a "Df @sLddlZddlZddlZddlmZGdddeZdddejfddZdS) N) normalizec@s@eZdZdZd ddZeddZedd Zej fd d Z dS) Depth2RGBaConvert depth array to rgb. Parameters ---------- min_value: float, optional Minimum value for colorizing. max_value: float, optional Maximum value for colorizing. colormap: str, optional Colormap, default: 'jet'. NjetcCs||_||_||_dS)N) _min_value _max_value _colormap)self min_value max_valuecolormapr Y/nfs/NAS7/SABIOD/METHODE/ermites/ermites_venv/lib/python3.9/site-packages/imgviz/depth.py__init__szDepth2RGB.__init__cCs|jS)zMinimum value of depth.)rr r r rr szDepth2RGB.min_valuecCs|jS)zMaximum value of depth.)rrr r rr "szDepth2RGB.max_valuecCs|jdksJdt|jtjs*Jdt||j|jdd\}|_|_t|}d||<t |j t rt t dr~t j|j }qt j|j }n|j }||dddddd f}d ||<|tjkr|d tj}nt|tjsJ||}|S) aVConvert depth array to rgb. Parameters ---------- depth: numpy.ndarray, (H, W), float Depth image. dtype: numpy.dtype Dtype of output image. default: np.uint8 Returns ------- rgb: numpy.ndarray, (H, W, 3), np.uint8 Output colorized image. z!depth image must be 2 dimensionalzdepth dtype must be floatT)r r Z return_minmaxr colormapsN)rrr)ndimnpZ issubdtypedtypeZfloatingrrrisnan isinstancerstrhasattr matplotlibrcmZget_cmapuint8roundZastype)r depthr normalizedrZ colormap_funcZrgbr r r__call__'s,     zDepth2RGB.__call__)NNr) __name__ __module__ __qualname____doc__rpropertyr r rrr"r r r rr s   rrcCst|||||S)aConvert depth to rgb. Parameters ---------- depth: numpy.ndarray, (H, W), float Depth image. dtype: numpy.dtype Dtype of output image. default: np.uint8 min_value: float, optional Minimum value for colorizing. max_value: float, optional Maximum value for colorizing. colormap: str, optional Colormap, default: 'jet'. Returns ------- rgb: numpy.ndarray, (H, W, 3), np.uint8 Output colorized image. )r)r r r r rr r r depth2rgbWsr() typingrnumpyrrobjectrrr(r r r rs P