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aredden/pytorch_colormap.py

Last active May 21, 2023 01:33
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Helper class for efficiently creating a torch.uint8 colormaped (H, W, 3) image (entirely on device) from a (H, W) float32 tensor
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pytorch_colormap.py
import torch
from einops import rearrange
_magma_table = [
(0.001462, 0.000466, 0.013866),
(0.002258, 0.001295, 0.018331),
(0.003279, 0.002305, 0.023708),
(0.004512, 0.003490, 0.029965),
(0.005950, 0.004843, 0.037130),
(0.007588, 0.006356, 0.044973),
(0.009426, 0.008022, 0.052844),
(0.011465, 0.009828, 0.060750),
(0.013708, 0.011771, 0.068667),
(0.016156, 0.013840, 0.076603),
(0.018815, 0.016026, 0.084584),
(0.021692, 0.018320, 0.092610),
(0.024792, 0.020715, 0.100676),
(0.028123, 0.023201, 0.108787),
(0.031696, 0.025765, 0.116965),
(0.035520, 0.028397, 0.125209),
(0.039608, 0.031090, 0.133515),
(0.043830, 0.033830, 0.141886),
(0.048062, 0.036607, 0.150327),
(0.052320, 0.039407, 0.158841),
(0.056615, 0.042160, 0.167446),
(0.060949, 0.044794, 0.176129),
(0.065330, 0.047318, 0.184892),
(0.069764, 0.049726, 0.193735),
(0.074257, 0.052017, 0.202660),
(0.078815, 0.054184, 0.211667),
(0.083446, 0.056225, 0.220755),
(0.088155, 0.058133, 0.229922),
(0.092949, 0.059904, 0.239164),
(0.097833, 0.061531, 0.248477),
(0.102815, 0.063010, 0.257854),
(0.107899, 0.064335, 0.267289),
(0.113094, 0.065492, 0.276784),
(0.118405, 0.066479, 0.286321),
(0.123833, 0.067295, 0.295879),
(0.129380, 0.067935, 0.305443),
(0.135053, 0.068391, 0.315000),
(0.140858, 0.068654, 0.324538),
(0.146785, 0.068738, 0.334011),
(0.152839, 0.068637, 0.343404),
(0.159018, 0.068354, 0.352688),
(0.165308, 0.067911, 0.361816),
(0.171713, 0.067305, 0.370771),
(0.178212, 0.066576, 0.379497),
(0.184801, 0.065732, 0.387973),
(0.191460, 0.064818, 0.396152),
(0.198177, 0.063862, 0.404009),
(0.204935, 0.062907, 0.411514),
(0.211718, 0.061992, 0.418647),
(0.218512, 0.061158, 0.425392),
(0.225302, 0.060445, 0.431742),
(0.232077, 0.059889, 0.437695),
(0.238826, 0.059517, 0.443256),
(0.245543, 0.059352, 0.448436),
(0.252220, 0.059415, 0.453248),
(0.258857, 0.059706, 0.457710),
(0.265447, 0.060237, 0.461840),
(0.271994, 0.060994, 0.465660),
(0.278493, 0.061978, 0.469190),
(0.284951, 0.063168, 0.472451),
(0.291366, 0.064553, 0.475462),
(0.297740, 0.066117, 0.478243),
(0.304081, 0.067835, 0.480812),
(0.310382, 0.069702, 0.483186),
(0.316654, 0.071690, 0.485380),
(0.322899, 0.073782, 0.487408),
(0.329114, 0.075972, 0.489287),
(0.335308, 0.078236, 0.491024),
(0.341482, 0.080564, 0.492631),
(0.347636, 0.082946, 0.494121),
(0.353773, 0.085373, 0.495501),
(0.359898, 0.087831, 0.496778),
(0.366012, 0.090314, 0.497960),
(0.372116, 0.092816, 0.499053),
(0.378211, 0.095332, 0.500067),
(0.384299, 0.097855, 0.501002),
(0.390384, 0.100379, 0.501864),
(0.396467, 0.102902, 0.502658),
(0.402548, 0.105420, 0.503386),
(0.408629, 0.107930, 0.504052),
(0.414709, 0.110431, 0.504662),
(0.420791, 0.112920, 0.505215),
(0.426877, 0.115395, 0.505714),
(0.432967, 0.117855, 0.506160),
(0.439062, 0.120298, 0.506555),
(0.445163, 0.122724, 0.506901),
(0.451271, 0.125132, 0.507198),
(0.457386, 0.127522, 0.507448),
(0.463508, 0.129893, 0.507652),
(0.469640, 0.132245, 0.507809),
(0.475780, 0.134577, 0.507921),
(0.481929, 0.136891, 0.507989),
(0.488088, 0.139186, 0.508011),
(0.494258, 0.141462, 0.507988),
(0.500438, 0.143719, 0.507920),
(0.506629, 0.145958, 0.507806),
(0.512831, 0.148179, 0.507648),
(0.519045, 0.150383, 0.507443),
(0.525270, 0.152569, 0.507192),
(0.531507, 0.154739, 0.506895),
(0.537755, 0.156894, 0.506551),
(0.544015, 0.159033, 0.506159),
(0.550287, 0.161158, 0.505719),
(0.556571, 0.163269, 0.505230),
(0.562866, 0.165368, 0.504692),
(0.569172, 0.167454, 0.504105),
(0.575490, 0.169530, 0.503466),
(0.581819, 0.171596, 0.502777),
(0.588158, 0.173652, 0.502035),
(0.594508, 0.175701, 0.501241),
(0.600868, 0.177743, 0.500394),
(0.607238, 0.179779, 0.499492),
(0.613617, 0.181811, 0.498536),
(0.620005, 0.183840, 0.497524),
(0.626401, 0.185867, 0.496456),
(0.632805, 0.187893, 0.495332),
(0.639216, 0.189921, 0.494150),
(0.645633, 0.191952, 0.492910),
(0.652056, 0.193986, 0.491611),
(0.658483, 0.196027, 0.490253),
(0.664915, 0.198075, 0.488836),
(0.671349, 0.200133, 0.487358),
(0.677786, 0.202203, 0.485819),
(0.684224, 0.204286, 0.484219),
(0.690661, 0.206384, 0.482558),
(0.697098, 0.208501, 0.480835),
(0.703532, 0.210638, 0.479049),
(0.709962, 0.212797, 0.477201),
(0.716387, 0.214982, 0.475290),
(0.722805, 0.217194, 0.473316),
(0.729216, 0.219437, 0.471279),
(0.735616, 0.221713, 0.469180),
(0.742004, 0.224025, 0.467018),
