def parse_depth(depth, mod='F'):
# Filter nan/inf: (-inf, inf, nan)->0
#np.seterr(divide='ignore', invalid='ignore')
# right = CvBridge().imgmsg_to_cv2(rgb, 'bgr8')
depth = CvBridge().imgmsg_to_cv2(depth, '32FC1')
depth = np.where(abs(depth) < np.inf, depth, 0)
if 'F' in mod: return depth # float, meters
# np.astype('uint8') can also filter nan/inf
return (depth / depth.max() * 255).astype('uint8')
