File size: 823 Bytes
436b829 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | import numpy as np
import matplotlib
import torch
def visualize_depth(depth: np.ndarray,
depth_min=None,
depth_max=None,
percentile=2,
ret_minmax=False,
cmap='Spectral'):
if depth_min is None: depth_min = np.percentile(depth, percentile)
if depth_max is None: depth_max = np.percentile(depth, 100 - percentile)
if depth_min == depth_max:
depth_min = depth_min - 1e-6
depth_max = depth_max + 1e-6
cm = matplotlib.colormaps[cmap]
depth = ((depth - depth_min) / (depth_max - depth_min)).clip(0, 1)
img_colored_np = cm(depth, bytes=False)[:, :, 0:3] # value from 0 to 1
if ret_minmax:
return img_colored_np, depth_min, depth_max
else:
return img_colored_np
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