(0.748378, 0.226377, 0.464794),
(0.754737, 0.228772, 0.462509),
(0.761077, 0.231214, 0.460162),
(0.767398, 0.233705, 0.457755),
(0.773695, 0.236249, 0.455289),
(0.779968, 0.238851, 0.452765),
(0.786212, 0.241514, 0.450184),
(0.792427, 0.244242, 0.447543),
(0.798608, 0.247040, 0.444848),
(0.804752, 0.249911, 0.442102),
(0.810855, 0.252861, 0.439305),
(0.816914, 0.255895, 0.436461),
(0.822926, 0.259016, 0.433573),
(0.828886, 0.262229, 0.430644),
(0.834791, 0.265540, 0.427671),
(0.840636, 0.268953, 0.424666),
(0.846416, 0.272473, 0.421631),
(0.852126, 0.276106, 0.418573),
(0.857763, 0.279857, 0.415496),
(0.863320, 0.283729, 0.412403),
(0.868793, 0.287728, 0.409303),
(0.874176, 0.291859, 0.406205),
(0.879464, 0.296125, 0.403118),
(0.884651, 0.300530, 0.400047),
(0.889731, 0.305079, 0.397002),
(0.894700, 0.309773, 0.393995),
(0.899552, 0.314616, 0.391037),
(0.904281, 0.319610, 0.388137),
(0.908884, 0.324755, 0.385308),
(0.913354, 0.330052, 0.382563),
(0.917689, 0.335500, 0.379915),
(0.921884, 0.341098, 0.377376),
(0.925937, 0.346844, 0.374959),
(0.929845, 0.352734, 0.372677),
(0.933606, 0.358764, 0.370541),
(0.937221, 0.364929, 0.368567),
(0.940687, 0.371224, 0.366762),
(0.944006, 0.377643, 0.365136),
(0.947180, 0.384178, 0.363701),
(0.950210, 0.390820, 0.362468),
(0.953099, 0.397563, 0.361438),
(0.955849, 0.404400, 0.360619),
(0.958464, 0.411324, 0.360014),
(0.960949, 0.418323, 0.359630),
(0.963310, 0.425390, 0.359469),
(0.965549, 0.432519, 0.359529),
(0.967671, 0.439703, 0.359810),
(0.969680, 0.446936, 0.360311),
(0.971582, 0.454210, 0.361030),
(0.973381, 0.461520, 0.361965),
(0.975082, 0.468861, 0.363111),
(0.976690, 0.476226, 0.364466),
(0.978210, 0.483612, 0.366025),
(0.979645, 0.491014, 0.367783),
(0.981000, 0.498428, 0.369734),
(0.982279, 0.505851, 0.371874),
(0.983485, 0.513280, 0.374198),
(0.984622, 0.520713, 0.376698),
(0.985693, 0.528148, 0.379371),
(0.986700, 0.535582, 0.382210),
(0.987646, 0.543015, 0.385210),
(0.988533, 0.550446, 0.388365),
(0.989363, 0.557873, 0.391671),
(0.990138, 0.565296, 0.395122),
(0.990871, 0.572706, 0.398714),
(0.991558, 0.580107, 0.402441),
(0.992196, 0.587502, 0.406299),
(0.992785, 0.594891, 0.410283),
(0.993326, 0.602275, 0.414390),
(0.993834, 0.609644, 0.418613),
(0.994309, 0.616999, 0.422950),
(0.994738, 0.624350, 0.427397),
(0.995122, 0.631696, 0.431951),
(0.995480, 0.639027, 0.436607),
(0.995810, 0.646344, 0.441361),
(0.996096, 0.653659, 0.446213),
(0.996341, 0.660969, 0.451160),
(0.996580, 0.668256, 0.456192),
(0.996775, 0.675541, 0.461314),
(0.996925, 0.682828, 0.466526),
(0.997077, 0.690088, 0.471811),
(0.997186, 0.697349, 0.477182),
(0.997254, 0.704611, 0.482635),
(0.997325, 0.711848, 0.488154),
(0.997351, 0.719089, 0.493755),
(0.997351, 0.726324, 0.499428),
(0.997341, 0.733545, 0.505167),
(0.997285, 0.740772, 0.510983),
(0.997228, 0.747981, 0.516859),
(0.997138, 0.755190, 0.522806),
(0.997019, 0.762398, 0.528821),
(0.996898, 0.769591, 0.534892),
(0.996727, 0.776795, 0.541039),
(0.996571, 0.783977, 0.547233),
(0.996369, 0.791167, 0.553499),
(0.996162, 0.798348, 0.559820),
(0.995932, 0.805527, 0.566202),
(0.995680, 0.812706, 0.572645),
(0.995424, 0.819875, 0.579140),
(0.995131, 0.827052, 0.585701),
(0.994851, 0.834213, 0.592307),
(0.994524, 0.841387, 0.598983),
(0.994222, 0.848540, 0.605696),
(0.993866, 0.855711, 0.612482),
(0.993545, 0.862859, 0.619299),
(0.993170, 0.870024, 0.626189),
(0.992831, 0.877168, 0.633109),
(0.992440, 0.884330, 0.640099),
(0.992089, 0.891470, 0.647116),
(0.991688, 0.898627, 0.654202),
(0.991332, 0.905763, 0.661309),
(0.990930, 0.912915, 0.668481),
(0.990570, 0.920049, 0.675675),
(0.990175, 0.927196, 0.682926),
(0.989815, 0.934329, 0.690198),
(0.989434, 0.941470, 0.697519),
(0.989077, 0.948604, 0.704863),
(0.988717, 0.955742, 0.712242),
(0.988367, 0.962878, 0.719649),
(0.988033, 0.970012, 0.727077),
(0.987691, 0.977154, 0.734536),
(0.987387, 0.984288, 0.742002),
(0.987053, 0.991438, 0.749504),
]
_inferno_table = [
(0.001462, 0.000466, 0.013866),
(0.002267, 0.001270, 0.018570),
(0.003299, 0.002249, 0.024239),
(0.004547, 0.003392, 0.030909),
(0.006006, 0.004692, 0.038558),
(0.007676, 0.006136, 0.046836),
(0.009561, 0.007713, 0.055143),
(0.011663, 0.009417, 0.063460),
(0.013995, 0.011225, 0.071862),
(0.016561, 0.013136, 0.080282),
(0.019373, 0.015133, 0.088767),
(0.022447, 0.017199, 0.097327),
(0.025793, 0.019331, 0.105930),
(0.029432, 0.021503, 0.114621),
(0.033385, 0.023702, 0.123397),
(0.037668, 0.025921, 0.132232),
(0.042253, 0.028139, 0.141141),
(0.046915, 0.030324, 0.150164),
(0.051644, 0.032474, 0.159254),
(0.056449, 0.034569, 0.168414),
(0.061340, 0.036590, 0.177642),
(0.066331, 0.038504, 0.186962),
(0.071429, 0.040294, 0.196354),
(0.076637, 0.041905, 0.205799),
