C++ conversion from NumPy array to Mat (OpenCV)

I am writing a thin wrapper around ArUco augmented reality library (which is based on OpenCV). An interface I am trying to build is very simple:

Python passes image to C++ code;
C++ code detects markers and returns their locations and other info to Python as tuple of dicts.

However, I couldn't figure out how to represent an image in Python to pass it to C++. For GUI and camera management I am going to use PyQt, so initially it is going to be QImage, but I can't simply pass it to OpenCV (or I can?). At first, I tried to use nested tuples to represent row, column and color of each pixel, so I ended up with this sample code:

using namespace cv;
namespace py = boost::python;

void display(py::tuple pix)
{
    /*
        Receive image from Python and display it.
    */
    Mat img(py::len(pix), py::len(pix[0]), CV_8UC3, Scalar(0, 0, 255));
    for (int y = 0; y < py::len(pix); y++)
        for (int x = 0; x < py::len(pix[y]); x++)
        {
            Vec3b rgb;
            for (int i = 0; i < 3; i++)
                rgb[i] = py::extract<int>(pix[y][x][i]);
            img.at<Vec3b>(Point(x, y)) = rgb;
        }
    imshow("Image", img);
    waitKey(0);
}

BOOST_PYTHON_MODULE(aruco)
{
    py::def("display", display);
}

It turned out to be painfully slow (a few seconds for a single frame), so I went googling and found solution that should be much faster: use NumPy arrays, so the code would look something like that:

void display(py::object array)
{
    Mat img;
    // ... some magic here to convert NumPy array to Mat ...
    imshow("Image", img);
    waitKey(0);
}

However, I have no idea how to convert NumPy Array (which in C++ level is just a Python Object) to OpenCV Mat. I would appreciate any help here.

Alternatively, maybe NumPy is not really needed, so I could just pass QImage Python object directly to C++ layer? Or maybe there is a different approach to this problem? Any advice is appreciated!

The best solution in your situation is using custom boost::python converter for cv::Mat object. OpenCV has Python wrapper and when you are using this wrapper you are operating on Numpy arrays - you don't even need to know that those arrays are converted to cv::Mat objects while "crossing the c++ <-> python border". Writing such converter for simple type is quite easy, however creating converter for cv::Mat isn't simple. Fortunetely someone else already did this - here is version for OpenCV 2.x and here for 3.x. If you are not familiar with boost::python converters, this article should help you.
Hope it helps, if you wil have any problems, let us know.