File size: 2,443 Bytes
8420318 10fbe83 8420318 10fbe83 8420318 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 | """Visualization helpers — all return RGB uint8 (H, W, 3) images you can
imshow / save, no display side effects.
"""
from __future__ import annotations
import numpy as np
from .reference import difference, l2_diff
from .contact import contact_mask
def _colormap(gray01, name="viridis"):
import cv2
g = (np.clip(gray01, 0, 1) * 255).astype(np.uint8)
cmaps = {"viridis": cv2.COLORMAP_VIRIDIS, "jet": cv2.COLORMAP_JET,
"magma": cv2.COLORMAP_MAGMA, "turbo": getattr(cv2, "COLORMAP_TURBO", cv2.COLORMAP_JET)}
bgr = cv2.applyColorMap(g, cmaps.get(name, cv2.COLORMAP_VIRIDIS))
return bgr[..., ::-1].copy() # BGR->RGB
def diff_heatmap(frame, reference, vmax=None, cmap="turbo"):
"""L2 difference-from-reference as a heatmap (contact intensity)."""
d = l2_diff(frame, reference)
vmax = vmax if vmax is not None else max(d.max(), 1e-6)
return _colormap(d / vmax, cmap)
def contact_overlay(frame, reference, tau=8.0, color=(255, 0, 0), alpha=0.45):
"""Tint the contact region on top of the raw frame."""
m = contact_mask(frame, reference, tau=tau)
out = frame.copy().astype(np.float32)
out[m] = (1 - alpha) * out[m] + alpha * np.array(color, np.float32)
return out.clip(0, 255).astype(np.uint8)
def reference_compare(frame, reference):
"""Side-by-side [reference | frame | signed-diff] strip."""
sd = difference(frame, reference, signed=True)
return np.concatenate([reference, frame, sd], axis=1)
def depth_view(height_map, cmap="gray"):
"""Render a (H, W) height map as an RGB image.
Default is **grayscale** (brighter = higher), the standard GelSight
height-map convention (gsrobotics, GelSight Wedge, depth-recon papers).
Pass cmap="turbo"/"jet"/"viridis" for a colormapped view instead.
"""
h = height_map.astype(np.float32)
rng = h.max() - h.min()
norm = (h - h.min()) / (rng + 1e-6)
if cmap in (None, "gray", "grey", "grayscale"):
g = (np.clip(norm, 0, 1) * 255).astype(np.uint8)
return np.repeat(g[..., None], 3, axis=2) # (H,W,3) gray RGB
return _colormap(norm, cmap)
def height_to_pointcloud(height_map, stride=4, z_scale=1.0):
"""(H, W) height -> (N, 3) point cloud (x, y, z) for 3D rendering."""
h = height_map[::stride, ::stride]
ys, xs = np.mgrid[0:h.shape[0], 0:h.shape[1]]
return np.stack([xs.ravel(), ys.ravel(), (h * z_scale).ravel()], axis=1).astype(np.float32)
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