将PXCImage转换为OpenCV Mat

Convert a PXCImage into an OpenCV Mat

本文关键字：OpenCV Mat 转换 PXCImage      更新时间：2023-10-16

我正在研究英特尔的RealSense SDK。出于信号处理的目的，我必须将其转换为OpenCV格式。

你有一个函数来做这样的转换吗?

以下是转换(有些情况没有管理，但请随意调整):

void ConvertPXCImageToOpenCVMat(PXCImage *inImg, Mat *outImg) {
    int cvDataType;
    int cvDataWidth;

    PXCImage::ImageData data;
    inImg->AcquireAccess(PXCImage::ACCESS_READ, &data);
    PXCImage::ImageInfo imgInfo = inImg->QueryInfo();
    switch (data.format) {
        /* STREAM_TYPE_COLOR */
        case PXCImage::PIXEL_FORMAT_YUY2: /* YUY2 image  */
        case PXCImage::PIXEL_FORMAT_NV12: /* NV12 image */
            throw(0); // Not implemented
        case PXCImage::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */
            cvDataType = CV_8UC4;
            cvDataWidth = 4;
            break;
        case PXCImage::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */
            cvDataType = CV_8UC3;
            cvDataWidth = 3;
            break;
        case PXCImage::PIXEL_FORMAT_Y8:  /* 8-Bit Gray Image, or IR 8-bit */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;
        /* STREAM_TYPE_DEPTH */
        case PXCImage::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */
        case PXCImage::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case PXCImage::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
            cvDataType = CV_32F;
            cvDataWidth = 4;
            break;
        /* STREAM_TYPE_IR */
        case PXCImage::PIXEL_FORMAT_Y16:          /* 16-Bit Gray Image */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE:    /* Relative IR Image */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;
        }
    // suppose that no other planes
    if (data.planes[1] != NULL) throw(0); // not implemented
    // suppose that no sub pixel padding needed
    if (data.pitches[0] % cvDataWidth!=0) throw(0); // not implemented
    outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
    memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth*sizeof(pxcBYTE));
    inImg->ReleaseAccess(&data);
    }
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