将 CV_32FC1 转换为 CV_16UC1 [英] Converting CV_32FC1 to CV_16UC1

问题描述

我正在尝试将从模拟深度相机获得的 float 图像转换为 CV_16UC1.相机以 CV_32FC1 格式发布深度.我尝试了很多方法，但结果都不合理.

I am trying to convert a float image that I get from a simulated depth camera to CV_16UC1. The camera publishes the depth in CV_32FC1 format. I tried many ways but the result was not reasonable.

cv::Mat depth_cv(512, 512, CV_32FC1, depth);
cv::Mat depth_converted;
depth_cv.convertTo(depth_converted,CV_16UC1);

结果是黑色图像.如果我使用比例因子，图像将是白色的.

The result is a black image. If I use a scale factor, the image will be white.

我也尝试过这样做:

float depthValueF [512*512];
for (int i=0;i<resolution[1];i++){ // go through the rows (y)
    for (int j=0;j<resolution[0];j++){ // go through the columns (x)
        depthValueOfPixel=depth[i*resolution[0]+j]; // this is location j/i, i.e. x/y
        depthValueF[i*resolution[0]+j] = (depthValueOfPixel) * (65535.0f);
    }
}

它也没有成功.

推荐答案

尝试使用 cv::normalize 相反，它不仅会将图像转换为正确的数据类型，而且还会在幕后为您正确地进行缩放.

Try using cv::normalize instead, which will not only convert the image into the proper data type, but it will properly do the scaling for you under the hood.

因此:

cv::Mat depth_cv(512, 512, CV_32FC1, depth);
cv::Mat depth_converted;
cv::normalize(depth_cv, depth_converted, 0, 65535, NORM_MINMAX, CV_16UC1);

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