| """Visualization helpers — all return RGB uint8 (H, W, 3) images you can |
| imshow / save, no display side effects. |
| """ |
| from __future__ import annotations |
|
|
| import numpy as np |
|
|
| from .reference import difference, l2_diff |
| from .contact import contact_mask |
|
|
|
|
| def _colormap(gray01, name="viridis"): |
| import cv2 |
| g = (np.clip(gray01, 0, 1) * 255).astype(np.uint8) |
| cmaps = {"viridis": cv2.COLORMAP_VIRIDIS, "jet": cv2.COLORMAP_JET, |
| "magma": cv2.COLORMAP_MAGMA, "turbo": getattr(cv2, "COLORMAP_TURBO", cv2.COLORMAP_JET)} |
| bgr = cv2.applyColorMap(g, cmaps.get(name, cv2.COLORMAP_VIRIDIS)) |
| return bgr[..., ::-1].copy() |
|
|
|
|
| def diff_heatmap(frame, reference, vmax=None, cmap="turbo"): |
| """L2 difference-from-reference as a heatmap (contact intensity).""" |
| d = l2_diff(frame, reference) |
| vmax = vmax if vmax is not None else max(d.max(), 1e-6) |
| return _colormap(d / vmax, cmap) |
|
|
|
|
| def contact_overlay(frame, reference, tau=8.0, color=(255, 0, 0), alpha=0.45): |
| """Tint the contact region on top of the raw frame.""" |
| m = contact_mask(frame, reference, tau=tau) |
| out = frame.copy().astype(np.float32) |
| out[m] = (1 - alpha) * out[m] + alpha * np.array(color, np.float32) |
| return out.clip(0, 255).astype(np.uint8) |
|
|
|
|
| def reference_compare(frame, reference): |
| """Side-by-side [reference | frame | signed-diff] strip.""" |
| sd = difference(frame, reference, signed=True) |
| return np.concatenate([reference, frame, sd], axis=1) |
|
|
|
|
| def depth_view(height_map, cmap="gray"): |
| """Render a (H, W) height map as an RGB image. |
| |
| Default is **grayscale** (brighter = higher), the standard GelSight |
| height-map convention (gsrobotics, GelSight Wedge, depth-recon papers). |
| Pass cmap="turbo"/"jet"/"viridis" for a colormapped view instead. |
| """ |
| h = height_map.astype(np.float32) |
| rng = h.max() - h.min() |
| norm = (h - h.min()) / (rng + 1e-6) |
| if cmap in (None, "gray", "grey", "grayscale"): |
| g = (np.clip(norm, 0, 1) * 255).astype(np.uint8) |
| return np.repeat(g[..., None], 3, axis=2) |
| return _colormap(norm, cmap) |
|
|
|
|
| def height_to_pointcloud(height_map, stride=4, z_scale=1.0): |
| """(H, W) height -> (N, 3) point cloud (x, y, z) for 3D rendering.""" |
| h = height_map[::stride, ::stride] |
| ys, xs = np.mgrid[0:h.shape[0], 0:h.shape[1]] |
| return np.stack([xs.ravel(), ys.ravel(), (h * z_scale).ravel()], axis=1).astype(np.float32) |
|
|
