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- import os
- import numpy as np
- import imageio.v3 as iio
- from scipy.ndimage import grey_dilation
- # 输入输出路径
- input_dir = r"G:\python_ws_g\data\pcd2color_result\depth_tiff"
- output_dir = r"G:\python_ws_g\data\pcd2color_result\dilated_tiff_filled"
- os.makedirs(output_dir, exist_ok=True)
- # 获取 .tiff 文件
- image_files = [f for f in os.listdir(input_dir) if f.lower().endswith('.tiff')]
- # 定义膨胀核（结构元素）
- kernel = np.ones((3, 3), dtype=bool) # 小一点更精细填补
- def fill_empty_by_dilation(depth, max_iter=50):
- # 判断有效像素（非0 且 非NaN）
- mask_valid = (depth > 0) & np.isfinite(depth)
- filled = depth.copy()
- for i in range(max_iter):
- prev = filled.copy()
- # 膨胀图像
- dilated = grey_dilation(filled, footprint=kernel)
- # 只用膨胀值去填空（原来为0的地方）
- filled = np.where(mask_valid, filled, dilated)
- # 更新 mask（哪些位置现在也有效了）
- new_mask_valid = (filled > 0) & np.isfinite(filled)
- if np.array_equal(new_mask_valid, mask_valid):
- print(f"→ 第{i+1}次迭代：无更多像素可填补，停止")
- break
- mask_valid = new_mask_valid
- return filled
- for filename in image_files:
- try:
- img_path = os.path.join(input_dir, filename)
- depth = iio.imread(img_path) # 支持 float32, uint16
- if depth is None:
- print(f"读取失败: {filename}")
- continue
- result = fill_empty_by_dilation(depth)
- # 保存结果
- save_path = os.path.join(output_dir, f"filled_{filename}")
- iio.imwrite(save_path, result.astype(depth.dtype))
- print(f"填补完成: {filename} → {save_path}")
- except Exception as e:
- print(f"处理失败: {filename} → {e}")
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