| 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] |