image.py 文件源码

def threshold_gradients(self, grad_thresh):
        """Creates a new DepthImage by zeroing out all depths
        where the magnitude of the gradient at that point is
        greater than grad_thresh.

        Parameters
        ----------
        grad_thresh : float
            A threshold for the gradient magnitude.

        Returns
        -------
        :obj:`DepthImage`
            A new DepthImage created from the thresholding operation.
        """
        data = np.copy(self._data)
        gx, gy = self.gradients()
        gradients = np.zeros([gx.shape[0], gx.shape[1], 2])
        gradients[:, :, 0] = gx
        gradients[:, :, 1] = gy
        gradient_mags = np.linalg.norm(gradients, axis=2)
        ind = np.where(gradient_mags > grad_thresh)
        data[ind[0], ind[1]] = 0.0
        return DepthImage(data, self._frame)