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43 lines
1.0 KiB
Python
43 lines
1.0 KiB
Python
import matplotlib
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import matplotlib.cm
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import numpy as np
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def DepthNorm(depth, maxDepth=1000.0):
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return maxDepth / depth
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class AverageMeter(object):
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def __init__(self):
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self.reset()
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def reset(self):
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self.val = 0
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self.avg = 0
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self.sum = 0
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self.count = 0
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def update(self, val, n=1):
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self.val = val
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self.sum += val * n
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self.count += n
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self.avg = self.sum / self.count
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def colorize(value, vmin=10, vmax=1000, cmap='plasma'):
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value = value.cpu().numpy()[0,:,:]
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# normalize
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vmin = value.min() if vmin is None else vmin
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vmax = value.max() if vmax is None else vmax
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if vmin!=vmax:
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value = (value - vmin) / (vmax - vmin) # vmin..vmax
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else:
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# Avoid 0-division
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value = value*0.
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# squeeze last dim if it exists
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#value = value.squeeze(axis=0)
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cmapper = matplotlib.cm.get_cmap(cmap)
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value = cmapper(value,bytes=True) # (nxmx4)
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img = value[:,:,:3]
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return img.transpose((2,0,1)) |