Document functions

src/ar_sandbox/examples/examples.py

@@ -9,10 +9,26 @@ COLORS = [
 ]
 
 class LevelDisplay():
-    colormap = COLORS
-    
+
     @staticmethod
     def get_color(depth_matrix, frame, draw_lines=True, colormap=COLORS):
+        """
+        Given a depth matrix between 0-1, return a color from a given colormap.
+        The colormap is a list of tuples containing the depth value, and the
+        color for this level :
+            (depth_value, [RedVal, GreenVal, BlueVal])
+
+        The colormap should at least contain a color for the depths 0 and 1.
+        See COLORS for an example colormap.
+        
+        Arguments:
+            depth_matrix : Normalized 1 channel numpy matrix
+            frame: Unused. The frame captured by the camera
+            draw_line: Should line be drawn between levels ?
+            colormap: Override the default colormap.
+        Return:
+            A 3 channel matrix in BGR frame of the same size as depth_matrix.
+        """
         points = np.array([c[0] for c in colormap])
         r = [c[1][2] for c in colormap]
         g = [c[1][1] for c in colormap]
@@ -30,6 +46,19 @@ class LevelDisplay():
 
     @staticmethod
     def draw_lines(depth, points, width=0.025, between_levels=False):
+        """
+        Given the depth matrix and a list of points, return a mask for every 
+        value near the points. If between_levels is set to True, mask in 
+        between the point instead of on the point.
+        
+        Arguments:
+            depth: A depth matrix
+            points: A list of float values
+            width: The 'width' of the lines to be drawn. Will mask
+            width/2
+        Return:
+            A mask representing the lines.
+        """
         lines = []
         mask = np.ma.make_mask(np.zeros(depth.shape), shrink=False)
         if between_levels: