Open3D Image 转 OpenCV Mat

cv::Mat o3d_cv(const geometry::Image& A) {

int type = A.num_of_channels_ == 1 ? CV_16UC1 : CV_8UC3;//depth, otherwise color

return  cv::Mat(A.height_, A.width_, type, (void*)A.data_.data());

}

OpenCV Mat 转 Open3D Image

geometry::Image o3d_cv(const cv::Mat& A) {

geometry::Image B;

int bytes_per_channel = (A.depth() / 2 + 1);//refer to the fuction depth

B.Prepare(A.cols, A.rows, A.channels(), bytes_per_channel);

std::memcpy(B.data_.data(), A.data, A.total() * A.channels() * bytes_per_channel);

return B;

}

对Open3D RGBD影像下采样四倍

std::shared_ptr rgbd=geometry::RGBDImage::CreateFromColorAndDepth(color, depth, 1, 3000.0, false);

for (int j = 0; j < 2; j++) {

cv::Mat color = o3d_cv(rgbd->color_);

cv::resize(color, color, cv::Size(color.cols / 2, color.rows / 2));

rgbd = make_shared(o3d_cv(color), *rgbd->depth_.Downsample());

if (j == 0)continue;

cv::imshow("color image", color);

cv::waitKey(1);

————————————————

版权声明：本文为CSDN博主「断、舍、离」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。

原文链接：https://blog.csdn.net/h1063135843/article/details/114288287