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