Merge branch 'main' of ssh://892887cvmk08.aicp.io:24928/orisys-tech/orisys-app

shared/src/orisys_app_shared/acquisition/arrows.py

@@ -598,6 +598,7 @@ def depth_map_to_bgr(
     *,
     value_range: tuple[float, float] | None = None,
     invalid_mask: np.ndarray | None = None,
+    threshold: float = 0.0,
 ) -> np.ndarray | None:
     """Convert a float depth/divergence map to a colormap BGR image.
 
@@ -608,6 +609,9 @@ def depth_map_to_bgr(
 
     ``invalid_mask`` marks samples that carry no depth. They are painted with a
     neutral grey so "no data" can never be mistaken for "zero depth".
+
+    ``threshold`` only changes valid pixels' colours: below it they use the
+    first ramp colour, while the source depth and the colour span stay intact.
     """
     if depth is None:
         return None
@@ -628,6 +632,8 @@ def depth_map_to_bgr(
         scaled = np.zeros(arr.shape, dtype=np.float64)
     scaled = np.clip(scaled, 0.0, 1.0)
     normalized = (scaled * 255.0).astype(np.uint8)
+    if threshold > 0.0:
+        normalized[finite & (arr < threshold)] = 0
     image = cv2.applyColorMap(
         normalized, cv2.COLORMAP_JET if colormap is None else colormap
     )

shared/src/orisys_app_shared/acquisition/image_backend.py

@@ -418,6 +418,7 @@ def render_image(
     theme: str = "dark",
     draw_style: str = "box",
     depth_range: tuple[float, float] | None = None,
+    depth_threshold: float = 0.0,
     canvas_bgr: Sequence[int] | None = None,
     domain_mask: np.ndarray | None = None,
     arrow_policy=None,
@@ -441,6 +442,9 @@ def render_image(
     with, so both figures trigger at the same strength. ``None`` means the draw style's
     own defaults.
 
+    ``depth_threshold`` changes depth colouring only. It never changes the frame's
+    measured depth, its valid mask or the arrows drawn over it.
+
     ``orientation`` is a **display** convention for the domain-grid views: the picture is
     turned or mirrored once it has been drawn, so the frame's own ``flow``, ``valid_mask``
     and ``image_bgr`` are untouched — a recorded session's flow is stored in the domain's
@@ -460,6 +464,7 @@ def render_image(
             frame.depth,
             flow_colormap(theme),
             value_range=depth_range,
+            threshold=depth_threshold,
             invalid_mask=boundary,
         )
     if wanted == DEPTH:

shared/src/orisys_app_shared/scene3d/contracts.py

@@ -650,6 +650,8 @@ class DisplaySettings:
     #: refits both views to the current frame's finite minimum and maximum — the
     #: earlier per-frame colour bar. A fixed colour scale still wins over either.
     depth_scale_adaptive: bool = False
+    #: Paint depth response below this relative value with the base ramp colour.
+    depth_threshold: float = 0.0
 
 
 @dataclass(frozen=True)

shared/tests/test_image_backend.py

@@ -52,6 +52,20 @@ def test_depth_arrows_draws_the_flow_on_the_depth_picture():
     assert not np.array_equal(over, plain)
 
 
+def test_depth_display_threshold_uses_base_colour_without_changing_source():
+    depth = np.array([[0.1, 0.4, 0.8]], dtype=np.float32)
+    original = depth.copy()
+    frame = backend.ImageFrame(_image(1, 3), depth=depth)
+    plain = backend.render_image(frame, mode="depth", depth_range=(0.0, 1.0))
+    tuned = backend.render_image(
+        frame, mode="depth", depth_range=(0.0, 1.0), depth_threshold=0.5
+    )
+    assert plain is not None and tuned is not None
+    assert np.array_equal(tuned[0, 0], tuned[0, 1])
+    assert np.array_equal(tuned[0, 2], plain[0, 2])
+    assert np.array_equal(depth, original)
+
+
 def test_a_recorded_frame_is_raw_and_says_so():
     """No flow and no depth: the frame *is* the picture, and the note explains it."""
     plan = backend.plan_image(backend.ImageFrame(_image(), source=backend.SOURCE_REPLAY))