From a46ff806ce99c16ad292f9840871fe4800200e17 Mon Sep 17 00:00:00 2001
From: Alexis Durgnat <alexis.durgnat@hesge.ch>
Date: Mon, 1 Nov 2021 15:21:23 +0100
Subject: [PATCH] Document functions
---
src/ar_sandbox/examples/examples.py | 33 +++++++++++++++++++++++++++--
1 file changed, 31 insertions(+), 2 deletions(-)
diff --git a/src/ar_sandbox/examples/examples.py b/src/ar_sandbox/examples/examples.py
index 4ff6b72..9b27dad 100644
--- a/src/ar_sandbox/examples/examples.py
+++ b/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:
--
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