_16UC1);
	frame1.convertTo(mat_ushort1, CV_16UC1);

	cv::Mat mat_ushort2(frame1.cols, frame1.rows, CV_16UC1);
	frame2.convertTo(mat_ushort2, CV_16UC1);

	unsigned short* dataMat1 = mat_ushort1.ptr<unsigned short>();
	unsigned short* dataMat2 = mat_ushort2.ptr<unsigned short>();
	
	icpOdom.initICPModel(dataMat1);
	icpOdom.initICP(dataMat2);


.............

The working pangolin code I am using is:

uint64_t loadDepthFromPath(std::string filepath, pangolin::Image<unsigned short> & depth)
{

	pangolin::TypedImage depthRaw = pangolin::LoadImage(filepath, pangolin::ImageFileTypePng);

	pangolin::Image<unsigned short> depthRaw16((unsigned short*)depthRaw.ptr, depthRaw.w, depthRaw.h, depthRaw.w * sizeof(unsigned short));

	for (unsigned int i = 0; i < 480; i++)
	{
		for (unsigned int j = 0; j < 640; j++)
		{
			depth.RowPtr(i)[j] = depthRaw16(j, i) / 5;
		}
	}

	uint64_t time = getCurrTime();
	return time;
}

I realize this is a little off topic, but if you could help me out here it would be very much appreciated.

results:

//using the Mat frames
GeForce GTX 1080 Ti
ICP: 2.5480ms
ICP speed: 392Hz
 0.9998  0.0172 -0.0087  0.0003
-0.0172  0.9999 -0.0010  0.0002
 0.0087  0.0012  1.0000 -0.0002
 0.0000  0.0000  0.0000  1.0000

//using pangolin images
GeForce GTX 1080 Ti
ICP: 2.7740ms
ICP speed: 360Hz
 0.9998 -0.0184  0.0104  0.0068
 0.0184  0.9998  0.0039  0.0025
-0.0105 -0.0037  0.9999 -0.0094
 0.0000  0.0000  0.0000  1.0000

Thanks!

[antithing]

Solved. For anyone else who wants to do this:

 cv::Mat mat_ushort1(frame1.cols,frame1.rows, CV_16UC1);
	for (unsigned int i = 0; i < height; i++)
	{
		for (unsigned int j = 0; j < width; j++)
		{
			mat_ushort1.at<unsigned short>(i,j) = frame1.at<unsigned short>(i, j) / 5;
			mat_ushort2.at<unsigned short>(i, j) = frame2.at<unsigned short>(i, j) / 5;
		}
	}
	

	icpOdom.initICPModel((unsigned short*)mat_ushort1.data);
	icpOdom.initICP((unsigned short*)mat_ushort2.data);

Thank you again for the code. :)