(0.081962, 0.043328, 0.215289),
(0.087411, 0.044556, 0.224813),
(0.092990, 0.045583, 0.234358),
(0.098702, 0.046402, 0.243904),
(0.104551, 0.047008, 0.253430),
(0.110536, 0.047399, 0.262912),
(0.116656, 0.047574, 0.272321),
(0.122908, 0.047536, 0.281624),
(0.129285, 0.047293, 0.290788),
(0.135778, 0.046856, 0.299776),
(0.142378, 0.046242, 0.308553),
(0.149073, 0.045468, 0.317085),
(0.155850, 0.044559, 0.325338),
(0.162689, 0.043554, 0.333277),
(0.169575, 0.042489, 0.340874),
(0.176493, 0.041402, 0.348111),
(0.183429, 0.040329, 0.354971),
(0.190367, 0.039309, 0.361447),
(0.197297, 0.038400, 0.367535),
(0.204209, 0.037632, 0.373238),
(0.211095, 0.037030, 0.378563),
(0.217949, 0.036615, 0.383522),
(0.224763, 0.036405, 0.388129),
(0.231538, 0.036405, 0.392400),
(0.238273, 0.036621, 0.396353),
(0.244967, 0.037055, 0.400007),
(0.251620, 0.037705, 0.403378),
(0.258234, 0.038571, 0.406485),
(0.264810, 0.039647, 0.409345),
(0.271347, 0.040922, 0.411976),
(0.277850, 0.042353, 0.414392),
(0.284321, 0.043933, 0.416608),
(0.290763, 0.045644, 0.418637),
(0.297178, 0.047470, 0.420491),
(0.303568, 0.049396, 0.422182),
(0.309935, 0.051407, 0.423721),
(0.316282, 0.053490, 0.425116),
(0.322610, 0.055634, 0.426377),
(0.328921, 0.057827, 0.427511),
(0.335217, 0.060060, 0.428524),
(0.341500, 0.062325, 0.429425),
(0.347771, 0.064616, 0.430217),
(0.354032, 0.066925, 0.430906),
(0.360284, 0.069247, 0.431497),
(0.366529, 0.071579, 0.431994),
(0.372768, 0.073915, 0.432400),
(0.379001, 0.076253, 0.432719),
(0.385228, 0.078591, 0.432955),
(0.391453, 0.080927, 0.433109),
(0.397674, 0.083257, 0.433183),
(0.403894, 0.085580, 0.433179),
(0.410113, 0.087896, 0.433098),
(0.416331, 0.090203, 0.432943),
(0.422549, 0.092501, 0.432714),
(0.428768, 0.094790, 0.432412),
(0.434987, 0.097069, 0.432039),
(0.441207, 0.099338, 0.431594),
(0.447428, 0.101597, 0.431080),
(0.453651, 0.103848, 0.430498),
(0.459875, 0.106089, 0.429846),
(0.466100, 0.108322, 0.429125),
(0.472328, 0.110547, 0.428334),
(0.478558, 0.112764, 0.427475),
(0.484789, 0.114974, 0.426548),
(0.491022, 0.117179, 0.425552),
(0.497257, 0.119379, 0.424488),
(0.503493, 0.121575, 0.423356),
(0.509730, 0.123769, 0.422156),
(0.515967, 0.125960, 0.420887),
(0.522206, 0.128150, 0.419549),
(0.528444, 0.130341, 0.418142),
(0.534683, 0.132534, 0.416667),
(0.540920, 0.134729, 0.415123),
(0.547157, 0.136929, 0.413511),
(0.553392, 0.139134, 0.411829),
(0.559624, 0.141346, 0.410078),
(0.565854, 0.143567, 0.408258),
(0.572081, 0.145797, 0.406369),
(0.578304, 0.148039, 0.404411),
(0.584521, 0.150294, 0.402385),
(0.590734, 0.152563, 0.400290),
(0.596940, 0.154848, 0.398125),
(0.603139, 0.157151, 0.395891),
(0.609330, 0.159474, 0.393589),
(0.615513, 0.161817, 0.391219),
(0.621685, 0.164184, 0.388781),
(0.627847, 0.166575, 0.386276),
(0.633998, 0.168992, 0.383704),
(0.640135, 0.171438, 0.381065),
(0.646260, 0.173914, 0.378359),
(0.652369, 0.176421, 0.375586),
(0.658463, 0.178962, 0.372748),
(0.664540, 0.181539, 0.369846),
(0.670599, 0.184153, 0.366879),
(0.676638, 0.186807, 0.363849),
(0.682656, 0.189501, 0.360757),
(0.688653, 0.192239, 0.357603),
(0.694627, 0.195021, 0.354388),
(0.700576, 0.197851, 0.351113),
(0.706500, 0.200728, 0.347777),
(0.712396, 0.203656, 0.344383),
(0.718264, 0.206636, 0.340931),
(0.724103, 0.209670, 0.337424),
(0.729909, 0.212759, 0.333861),
(0.735683, 0.215906, 0.330245),
(0.741423, 0.219112, 0.326576),
(0.747127, 0.222378, 0.322856),
(0.752794, 0.225706, 0.319085),
(0.758422, 0.229097, 0.315266),
(0.764010, 0.232554, 0.311399),
(0.769556, 0.236077, 0.307485),
(0.775059, 0.239667, 0.303526),
(0.780517, 0.243327, 0.299523),
(0.785929, 0.247056, 0.295477),
(0.791293, 0.250856, 0.291390),
(0.796607, 0.254728, 0.287264),
(0.801871, 0.258674, 0.283099),
(0.807082, 0.262692, 0.278898),
(0.812239, 0.266786, 0.274661),
(0.817341, 0.270954, 0.270390),
(0.822386, 0.275197, 0.266085),
(0.827372, 0.279517, 0.261750),
(0.832299, 0.283913, 0.257383),
(0.837165, 0.288385, 0.252988),
(0.841969, 0.292933, 0.248564),
(0.846709, 0.297559, 0.244113),
(0.851384, 0.302260, 0.239636),
(0.855992, 0.307038, 0.235133),
(0.860533, 0.311892, 0.230606),
(0.865006, 0.316822, 0.226055),
(0.869409, 0.321827, 0.221482),
(0.873741, 0.326906, 0.216886),
(0.878001, 0.332060, 0.212268),
(0.882188, 0.337287, 0.207628),
(0.886302, 0.342586, 0.202968),
(0.890341, 0.347957, 0.198286),
(0.894305, 0.353399, 0.193584),
(0.898192, 0.358911, 0.188860),
(0.902003, 0.364492, 0.184116),
(0.905735, 0.370140, 0.179350),
(0.909390, 0.375856, 0.174563),
(0.912966, 0.381636, 0.169755),
(0.916462, 0.387481, 0.164924),
(0.919879, 0.393389, 0.160070),
(0.923215, 0.399359, 0.155193),
(0.926470, 0.405389, 0.150292),
