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fix: ToF example colorization flicker #1906

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Merged
CasualMathEnjoyer merged 6 commits into from
Jul 27, 2026
Merged

fix: ToF example colorization flicker #1906

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3727e57
fix: colorization
CasualMathEnjoyer Jul 21, 2026
af87b74
fix: colorization in C++ ToF examples
CasualMathEnjoyer Jul 22, 2026
a8d1538
fix: drop unnecessary colorization comments in Python ToF examples
CasualMathEnjoyer Jul 22, 2026
f8d713c
remove comments
CasualMathEnjoyer Jul 23, 2026
079e80e
fix: unify ToF examples at 30 FPS and drop stray comments
CasualMathEnjoyer Jul 23, 2026
5374c08
fix: align C++ sync threshold precision with Python example
CasualMathEnjoyer Jul 23, 2026
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8 changes: 6 additions & 2 deletions examples/python/ToF/tof_align.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,12 @@ def colorizeDepth(frameDepth: np.ndarray, minDepth: float, maxDepth: float) -> n
try:
logDepth = np.log(frameDepth.astype(np.float32) + 1e-6)
logDepth[invalidMask] = 0.0
logDepth = np.clip(logDepth, np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6))
depthFrameColor = np.interp(logDepth, (logDepth[~invalidMask].min(), logDepth[~invalidMask].max()), (0, 255))
logMin, logMax = np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6)
logDepth = np.clip(logDepth, logMin, logMax)
# Map from the FIXED depth range (not the per-frame min/max) so a given depth
# always maps to the same color -- otherwise the mapping shifts every frame and
# the image flickers.
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depthFrameColor = np.interp(logDepth, (logMin, logMax), (0, 255))
depthFrameColor = depthFrameColor.astype(np.uint8)
depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_JET)
depthFrameColor[invalidMask] = 0
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8 changes: 6 additions & 2 deletions examples/python/ToF/tof_all_queues.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,12 @@ def colorizeDepth(frame: np.ndarray, minDepth: float, maxDepth: float) -> np.nda
try:
logDepth = np.log(frame.astype(np.float32) + 1e-6)
logDepth[invalidMask] = 0.0
logDepth = np.clip(logDepth, np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6))
colored = np.interp(logDepth, (logDepth[~invalidMask].min(), logDepth[~invalidMask].max()), (0, 255))
logMin, logMax = np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6)
logDepth = np.clip(logDepth, logMin, logMax)
# Map from the FIXED depth range (not the per-frame min/max) so a given depth
# always maps to the same color -- otherwise the mapping shifts every frame and
# the image flickers.
colored = np.interp(logDepth, (logMin, logMax), (0, 255))
colored = colored.astype(np.uint8)
colored = cv2.applyColorMap(colored, cv2.COLORMAP_JET)
colored[invalidMask] = 0
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8 changes: 6 additions & 2 deletions examples/python/ToF/tof_minimal.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,12 @@ def colorizeDepth(frame: np.ndarray, minDepth: float, maxDepth: float) -> np.nda
try:
logDepth = np.log(frame.astype(np.float32) + 1e-6)
logDepth[invalidMask] = 0.0
logDepth = np.clip(logDepth, np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6))
colored = np.interp(logDepth, (logDepth[~invalidMask].min(), logDepth[~invalidMask].max()), (0, 255))
logMin, logMax = np.log(minDepth + 1e-6), np.log(maxDepth + 1e-6)
logDepth = np.clip(logDepth, logMin, logMax)
# Map from the FIXED depth range (not the per-frame min/max) so a given depth
# always maps to the same color -- otherwise the mapping shifts every frame and
# the image flickers.
colored = np.interp(logDepth, (logMin, logMax), (0, 255))
colored = colored.astype(np.uint8)
colored = cv2.applyColorMap(colored, cv2.COLORMAP_JET)
colored[invalidMask] = 0
Expand Down