将cornell数据集中PCD文件转换为深度图

Convert the PCD files to depth images by running

将.txt文件--->d.tiff文件

直接贴代码：

！！此代码需在终端运行，命令最下面有，自己可以看着修改一下（pycharm下端终端和CMD都可，记得要cd 进文件所在目录！！！）

import argparse
import glob
import os

import numpy as np
from imageio import imsave


import warnings

import cv2
import matplotlib.pyplot as plt
import numpy as np
from imageio import imread
from skimage.transform import rotate, resize

warnings.filterwarnings("ignore", category=UserWarning)


class Image:
    """
    Wrapper around an image with some convenient functions.
    """

    def __init__(self, img):
        self.img = img

    def __getattr__(self, attr):
        # Pass along any other methods to the underlying ndarray
        return getattr(self.img, attr)

    @classmethod
    def from_file(cls, fname):
        return cls(imread(fname))

    def copy(self):
        """
        :return: Copy of self.
        """
        return self.__class__(self.img.copy())

    def crop(self, top_left, bottom_right, resize=None):
        """
        Crop the image to a bounding box given by top left and bottom right pixels.
        :param top_left: tuple, top left pixel.
        :param bottom_right: tuple, bottom right pixel
        :param resize: If specified, resize the cropped image to this size
        """
        self.img = self.img[top_left[0]:bottom_right[0], top_left[1]:bottom_right[1]]
        if resize is not None:
            sel