(0.929644, 0.411479, 0.145367),
(0.932737, 0.417627, 0.140417),
(0.935747, 0.423831, 0.135440),
(0.938675, 0.430091, 0.130438),
(0.941521, 0.436405, 0.125409),
(0.944285, 0.442772, 0.120354),
(0.946965, 0.449191, 0.115272),
(0.949562, 0.455660, 0.110164),
(0.952075, 0.462178, 0.105031),
(0.954506, 0.468744, 0.099874),
(0.956852, 0.475356, 0.094695),
(0.959114, 0.482014, 0.089499),
(0.961293, 0.488716, 0.084289),
(0.963387, 0.495462, 0.079073),
(0.965397, 0.502249, 0.073859),
(0.967322, 0.509078, 0.068659),
(0.969163, 0.515946, 0.063488),
(0.970919, 0.522853, 0.058367),
(0.972590, 0.529798, 0.053324),
(0.974176, 0.536780, 0.048392),
(0.975677, 0.543798, 0.043618),
(0.977092, 0.550850, 0.039050),
(0.978422, 0.557937, 0.034931),
(0.979666, 0.565057, 0.031409),
(0.980824, 0.572209, 0.028508),
(0.981895, 0.579392, 0.026250),
(0.982881, 0.586606, 0.024661),
(0.983779, 0.593849, 0.023770),
(0.984591, 0.601122, 0.023606),
(0.985315, 0.608422, 0.024202),
(0.985952, 0.615750, 0.025592),
(0.986502, 0.623105, 0.027814),
(0.986964, 0.630485, 0.030908),
(0.987337, 0.637890, 0.034916),
(0.987622, 0.645320, 0.039886),
(0.987819, 0.652773, 0.045581),
(0.987926, 0.660250, 0.051750),
(0.987945, 0.667748, 0.058329),
(0.987874, 0.675267, 0.065257),
(0.987714, 0.682807, 0.072489),
(0.987464, 0.690366, 0.079990),
(0.987124, 0.697944, 0.087731),
(0.986694, 0.705540, 0.095694),
(0.986175, 0.713153, 0.103863),
(0.985566, 0.720782, 0.112229),
(0.984865, 0.728427, 0.120785),
(0.984075, 0.736087, 0.129527),
(0.983196, 0.743758, 0.138453),
(0.982228, 0.751442, 0.147565),
(0.981173, 0.759135, 0.156863),
(0.980032, 0.766837, 0.166353),
(0.978806, 0.774545, 0.176037),
(0.977497, 0.782258, 0.185923),
(0.976108, 0.789974, 0.196018),
(0.974638, 0.797692, 0.206332),
(0.973088, 0.805409, 0.216877),
(0.971468, 0.813122, 0.227658),
(0.969783, 0.820825, 0.238686),
(0.968041, 0.828515, 0.249972),
(0.966243, 0.836191, 0.261534),
(0.964394, 0.843848, 0.273391),
(0.962517, 0.851476, 0.285546),
(0.960626, 0.859069, 0.298010),
(0.958720, 0.866624, 0.310820),
(0.956834, 0.874129, 0.323974),
(0.954997, 0.881569, 0.337475),
(0.953215, 0.888942, 0.351369),
(0.951546, 0.896226, 0.365627),
(0.950018, 0.903409, 0.380271),
(0.948683, 0.910473, 0.395289),
(0.947594, 0.917399, 0.410665),
(0.946809, 0.924168, 0.426373),
(0.946392, 0.930761, 0.442367),
(0.946403, 0.937159, 0.458592),
(0.946903, 0.943348, 0.474970),
(0.947937, 0.949318, 0.491426),
(0.949545, 0.955063, 0.507860),
(0.951740, 0.960587, 0.524203),
(0.954529, 0.965896, 0.540361),
(0.957896, 0.971003, 0.556275),
(0.961812, 0.975924, 0.571925),
(0.966249, 0.980678, 0.587206),
(0.971162, 0.985282, 0.602154),
(0.976511, 0.989753, 0.616760),
(0.982257, 0.994109, 0.631017),
(0.988362, 0.998364, 0.644924),
]
_plasma_table = [
(0.050383, 0.029803, 0.527975),
(0.063536, 0.028426, 0.533124),
(0.075353, 0.027206, 0.538007),
(0.086222, 0.026125, 0.542658),
(0.096379, 0.025165, 0.547103),
(0.105980, 0.024309, 0.551368),
(0.115124, 0.023556, 0.555468),
(0.123903, 0.022878, 0.559423),
(0.132381, 0.022258, 0.563250),
(0.140603, 0.021687, 0.566959),
(0.148607, 0.021154, 0.570562),
(0.156421, 0.020651, 0.574065),
(0.164070, 0.020171, 0.577478),
(0.171574, 0.019706, 0.580806),
(0.178950, 0.019252, 0.584054),
(0.186213, 0.018803, 0.587228),
(0.193374, 0.018354, 0.590330),
(0.200445, 0.017902, 0.593364),
(0.207435, 0.017442, 0.596333),
(0.214350, 0.016973, 0.599239),
(0.221197, 0.016497, 0.602083),
(0.227983, 0.016007, 0.604867),
(0.234715, 0.015502, 0.607592),
(0.241396, 0.014979, 0.610259),
(0.248032, 0.014439, 0.612868),
(0.254627, 0.013882, 0.615419),
(0.261183, 0.013308, 0.617911),
(0.267703, 0.012716, 0.620346),
(0.274191, 0.012109, 0.622722),
(0.280648, 0.011488, 0.625038),
(0.287076, 0.010855, 0.627295),
(0.293478, 0.010213, 0.629490),
(0.299855, 0.009561, 0.631624),
(0.306210, 0.008902, 0.633694),
(0.312543, 0.008239, 0.635700),
(0.318856, 0.007576, 0.637640),
(0.325150, 0.006915, 0.639512),
(0.331426, 0.006261, 0.641316),
(0.337683, 0.005618, 0.643049),
(0.343925, 0.004991, 0.644710),
(0.350150, 0.004382, 0.646298),
(0.356359, 0.003798, 0.647810),
(0.362553, 0.003243, 0.649245),
(0.368733, 0.002724, 0.650601),
(0.374897, 0.002245, 0.651876),
(0.381047, 0.001814, 0.653068),
(0.387183, 0.001434, 0.654177),
(0.393304, 0.001114, 0.655199),
(0.399411, 0.000859, 0.656133),
(0.405503, 0.000678, 0.656977),
(0.411580, 0.000577, 0.657730),
(0.417642, 0.000564, 0.658390),
(0.423689, 0.000646, 0.658956),
(0.429719, 0.000831, 0.659425),
(0.435734, 0.001127, 0.659797),
(0.441732, 0.001540, 0.660069),
(0.447714, 0.002080, 0.660240),
(0.453677, 0.002755, 0.660310),
(0.459623, 0.003574, 0.660277),
(0.465550, 0.004545, 0.660139),
(0.471457, 0.005678, 0.659897),
