Adjustable depth image range

[roym899]

It would be nice to make the min and max value for depth images adjustable. Currently the minimum and maximum depth determine the color mapping; however, this can lead to unintuitive jumps in color when a far-away value pops in and out of the view.

This video shows a negative example where the color changes drastically when the sky is not visible.

untitled.mp4

Describe the solution you'd like

• Add an option to adjust the min value and max value for the color map.
• This setting should be available both for backprojected points and for 2D views.
• For the backprojection it would also be nice to have an option to exclude points outside of this range. This would improve handling of "non-standard" depth images that use an arbitrary far plane value instead of NaN or 0.

Additional context
RViz has this feature ("Normalize Range" can be toggled for depth images and when it's off the "Min Value" and "Max Value" can be set)

[Wumpf]

Related to

• Configurable ranges / extent in image and tensor view #1510