code: def depthToRGB8(float_img_buff, encoding):
      '''
      Translates from Distance Image format to RGB. Inf values are represented by NaN, when converting to RGB, NaN passed to 0 
  
      @param float_img_buff: ROS Image to translate
  
      @type img: ros image
  
      @return a Opencv RGB image
  
      '''
      gray_image = None
      if (encoding[-3:-2]== "U"):
          gray_image = float_img_buff
      else:    
          float_img = np.zeros((float_img_buff.shape[0], float_img_buff.shape[1], 1), dtype = "float32")
          float_img.data = float_img_buff.data
          gray_image=cv2.convertScaleAbs(float_img, alpha=255/MAXRANGE)
  
  
      cv_image = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
  
      return cv_imagf depthToRGB8(float_img_buff, encoding):
      '''
      Translates from Distance Image format to RGB. Inf values are represented by NaN, when converting to RGB, NaN passed to 0 
  
      @param float_img_buff: ROS Image to translate
  
      @type img: ros image
  
      @return a Opencv RGB image
  
      '''
      gray_image = None
      if (encoding[-3:-2]== "U"):
          gray_image = float_img_buff
      else:    
          float_img = np.zeros((float_img_buff.shape[0], float_img_buff.shape[1], 1), dtype = "float32")
          float_img.data = float_img_buff.data
          gray_image=cv2.convertScaleAbs(float_img, alpha=255/MAXRANGE)
  
  
      cv_image = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
  
      return cv_image
docs: Translates from Distance Image format to RGB. Inf values are represented by NaN, when converting to RGB, NaN passed to 0 
  
      @param float_img_buff: ROS Image to translate
  
      @type img: ros image
  
      @return a Opencv RGB image