(0.477344, 0.006980, 0.659549),
(0.483210, 0.008460, 0.659095),
(0.489055, 0.010127, 0.658534),
(0.494877, 0.011990, 0.657865),
(0.500678, 0.014055, 0.657088),
(0.506454, 0.016333, 0.656202),
(0.512206, 0.018833, 0.655209),
(0.517933, 0.021563, 0.654109),
(0.523633, 0.024532, 0.652901),
(0.529306, 0.027747, 0.651586),
(0.534952, 0.031217, 0.650165),
(0.540570, 0.034950, 0.648640),
(0.546157, 0.038954, 0.647010),
(0.551715, 0.043136, 0.645277),
(0.557243, 0.047331, 0.643443),
(0.562738, 0.051545, 0.641509),
(0.568201, 0.055778, 0.639477),
(0.573632, 0.060028, 0.637349),
(0.579029, 0.064296, 0.635126),
(0.584391, 0.068579, 0.632812),
(0.589719, 0.072878, 0.630408),
(0.595011, 0.077190, 0.627917),
(0.600266, 0.081516, 0.625342),
(0.605485, 0.085854, 0.622686),
(0.610667, 0.090204, 0.619951),
(0.615812, 0.094564, 0.617140),
(0.620919, 0.098934, 0.614257),
(0.625987, 0.103312, 0.611305),
(0.631017, 0.107699, 0.608287),
(0.636008, 0.112092, 0.605205),
(0.640959, 0.116492, 0.602065),
(0.645872, 0.120898, 0.598867),
(0.650746, 0.125309, 0.595617),
(0.655580, 0.129725, 0.592317),
(0.660374, 0.134144, 0.588971),
(0.665129, 0.138566, 0.585582),
(0.669845, 0.142992, 0.582154),
(0.674522, 0.147419, 0.578688),
(0.679160, 0.151848, 0.575189),
(0.683758, 0.156278, 0.571660),
(0.688318, 0.160709, 0.568103),
(0.692840, 0.165141, 0.564522),
(0.697324, 0.169573, 0.560919),
(0.701769, 0.174005, 0.557296),
(0.706178, 0.178437, 0.553657),
(0.710549, 0.182868, 0.550004),
(0.714883, 0.187299, 0.546338),
(0.719181, 0.191729, 0.542663),
(0.723444, 0.196158, 0.538981),
(0.727670, 0.200586, 0.535293),
(0.731862, 0.205013, 0.531601),
(0.736019, 0.209439, 0.527908),
(0.740143, 0.213864, 0.524216),
(0.744232, 0.218288, 0.520524),
(0.748289, 0.222711, 0.516834),
(0.752312, 0.227133, 0.513149),
(0.756304, 0.231555, 0.509468),
(0.760264, 0.235976, 0.505794),
(0.764193, 0.240396, 0.502126),
(0.768090, 0.244817, 0.498465),
(0.771958, 0.249237, 0.494813),
(0.775796, 0.253658, 0.491171),
(0.779604, 0.258078, 0.487539),
(0.783383, 0.262500, 0.483918),
(0.787133, 0.266922, 0.480307),
(0.790855, 0.271345, 0.476706),
(0.794549, 0.275770, 0.473117),
(0.798216, 0.280197, 0.469538),
(0.801855, 0.284626, 0.465971),
(0.805467, 0.289057, 0.462415),
(0.809052, 0.293491, 0.458870),
(0.812612, 0.297928, 0.455338),
(0.816144, 0.302368, 0.451816),
(0.819651, 0.306812, 0.448306),
(0.823132, 0.311261, 0.444806),
(0.826588, 0.315714, 0.441316),
(0.830018, 0.320172, 0.437836),
(0.833422, 0.324635, 0.434366),
(0.836801, 0.329105, 0.430905),
(0.840155, 0.333580, 0.427455),
(0.843484, 0.338062, 0.424013),
(0.846788, 0.342551, 0.420579),
(0.850066, 0.347048, 0.417153),
(0.853319, 0.351553, 0.413734),
(0.856547, 0.356066, 0.410322),
(0.859750, 0.360588, 0.406917),
(0.862927, 0.365119, 0.403519),
(0.866078, 0.369660, 0.400126),
(0.869203, 0.374212, 0.396738),
(0.872303, 0.378774, 0.393355),
(0.875376, 0.383347, 0.389976),
(0.878423, 0.387932, 0.386600),
(0.881443, 0.392529, 0.383229),
(0.884436, 0.397139, 0.379860),
(0.887402, 0.401762, 0.376494),
(0.890340, 0.406398, 0.373130),
(0.893250, 0.411048, 0.369768),
(0.896131, 0.415712, 0.366407),
(0.898984, 0.420392, 0.363047),
(0.901807, 0.425087, 0.359688),
(0.904601, 0.429797, 0.356329),
(0.907365, 0.434524, 0.352970),
(0.910098, 0.439268, 0.349610),
(0.912800, 0.444029, 0.346251),
(0.915471, 0.448807, 0.342890),
(0.918109, 0.453603, 0.339529),
(0.920714, 0.458417, 0.336166),
(0.923287, 0.463251, 0.332801),
(0.925825, 0.468103, 0.329435),
(0.928329, 0.472975, 0.326067),
(0.930798, 0.477867, 0.322697),
(0.933232, 0.482780, 0.319325),
(0.935630, 0.487712, 0.315952),
(0.937990, 0.492667, 0.312575),
(0.940313, 0.497642, 0.309197),
(0.942598, 0.502639, 0.305816),
(0.944844, 0.507658, 0.302433),
(0.947051, 0.512699, 0.299049),
(0.949217, 0.517763, 0.295662),
(0.951344, 0.522850, 0.292275),
(0.953428, 0.527960, 0.288883),
(0.955470, 0.533093, 0.285490),
(0.957469, 0.538250, 0.282096),
(0.959424, 0.543431, 0.278701),
(0.961336, 0.548636, 0.275305),
(0.963203, 0.553865, 0.271909),
(0.965024, 0.559118, 0.268513),
(0.966798, 0.564396, 0.265118),
(0.968526, 0.569700, 0.261721),
(0.970205, 0.575028, 0.258325),
(0.971835, 0.580382, 0.254931),
(0.973416, 0.585761, 0.251540),
(0.974947, 0.591165, 0.248151),
(0.976428, 0.596595, 0.244767),
(0.977856, 0.602051, 0.241387),
(0.979233, 0.607532, 0.238013),
(0.980556, 0.613039, 0.234646),
(0.981826, 0.618572, 0.231287),
(0.983041, 0.624131, 0.227937),
(0.984199, 0.629718, 0.224595),
(0.985301, 0.635330, 0.221265),
(0.986345, 0.640969, 0.217948),
(0.987332, 0.646633, 0.214648),
(0.988260, 0.652325, 0.211364),
(0.989128, 0.658043, 0.208100),
(0.989935, 0.663787, 0.204859),
