点云预处理时，需要将.abs压缩格式转化为.asc格式，同时需要得到深度图像。本程序完成这一功能。这可是一般都不会拿出来的。-point cloud, it needs to be. Abs into compressed format. Asc format, also need to be depth images. The procedures are completed this function. But it will not usually take to work.