19 lines
495 B
Python
19 lines
495 B
Python
import cv2
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import numpy as np
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def visualize_depth_numpy(depth, minmax=None, cmap=cv2.COLORMAP_JET):
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"""
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depth: (H, W)
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"""
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x = np.nan_to_num(depth) # change nan to 0
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if minmax is None:
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mi = np.min(x[x > 0]) # get minimum positive depth (ignore background)
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ma = np.max(x)
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else:
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mi, ma = minmax
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x = (x - mi) / (ma - mi + 1e-8) # normalize to 0~1
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x = (255 * x).astype(np.uint8)
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x_ = cv2.applyColorMap(x, cmap)
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return x_, [mi, ma] |