(0.990681, 0.669558, 0.201642),
(0.991365, 0.675355, 0.198453),
(0.991985, 0.681179, 0.195295),
(0.992541, 0.687030, 0.192170),
(0.993032, 0.692907, 0.189084),
(0.993456, 0.698810, 0.186041),
(0.993814, 0.704741, 0.183043),
(0.994103, 0.710698, 0.180097),
(0.994324, 0.716681, 0.177208),
(0.994474, 0.722691, 0.174381),
(0.994553, 0.728728, 0.171622),
(0.994561, 0.734791, 0.168938),
(0.994495, 0.740880, 0.166335),
(0.994355, 0.746995, 0.163821),
(0.994141, 0.753137, 0.161404),
(0.993851, 0.759304, 0.159092),
(0.993482, 0.765499, 0.156891),
(0.993033, 0.771720, 0.154808),
(0.992505, 0.777967, 0.152855),
(0.991897, 0.784239, 0.151042),
(0.991209, 0.790537, 0.149377),
(0.990439, 0.796859, 0.147870),
(0.989587, 0.803205, 0.146529),
(0.988648, 0.809579, 0.145357),
(0.987621, 0.815978, 0.144363),
(0.986509, 0.822401, 0.143557),
(0.985314, 0.828846, 0.142945),
(0.984031, 0.835315, 0.142528),
(0.982653, 0.841812, 0.142303),
(0.981190, 0.848329, 0.142279),
(0.979644, 0.854866, 0.142453),
(0.977995, 0.861432, 0.142808),
(0.976265, 0.868016, 0.143351),
(0.974443, 0.874622, 0.144061),
(0.972530, 0.881250, 0.144923),
(0.970533, 0.887896, 0.145919),
(0.968443, 0.894564, 0.147014),
(0.966271, 0.901249, 0.148180),
(0.964021, 0.907950, 0.149370),
(0.961681, 0.914672, 0.150520),
(0.959276, 0.921407, 0.151566),
(0.956808, 0.928152, 0.152409),
(0.954287, 0.934908, 0.152921),
(0.951726, 0.941671, 0.152925),
(0.949151, 0.948435, 0.152178),
(0.946602, 0.955190, 0.150328),
(0.944152, 0.961916, 0.146861),
(0.941896, 0.968590, 0.140956),
(0.940015, 0.975158, 0.131326),
]
_viridis_table = [
(0.267004, 0.004874, 0.329415),
(0.268510, 0.009605, 0.335427),
(0.269944, 0.014625, 0.341379),
(0.271305, 0.019942, 0.347269),
(0.272594, 0.025563, 0.353093),
(0.273809, 0.031497, 0.358853),
(0.274952, 0.037752, 0.364543),
(0.276022, 0.044167, 0.370164),
(0.277018, 0.050344, 0.375715),
(0.277941, 0.056324, 0.381191),
(0.278791, 0.062145, 0.386592),
(0.279566, 0.067836, 0.391917),
(0.280267, 0.073417, 0.397163),
(0.280894, 0.078907, 0.402329),
(0.281446, 0.084320, 0.407414),
(0.281924, 0.089666, 0.412415),
(0.282327, 0.094955, 0.417331),
(0.282656, 0.100196, 0.422160),
(0.282910, 0.105393, 0.426902),
(0.283091, 0.110553, 0.431554),
(0.283197, 0.115680, 0.436115),
(0.283229, 0.120777, 0.440584),
(0.283187, 0.125848, 0.444960),
(0.283072, 0.130895, 0.449241),
(0.282884, 0.135920, 0.453427),
(0.282623, 0.140926, 0.457517),
(0.282290, 0.145912, 0.461510),
(0.281887, 0.150881, 0.465405),
(0.281412, 0.155834, 0.469201),
(0.280868, 0.160771, 0.472899),
(0.280255, 0.165693, 0.476498),
(0.279574, 0.170599, 0.479997),
(0.278826, 0.175490, 0.483397),
(0.278012, 0.180367, 0.486697),
(0.277134, 0.185228, 0.489898),
(0.276194, 0.190074, 0.493001),
(0.275191, 0.194905, 0.496005),
(0.274128, 0.199721, 0.498911),
(0.273006, 0.204520, 0.501721),
(0.271828, 0.209303, 0.504434),
(0.270595, 0.214069, 0.507052),
(0.269308, 0.218818, 0.509577),
(0.267968, 0.223549, 0.512008),
(0.266580, 0.228262, 0.514349),
(0.265145, 0.232956, 0.516599),
(0.263663, 0.237631, 0.518762),
(0.262138, 0.242286, 0.520837),
(0.260571, 0.246922, 0.522828),
(0.258965, 0.251537, 0.524736),
(0.257322, 0.256130, 0.526563),
(0.255645, 0.260703, 0.528312),
(0.253935, 0.265254, 0.529983),
(0.252194, 0.269783, 0.531579),
(0.250425, 0.274290, 0.533103),
(0.248629, 0.278775, 0.534556),
(0.246811, 0.283237, 0.535941),
(0.244972, 0.287675, 0.537260),
(0.243113, 0.292092, 0.538516),
(0.241237, 0.296485, 0.539709),
(0.239346, 0.300855, 0.540844),
(0.237441, 0.305202, 0.541921),
(0.235526, 0.309527, 0.542944),
(0.233603, 0.313828, 0.543914),
(0.231674, 0.318106, 0.544834),
(0.229739, 0.322361, 0.545706),
(0.227802, 0.326594, 0.546532),
(0.225863, 0.330805, 0.547314),
(0.223925, 0.334994, 0.548053),
(0.221989, 0.339161, 0.548752),
(0.220057, 0.343307, 0.549413),
(0.218130, 0.347432, 0.550038),
(0.216210, 0.351535, 0.550627),
(0.214298, 0.355619, 0.551184),
(0.212395, 0.359683, 0.551710),
(0.210503, 0.363727, 0.552206),
(0.208623, 0.367752, 0.552675),
(0.206756, 0.371758, 0.553117),
(0.204903, 0.375746, 0.553533),
(0.203063, 0.379716, 0.553925),
(0.201239, 0.383670, 0.554294),
(0.199430, 0.387607, 0.554642),
(0.197636, 0.391528, 0.554969),
(0.195860, 0.395433, 0.555276),
(0.194100, 0.399323, 0.555565),
(0.192357, 0.403199, 0.555836),
(0.190631, 0.407061, 0.556089),
(0.188923, 0.410910, 0.556326),
(0.187231, 0.414746, 0.556547),
(0.185556, 0.418570, 0.556753),
(0.183898, 0.422383, 0.556944),
(0.182256, 0.426184, 0.557120),
(0.180629, 0.429975, 0.557282),
(0.179019, 0.433756, 0.557430),
(0.177423, 0.437527, 0.557565),
(0.175841, 0.441290, 0.557685),
(0.174274, 0.445044, 0.557792),
(0.172719, 0.448791, 0.557885),
