far = self.cam.getFarPlane()
near = self.cam.getNearPlane()
z = img2 * 2.0 - 1.0
linearDepth = (2.0 * near * far) / (far + near - z * (far - near))
img2 = linearDepth
img2 = img2/10
# img2[img2 == 0] = 1.1
im_gray = (img2 - 0.1) / 1
im_gray = im_gray * 255.
img = im_gray.astype(np.uint8)
# img = cv2.applyColorMap(img, cv2.COLORMAP_JET)
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