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The easiest way is to use the constructor that take a pointer to data to initialize a mat.
cv::Mat myImg = cv::Mat( ROWS, COLS, CV_16UC3, ptrToVuforia );
Where ROWS and COLS are the height and width of your image respectively, and ptrToVuforia the pointer of data (aka pixels) from Vuforia. I assume here, that your image is in color (C3) and short is 16 bits, adapt if needed.