(0.171176, 0.452530, 0.557965),
(0.169646, 0.456262, 0.558030),
(0.168126, 0.459988, 0.558082),
(0.166617, 0.463708, 0.558119),
(0.165117, 0.467423, 0.558141),
(0.163625, 0.471133, 0.558148),
(0.162142, 0.474838, 0.558140),
(0.160665, 0.478540, 0.558115),
(0.159194, 0.482237, 0.558073),
(0.157729, 0.485932, 0.558013),
(0.156270, 0.489624, 0.557936),
(0.154815, 0.493313, 0.557840),
(0.153364, 0.497000, 0.557724),
(0.151918, 0.500685, 0.557587),
(0.150476, 0.504369, 0.557430),
(0.149039, 0.508051, 0.557250),
(0.147607, 0.511733, 0.557049),
(0.146180, 0.515413, 0.556823),
(0.144759, 0.519093, 0.556572),
(0.143343, 0.522773, 0.556295),
(0.141935, 0.526453, 0.555991),
(0.140536, 0.530132, 0.555659),
(0.139147, 0.533812, 0.555298),
(0.137770, 0.537492, 0.554906),
(0.136408, 0.541173, 0.554483),
(0.135066, 0.544853, 0.554029),
(0.133743, 0.548535, 0.553541),
(0.132444, 0.552216, 0.553018),
(0.131172, 0.555899, 0.552459),
(0.129933, 0.559582, 0.551864),
(0.128729, 0.563265, 0.551229),
(0.127568, 0.566949, 0.550556),
(0.126453, 0.570633, 0.549841),
(0.125394, 0.574318, 0.549086),
(0.124395, 0.578002, 0.548287),
(0.123463, 0.581687, 0.547445),
(0.122606, 0.585371, 0.546557),
(0.121831, 0.589055, 0.545623),
(0.121148, 0.592739, 0.544641),
(0.120565, 0.596422, 0.543611),
(0.120092, 0.600104, 0.542530),
(0.119738, 0.603785, 0.541400),
(0.119512, 0.607464, 0.540218),
(0.119423, 0.611141, 0.538982),
(0.119483, 0.614817, 0.537692),
(0.119699, 0.618490, 0.536347),
(0.120081, 0.622161, 0.534946),
(0.120638, 0.625828, 0.533488),
(0.121380, 0.629492, 0.531973),
(0.122312, 0.633153, 0.530398),
(0.123444, 0.636809, 0.528763),
(0.124780, 0.640461, 0.527068),
(0.126326, 0.644107, 0.525311),
(0.128087, 0.647749, 0.523491),
(0.130067, 0.651384, 0.521608),
(0.132268, 0.655014, 0.519661),
(0.134692, 0.658636, 0.517649),
(0.137339, 0.662252, 0.515571),
(0.140210, 0.665859, 0.513427),
(0.143303, 0.669459, 0.511215),
(0.146616, 0.673050, 0.508936),
(0.150148, 0.676631, 0.506589),
(0.153894, 0.680203, 0.504172),
(0.157851, 0.683765, 0.501686),
(0.162016, 0.687316, 0.499129),
(0.166383, 0.690856, 0.496502),
(0.170948, 0.694384, 0.493803),
(0.175707, 0.697900, 0.491033),
(0.180653, 0.701402, 0.488189),
(0.185783, 0.704891, 0.485273),
(0.191090, 0.708366, 0.482284),
(0.196571, 0.711827, 0.479221),
(0.202219, 0.715272, 0.476084),
(0.208030, 0.718701, 0.472873),
(0.214000, 0.722114, 0.469588),
(0.220124, 0.725509, 0.466226),
(0.226397, 0.728888, 0.462789),
(0.232815, 0.732247, 0.459277),
(0.239374, 0.735588, 0.455688),
(0.246070, 0.738910, 0.452024),
(0.252899, 0.742211, 0.448284),
(0.259857, 0.745492, 0.444467),
(0.266941, 0.748751, 0.440573),
(0.274149, 0.751988, 0.436601),
(0.281477, 0.755203, 0.432552),
(0.288921, 0.758394, 0.428426),
(0.296479, 0.761561, 0.424223),
(0.304148, 0.764704, 0.419943),
(0.311925, 0.767822, 0.415586),
(0.319809, 0.770914, 0.411152),
(0.327796, 0.773980, 0.406640),
(0.335885, 0.777018, 0.402049),
(0.344074, 0.780029, 0.397381),
(0.352360, 0.783011, 0.392636),
(0.360741, 0.785964, 0.387814),
(0.369214, 0.788888, 0.382914),
(0.377779, 0.791781, 0.377939),
(0.386433, 0.794644, 0.372886),
(0.395174, 0.797475, 0.367757),
(0.404001, 0.800275, 0.362552),
(0.412913, 0.803041, 0.357269),
(0.421908, 0.805774, 0.351910),
(0.430983, 0.808473, 0.346476),
(0.440137, 0.811138, 0.340967),
(0.449368, 0.813768, 0.335384),
(0.458674, 0.816363, 0.329727),
(0.468053, 0.818921, 0.323998),
(0.477504, 0.821444, 0.318195),
(0.487026, 0.823929, 0.312321),
(0.496615, 0.826376, 0.306377),
(0.506271, 0.828786, 0.300362),
(0.515992, 0.831158, 0.294279),
(0.525776, 0.833491, 0.288127),
(0.535621, 0.835785, 0.281908),
(0.545524, 0.838039, 0.275626),
(0.555484, 0.840254, 0.269281),
(0.565498, 0.842430, 0.262877),
(0.575563, 0.844566, 0.256415),
(0.585678, 0.846661, 0.249897),
(0.595839, 0.848717, 0.243329),
(0.606045, 0.850733, 0.236712),
(0.616293, 0.852709, 0.230052),
(0.626579, 0.854645, 0.223353),
(0.636902, 0.856542, 0.216620),
(0.647257, 0.858400, 0.209861),
(0.657642, 0.860219, 0.203082),
(0.668054, 0.861999, 0.196293),
(0.678489, 0.863742, 0.189503),
(0.688944, 0.865448, 0.182725),
(0.699415, 0.867117, 0.175971),
(0.709898, 0.868751, 0.169257),
(0.720391, 0.870350, 0.162603),
(0.730889, 0.871916, 0.156029),
(0.741388, 0.873449, 0.149561),
(0.751884, 0.874951, 0.143228),
(0.762373, 0.876424, 0.137064),
(0.772852, 0.877868, 0.131109),
(0.783315, 0.879285, 0.125405),
(0.793760, 0.880678, 0.120005),
(0.804182, 0.882046, 0.114965),
(0.814576, 0.883393, 0.110347),
(0.824940, 0.884720, 0.106217),
(0.835270, 0.886029, 0.102646),
(0.845561, 0.887322, 0.099702),
(0.855810, 0.888601, 0.097452),
(0.866013, 0.889868, 0.095953),
(0.876168, 0.891125, 0.095250),
