def vis(self):
image = self["image"]
depth_vis = self["_raw_exr"].get_pseudo_color()
inst_vis = greyToRgb(histEqualize(self["inst"]))
vis = (
np.concatenate([inst_vis, image[..., :3] / 255.0, depth_vis], 1) *
255).astype(np.uint8)
return vis
def test_heatmap_to_pseudo_color(depth):
def _f(v):
return tuple(interpolate_or_clip(turbo_colormap_data, v))
vf = np.vectorize(_f)
with timeit("vf"):
color1 = np.concatenate([i[..., None] for i in vf(depth)], -1)
with timeit("heatmap_to_pseudo_color"):
color2 = heatmap_to_pseudo_color(depth)
mg()
assert (np.abs(color1 - color2) < 1 / 256).all()
show - color1
def vis(self):
vis_list = [] # RGB float 0.~1.
def vis_inst(inst):
unique, _idxs = np.unique(inst, return_inverse=True)
idxs = _idxs.reshape(inst.shape)
return boxx.mapping_array(
idxs,
boxx.getDefaultColorList(len(unique), includeBackGround=True))
if "inst" in self:
inst_vis = vis_inst(self["inst"])
vis_list.append(inst_vis)
if self.get("image") is not None:
image = self["image"]
vis_list.append(image[..., :3] / 255.0)
depth_vis = self["_raw_exr"].get_pseudo_color()
vis_list.append(depth_vis)
vis = (np.concatenate(vis_list, 1) * 255).astype(np.uint8)
return vis
def get_rgba(self):
return np.concatenate([self.get_rgb(), self["A"][..., None]], -1)
def get_rgb(self):
return np.concatenate(
[self["R"][..., None], self["G"][..., None], self["B"][..., None]],
-1)
