def prep_rgb(key, batch, i=0):
"""
Converts an RGB image from a batch for logging
Parameters
----------
key : str
Key from data containing the image
batch : dict
Dictionary containing the key
i : int
Batch index from which to get the image
Returns
-------
image : numpy array
image as numpy array
"""
rgb = batch[key] if is_dict(batch) else batch
return prep_image(rgb[i])
def log_rgb(key, batch, i=0, caption=None):
"""
Converts an RGB image from a batch for logging
Parameters
----------
key : str
Key from data containing the image
batch : dict
Dictionary containing the key
i : int
Batch index from which to get the image
Returns
-------
image : wandb.Image
Wandb image ready for logging
"""
rgb = batch[key] if is_dict(batch) else batch
return prep_image(key, rgb[i], caption=caption)
def prep_inv_depth(key, batch, i=0):
"""
Converts an inverse depth map from a batch for logging
Parameters
----------
key : str
Key from data containing the inverse depth map
batch : dict
Dictionary containing the key
i : int
Batch index from which to get the inverse depth map
Returns
-------
image : numpy array
image as numpy array
"""
inv_depth = batch[key] if is_dict(batch) else batch
# converts an inverse depth map to a colormap for visualization.
inv_depth_colormapped = viz_inv_depth(inv_depth[i])
return inv_depth_colormapped
def log_inv_depth(key, batch, i=0, caption=None):
"""
Converts an inverse depth map from a batch for logging
Parameters
----------
key : str
Key from data containing the inverse depth map
batch : dict
Dictionary containing the key
i : int
Batch index from which to get the inverse depth map
Returns
-------
image : wandb.Image
Wandb image ready for logging
"""
inv_depth = batch[key] if is_dict(batch) else batch
# converts an inverse depth map to a colormap for visualization.
inv_depth_colormapped = viz_inv_depth(inv_depth[i])
return prep_image(key, inv_depth_colormapped, caption=caption)