#!/usr/bin/python3
import os
import numpy as np
def clamp(a,b,c):
	return a+b+c-max(a,b,c)-min(a,b,c)
def depthFrame(depths,spacing,w,h):
	ret=[]
	for i in range(h):
		ret.append([20000]*w)
	count=0;
	total=0
	for key in depths.keys():
		tmp=depths[key]
		#print(tmp)
		count+=1
		total+=tmp
		ret[h-round(key[1]/spacing)][round(key[0]/spacing)]=tmp
	maxD=4#total/count*3
	for y in range(w):
		for x in range(h):
			prog=ret[x][y]/float(maxD);
			ret[x][y]= (clamp(255,0,round(255*(prog*2))),clamp(255,0,round(255*(2.3-prog*3))),clamp(255,0,round(255*(1-prog*3)))); 
			
	return np.array(ret).astype(np.uint8)