(0.886271, 0.892374, 0.095374),
(0.896320, 0.893616, 0.096335),
(0.906311, 0.894855, 0.098125),
(0.916242, 0.896091, 0.100717),
(0.926106, 0.897330, 0.104071),
(0.935904, 0.898570, 0.108131),
(0.945636, 0.899815, 0.112838),
(0.955300, 0.901065, 0.118128),
(0.964894, 0.902323, 0.123941),
(0.974417, 0.903590, 0.130215),
(0.983868, 0.904867, 0.136897),
(0.993248, 0.906157, 0.143936),
]
_github_table = [
(0.933333, 0.933333, 0.933333),
(0.776470, 0.894117, 0.545098),
(0.482352, 0.788235, 0.435294),
(0.137254, 0.603921, 0.231372),
(0.098039, 0.380392, 0.152941),
]
class TorchColorMapper:
"""Torch based color mapper for (H, W) grayscale tensor images.
Examples:
```py
# Basic usage
image = torch.rand((3, 3))
image_mapper = TorchColorMapper()
mapped_image = image_mapper.map(image)
# Map image to github color table
image_mapped_to_github = image_mapper.map(image, "github")
```
"""
def __init__(
self,
device: torch.device = torch.device(
"cuda" if torch.cuda.is_available() else "cpu"
),
) -> None:
gray_map = torch.stack(
[torch.tensor([i / 255.0] * 3, device=device) for i in range(256)], dim=0
)
self._map_from_name_to_table = {
"magma": torch.tensor(_magma_table, device=device),
"inferno": torch.tensor(_inferno_table, device=device),
"plasma": torch.tensor(_plasma_table, device=device),
"viridis": torch.tensor(_viridis_table, device=device),
"github": torch.tensor(_github_table, device=device),
"gray": gray_map,
}
self.device = device
def _normalize_image(
self, image, vmin=None, vmax=None, qmin=0.02, qmax=0.85, invalid_val=-99
):
invalid_mask = image == invalid_val
mask = torch.logical_not(invalid_mask)
# normalize
vmin = torch.quantile(image[mask], qmin) if vmin is None else vmin
vmax = torch.quantile(image[mask], qmax) if vmax is None else vmax
if vmin != vmax:
image = ((image - vmin) / (vmax - vmin)).clamp(0, vmax) # 0..vmax
else:
# Avoid 0-divisionx
image = image * 0.0
return image
def map(
self,
image: torch.FloatTensor,
type: str = "magma",
vmin=None,
vmax=None,
qmin=0.02,
qmax=0.85,
invalid_val=-99,
return_hwc=False,
) -> torch.Tensor:
"""Converts an (N,M) torch tensor depth map to a color image.
Args:
image (torch.Tensor): Input depth map. Shape: (H, W) or (1, H, W) or (1, 1, H, W). All singular dimensions are squeezed
type (str, optional): colormap to use. Defaults to 'magma' options are:
```py
['inferno', 'magma', 'plasma', 'viridis', 'github', 'gray']
```
vmin (float, optional): vmin-valued entries are mapped to start color of cmap. If None, value.min() is used. Defaults to None.
vmax (float, optional): vmax-valued entries are mapped to end color of cmap. If None, value.max() is used. Defaults to None.
qmin (float, torch.Tensor): Value to use for first percentile instead of vmin. Only one of vmin,qmin can be specified. Default: qmin = 0.02
qmax (float, torch.Tensor): Value to use for last percentile instead of vmin. Only one of vmax,qmax can be specified. Default: qmax = 0.85
invalid_val (int, optional): Specifies value of invalid pixels that should be ignored. Defaults to -99.
return_hwc (bool, optional): Force callee to return shape (C,H,W) instead of (H,W,C). Default: False.
Returns:
torch.Tensor, dtype - uint8: Colored depth map. Shape: (H, W, 3)
"""
while len(image.shape) > 2 and image.shape[0] == 1:
image = image.squeeze(dim=0)
image = self._normalize_image(image, vmin, vmax, qmin, qmax, invalid_val)
# select colormap
colors = self._map_from_name_to_table[type].type(torch.float32)
# Create an (N, M, 3) image to fill cmap
new_image = torch.zeros(
(image.shape[0], image.shape[1], 3),
device=image.device,
dtype=torch.float32,
)
# Scale image to 0..max (max is according to either manual vmin/vmax or scaled from qmin/qmax)
scaled = image - image.min()
# Scale and clamp to 0..1 and scaled to number of indices in the colormap
scaled = (
(scaled * (colors.shape[0] - 1))
.long()
.clamp(0, colors.shape[0] - 1)
)
# Get colors from colormap for each pixel (R G B)
new_image[:, :, 0] = torch.take(colors[:, 0], scaled)
new_image[:, :, 1] = torch.take(colors[:, 1], scaled)
new_image[:, :, 2] = torch.take(colors[:, 2], scaled)
new_image = (new_image * 255).clamp(0, 255).type(torch.uint8)
if return_hwc:
return new_image
else:
return rearrange(new_image, "h w c -> c h w")
def to(self, device: torch.device = None, dtype: torch.dtype = None):
if (
device is not None
and device != self.device
and (
isinstance(device, torch.device)
or (
isinstance(device, str)
and (device.startswith("cuda"))
or device.startswith("cpu")
)
)
):
self.device = device
for k in self._map_from_name_to_table.keys():
self._map_from_name_to_table[k] = self._map_from_name_to_table[k].to(
device
)
return self
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