使用RGB图像和PointCloud，如何从PointClouds生成深度图？(python)

import numpy as np
import open3d as o3d
from PIL import Image

pcd = o3d.io.read_point_cloud("pointcloud.pcd")

# 获取PointCloud的坐标和颜色信息
points = np.asarray(pcd.points)
colors = np.asarray(pcd.colors)

# 获取PointCloud的边界框
min_bound = np.min(points, axis=0)
max_bound = np.max(points, axis=0)

# 设置深度图的分辨率和缩放因子
resolution = 0.001  # 深度图的分辨率，根据实际情况进行调整
scale_factor = 1000  # 缩放因子，将坐标从米转换为毫米

# 计算深度图的尺寸
width = int((max_bound[0] - min_bound[0]) / resolution)
height = int((max_bound[1] - min_bound[1]) / resolution)

# 创建深度图和颜色图
depth_map = np.zeros((height, width), dtype=np.float32)
color_map = np.zeros((height, width, 3), dtype=np.uint8)

# 遍历PointCloud的每个点，将其转换为深度图和颜色图的像素
for point, color in zip(points, colors):
    x = int((point[0] - min_bound[0]) / resolution)
    y = int((point[1] - min_bound[1]) / resolution)
    z = int(point[2] * scale_factor)

    depth_map[y, x] = z
    color_map[y, x] = (color[0] * 255, color[1] * 255, color[2] * 255)

# 将深度图和颜色图转换为PIL图像
depth_image = Image.fromarray(depth_map)
color_image = Image.fromarray(color_map)

depth_image.save("depth_map.png")
color_image.save("color_map.png")