如何将CVPixelBuffer转换为o3d.geometry.Image？

可以使用以下代码将CVPixelBuffer转换为o3d.geometry.Image：

import open3d as o3d
import numpy as np
import cv2

def cvpixelbuffer_to_open3dimage(pixelbuffer):
    # Extract image dimensions
    width = CVPixelBufferGetWidth(pixelbuffer)
    height = CVPixelBufferGetHeight(pixelbuffer)

    # Create a numpy array to hold the image data
    image_data = np.zeros((height, width, 4), dtype=np.uint8)

    # Lock the pixel buffer and copy the image data into the numpy array
    CVPixelBufferLockBaseAddress(pixelbuffer, 0)
    data = CVPixelBufferGetBaseAddress(pixelbuffer)
    image_data[:] = np.ctypeslib.as_array(data, shape=(height, width, 4))
    CVPixelBufferUnlockBaseAddress(pixelbuffer, 0)

    # Create an Open3D image from the numpy array
    open3d_image = o3d.geometry.Image(np.flipud(image_data))

    return open3d_image

注释：

• CVPixelBufferGetWidth和CVPixelBufferGetHeight用于获取像素缓冲区的宽度和高度。
• 在这里，我们创建一个numpy数组来保存图像数据。
• 使用CVPixelBufferLockBaseAddress和CVPixelBufferUnlockBaseAddress锁定和解锁像素缓冲区。
• 最后，我们使用o3d.geometry.Image将numpy数组转换为Open3D图像。注意，这里使用np.flipud翻转数组，因为Open3D图像对于Y轴的方向与常规图像有所不同。

示例用法：

# Capture a frame from a camera using AVFoundation
pixelbuffer = capture_frame_from_camera()

# Convert the CVPixelBuffer to an Open3D image
open3d_image = cvpixelbuffer_to_open3dimage(pixelbuffer)

# Do something with the Open3D image