frame_convert2.py

import numpy as np


def pretty_depth(depth):
    """Converts depth into a 'nicer' format for display

    This is abstracted to allow for experimentation with normalization

    Args:
        depth: A numpy array with 2 bytes per pixel

    Returns:
        A numpy array that has been processed with unspecified datatype
    """
    np.clip(depth, 0, 2**10 - 1, depth)
    depth >>= 2
    depth = depth.astype(np.uint8)
    return depth


def pretty_depth_cv(depth):
    """Converts depth into a 'nicer' format for display

    This is abstracted to allow for experimentation with normalization

    Args:
        depth: A numpy array with 2 bytes per pixel

    Returns:
        A numpy array with unspecified datatype
    """
    return pretty_depth(depth)


def video_cv(video):
    """Converts video into a BGR format for display

    This is abstracted out to allow for experimentation

    Args:
        video: A numpy array with 1 byte per pixel, 3 channels RGB

    Returns:
        A numpy array with with 1 byte per pixel, 3 channels BGR
    """
    return video[:, :, ::-1]  # RGB -> BGR