tool.py

import numpy as np
import cv2


def depth2Gray(im_depth):
    """
    将深度图转至8位灰度图
    """
    # 16位转8位
    x_max = np.max(im_depth)
    x_min = np.min(im_depth)
    if x_max == x_min:
        print('图像渲染出错 ...')
        raise EOFError
    
    k = 255 / (x_max - x_min)
    b = 255 - k * x_max
    return (im_depth * k + b).astype(np.uint8)


def inpaint(img, missing_value=0):
    """
    Inpaint missing values in depth image.
    :param missing_value: Value to fill in teh depth image.
    """
    img = cv2.copyMakeBorder(img, 1, 1, 1, 1, cv2.BORDER_DEFAULT)
    mask = (img == missing_value).astype(np.uint8)

    # Scale to keep as float, but has to be in bounds -1:1 to keep opencv happy.
    scale = np.abs(img).max()
    img = img.astype(np.float32) / scale  # Has to be float32, 64 not supported.
    img = cv2.inpaint(img, mask, 1, cv2.INPAINT_NS)

    # Back to original size and value range.
    img = img[1:-1, 1:-1]
    img = img * scale

    return img


def crop(img, crop_w, crop_h):
    """
    裁剪深度图像
    """
    img_1 = img.copy()
    h, w = img.shape
    l = int((w - crop_w) / 2)
    r = l + crop_w
    t = int((h - crop_h) / 2)
    b = t + crop_h

    return img_1[t:b, l:r]