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  #ifndef OPENCV_CORE_EIGEN_HPP
  #define OPENCV_CORE_EIGEN_HPP
  
  #include "opencv2/core.hpp"
  
  #if defined _MSC_VER && _MSC_VER >= 1200
  #pragma warning( disable: 4714 ) //__forceinline is not inlined
  #pragma warning( disable: 4127 ) //conditional expression is constant
  #pragma warning( disable: 4244 ) //conversion from '__int64' to 'int', possible loss of data
  #endif
  
  namespace cv {
  
  //! @addtogroup core_eigen
  //! @{
  
      template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
      static inline
      void eigen2cv(const Eigen::Matrix <_Tp, _rows, _cols, _options, _maxRows, _maxCols> &src, Mat &dst) {
          if (!(src.Flags & Eigen::RowMajorBit)) {
              Mat _src(src.cols(), src.rows(), traits::Type<_Tp>::value,
                       (void *) src.data(), src.outerStride() * sizeof(_Tp));
              transpose(_src, dst);
          } else {
              Mat _src(src.rows(), src.cols(), traits::Type<_Tp>::value,
                       (void *) src.data(), src.outerStride() * sizeof(_Tp));
              _src.copyTo(dst);
          }
      }
  
  // Matx case
      template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
      static inline
      void eigen2cv(const Eigen::Matrix <_Tp, _rows, _cols, _options, _maxRows, _maxCols> &src,
                    Matx <_Tp, _rows, _cols> &dst) {
          if (!(src.Flags & Eigen::RowMajorBit)) {
              dst = Matx<_Tp, _cols, _rows>(static_cast<const _Tp *>(src.data())).t();
          } else {
              dst = Matx<_Tp, _rows, _cols>(static_cast<const _Tp *>(src.data()));
          }
      }
  
      template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
      static inline
      void cv2eigen(const Mat &src,
                    Eigen::Matrix <_Tp, _rows, _cols, _options, _maxRows, _maxCols> &dst) {
          CV_DbgAssert(src.rows == _rows && src.cols == _cols);
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(src.cols, src.rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              if (src.type() == _dst.type())
                  transpose(src, _dst);
              else if (src.cols == src.rows) {
                  src.convertTo(_dst, _dst.type());
                  transpose(_dst, _dst);
              } else
                  Mat(src.t()).convertTo(_dst, _dst.type());
          } else {
              const Mat _dst(src.rows, src.cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              src.convertTo(_dst, _dst.type());
          }
      }
  
  // Matx case
      template<typename _Tp, int _rows, int _cols, int _options, int _maxRows, int _maxCols>
      static inline
      void cv2eigen(const Matx <_Tp, _rows, _cols> &src,
                    Eigen::Matrix <_Tp, _rows, _cols, _options, _maxRows, _maxCols> &dst) {
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(_cols, _rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              transpose(src, _dst);
          } else {
              const Mat _dst(_rows, _cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              Mat(src).copyTo(_dst);
          }
      }
  
      template<typename _Tp>
      static inline
      void cv2eigen(const Mat &src,
                    Eigen::Matrix <_Tp, Eigen::Dynamic, Eigen::Dynamic> &dst) {
          dst.resize(src.rows, src.cols);
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(src.cols, src.rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              if (src.type() == _dst.type())
                  transpose(src, _dst);
              else if (src.cols == src.rows) {
                  src.convertTo(_dst, _dst.type());
                  transpose(_dst, _dst);
              } else
                  Mat(src.t()).convertTo(_dst, _dst.type());
          } else {
              const Mat _dst(src.rows, src.cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              src.convertTo(_dst, _dst.type());
          }
      }
  
  // Matx case
      template<typename _Tp, int _rows, int _cols>
      static inline
      void cv2eigen(const Matx <_Tp, _rows, _cols> &src,
                    Eigen::Matrix <_Tp, Eigen::Dynamic, Eigen::Dynamic> &dst) {
          dst.resize(_rows, _cols);
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(_cols, _rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              transpose(src, _dst);
          } else {
              const Mat _dst(_rows, _cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              Mat(src).copyTo(_dst);
          }
      }
  
      template<typename _Tp>
      static inline
      void cv2eigen(const Mat &src,
                    Eigen::Matrix<_Tp, Eigen::Dynamic, 1> &dst) {
          CV_Assert(src.cols == 1);
          dst.resize(src.rows);
  
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(src.cols, src.rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              if (src.type() == _dst.type())
                  transpose(src, _dst);
              else
                  Mat(src.t()).convertTo(_dst, _dst.type());
          } else {
              const Mat _dst(src.rows, src.cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              src.convertTo(_dst, _dst.type());
          }
      }
  
  // Matx case
      template<typename _Tp, int _rows>
      static inline
      void cv2eigen(const Matx<_Tp, _rows, 1> &src,
                    Eigen::Matrix<_Tp, Eigen::Dynamic, 1> &dst) {
          dst.resize(_rows);
  
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(1, _rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              transpose(src, _dst);
          } else {
              const Mat _dst(_rows, 1, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              src.copyTo(_dst);
          }
      }
  
  
      template<typename _Tp>
      static inline
      void cv2eigen(const Mat &src,
                    Eigen::Matrix<_Tp, 1, Eigen::Dynamic> &dst) {
          CV_Assert(src.rows == 1);
          dst.resize(src.cols);
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(src.cols, src.rows, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              if (src.type() == _dst.type())
                  transpose(src, _dst);
              else
                  Mat(src.t()).convertTo(_dst, _dst.type());
          } else {
              const Mat _dst(src.rows, src.cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              src.convertTo(_dst, _dst.type());
          }
      }
  
  //Matx
      template<typename _Tp, int _cols>
      static inline
      void cv2eigen(const Matx<_Tp, 1, _cols> &src,
                    Eigen::Matrix<_Tp, 1, Eigen::Dynamic> &dst) {
          dst.resize(_cols);
          if (!(dst.Flags & Eigen::RowMajorBit)) {
              const Mat _dst(_cols, 1, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              transpose(src, _dst);
          } else {
              const Mat _dst(1, _cols, traits::Type<_Tp>::value,
                             dst.data(), (size_t)(dst.outerStride() * sizeof(_Tp)));
              Mat(src).copyTo(_dst);
          }
      }
  
  //! @}
  
  } // cv
  
  #endif
  