OpenCV与Open3D之间的图像格式转化

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<geometry::RGBDImage> 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<geometry::RGBDImage>(o3d_cv(color), *rgbd->depth_.Downsample());

			if (j == 0)continue;
			cv::imshow("color image", color);
			cv::waitKey(1);
		}