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78 lines
2.7 KiB
Python
78 lines
2.7 KiB
Python
# Copyright 2022 The Plenoptix Team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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""" Helper functions for visualizing outputs """
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from typing import Optional
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import torch
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from matplotlib import cm
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from torchtyping import TensorType
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def apply_colormap(image: TensorType[..., 1], cmap="viridis") -> TensorType[..., 3]:
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"""Convert single channel to a color image.
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Args:
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image (TensorType[..., 1]): Single channel image.
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cmap (str, optional): Colormap for image. Defaults to 'turbo'.
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Returns:
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TensorType[..., 3]: Colored image
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"""
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colormap = cm.get_cmap(cmap)
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colormap = torch.tensor(colormap.colors).to(image.device)
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image_long = (image * 255).long()
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image_long_min = torch.min(image_long)
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image_long_max = torch.max(image_long)
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assert image_long_min >= 0, f"the min value is {image_long_min}"
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assert image_long_max <= 255, f"the max value is {image_long_max}"
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return colormap[image_long[..., 0]]
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def apply_depth_colormap(
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depth: TensorType[..., 1],
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accumulation: Optional[TensorType[..., 1]] = None,
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near_plane: Optional[float] = None,
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far_plane: Optional[float] = None,
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cmap="turbo",
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) -> TensorType[..., 3]:
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"""Converts a depth image to color for easier analysis.
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Args:
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depth (TensorType[..., 1]): Depth image.
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accumulation (TensorType[..., 1], optional): Ray accumulation used for masking vis. Defaults to None.
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near_plane (float, optional): Closest depth to consider. If None, use min image value. Defaults to None.
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far_plane (float, optional): Furthest depth to consider. If None, use max image value. Defaults to None.
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cmap (str, optional): Colormap to apply. Defaults to "turbo".
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Returns:
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TensorType[..., 3]: Colored depth image
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"""
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near_plane = near_plane or torch.min(depth)
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far_plane = far_plane or torch.max(depth)
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depth = (depth - near_plane) / (far_plane - near_plane + 1e-10)
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depth = torch.clip(depth, 0, 1)
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# depth = torch.nan_to_num(depth, nan=0.0) # TODO(ethan): remove this
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colored_image = apply_colormap(depth, cmap=cmap)
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if accumulation is not None:
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colored_image = colored_image * accumulation + (1 - accumulation)
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return colored_image
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