一、数据结构如下：

二、编程工具：Jupyter-Notebook

三、代码：

import os
import cv2
import shutil

path0=os.getcwd()+'\\apple\\RGB'
path1=os.getcwd()+'\\apple\\tof_confidence'
path2=os.getcwd()+'\\apple\\tof_depth'
path3=os.getcwd()+'\\apple\\tof_depthRGB'
path4=os.getcwd()+'\\apple\\tof_points'
path5=os.getcwd()+'\\apple\\tof_intensity'

if not os.path.exists(path0):
    os.makedirs(path0)
if not os.path.exists(path1):
    os.makedirs(path1)
if not os.path.exists(path2):
    os.makedirs(path2)
if not os.path.exists(path3):
    os.makedirs(path3)
if not os.path.exists(path4):
    os.makedirs(path4)
if not os.path.exists(path5):
    os.makedirs(path5)
    
path6=r'E:\Jupyter-Notebook\Apple-1'
folders=os.listdir(path6)
print(folders)


c_num = 1
dr_num =1
i_num = 1
r_num = 1
d_num = 1
p_num = 1


for folder in folders:
    path7=path6+'/'+folder
    fd=os.listdir(path7)
    print(fd)
    
    for f in fd:
        path8=path7+'/'+f
        images=os.listdir(path8)
    
        for image in images:
                
                if image.startswith('confidence'):
                    img=cv2.imread(path8+"/"+image)
                    cv2.imshow('img',img)
                    cv2.waitKey(1)
                    cv2.destroyAllWindows()
                    cv2.imwrite(r'E:\Jupyter-Notebook\apple\tof_confidence\no'+ str(c_num) + '.png', img)
                    c_num += 1
                    
                elif image.startswith('depthRGB'):
                    img=cv2.imread(path8+"/"+image)
                    cv2.imshow('img',img)
                    cv2.waitKey(1)
                    cv2.destroyAllWindows()
                    cv2.imwrite(r'E:\Jupyter-Notebook\apple\tof_depthRGB\no'+ str(dr_num) + '.png', img)
                    dr_num += 1
                    
                elif image.startswith('intensity'):
                    img=cv2.imread(path8+"/"+image)
                    cv2.imshow('img',img)
                    cv2.waitKey(1)
                    cv2.destroyAllWindows()
                    cv2.imwrite(r'E:\Jupyter-Notebook\apple\tof_intensity\no'+ str(i_num) + '.png', img)
                    i_num += 1
                    
                elif image.startswith('RGB'):
                    img=cv2.imread(path8+"/"+image)
                    cv2.imshow('img',img)
                    cv2.waitKey(1)
                    cv2.destroyAllWindows()
                    cv2.imwrite(r'E:\Jupyter-Notebook\apple\RGB\no'+ str(r_num) + '.png', img)
                    r_num += 1
                    
                elif image.startswith('depth.png'):
                    img=cv2.imread(path8+"/"+image)
                    cv2.imshow('img',img)
                    cv2.waitKey(1)
                    cv2.destroyAllWindows()
                    cv2.imwrite(r'E:\Jupyter-Notebook\apple\tof_depth\no'+ str(d_num) + '.png', img)
                    d_num += 1
                                
                elif image.endswith('.pcd'):
                    img=path8+'/'+image
                    shutil.copy(img,r'E:\Jupyter-Notebook\apple\tof_points\no'+ str(p_num) + '.pcd')
                    p_num +=1

注：代码文件与图片文件同处一个文件夹，如上例，在Jupyter-Notebook文件夹