How to use the perception.image.Image.__init__ function in Perception

data : :obj:`numpy.ndarray`
            An array of data with which to make the image. The first dimension
            of the data should index rows, the second columns, and the third
            individual pixel elements (IR values as uint16's).

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)

data : :obj:`numpy.ndarray`
            An array of data with which to make the image. The first dimension
            of the data should index rows, the second columns, and the third
            individual pixel elements (three floats).

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)

individual pixel elements (two channels, both float).
            The first channel should be the grayscale channel
            which must be in the range (0, BINARY_IM_MAX_VAL).
            The second channel should be the depth channel.

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)

of the data should index rows, the second columns, and the third
            individual pixel elements (only one channel, all uint8).
            The integer-valued data should correspond to segment labels.

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        self._num_segments = np.max(data) + 1
        Image.__init__(self, data, frame)

data : :obj:`numpy.ndarray`
            An array of data with which to make the image. The first dimension
            of the data should index rows, the second columns, and the third
            individual pixel elements (three floats).

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)

individual pixel elements (four channels, all float).
            The first three channels should be the red, greed, and blue channels
            which must be in the range (0, BINARY_IM_MAX_VAL).
            The fourth channel should be the depth channel.

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)

data : :obj:`numpy.ndarray`
            An array of data with which to make the image. The first dimension
            of the data should index rows, the second columns, and the third
            individual pixel elements (depths as floating point numbers).

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)
        self._data = self._data.astype(np.float32)
        self._data[np.isnan(self._data)] = 0.0
        self._encoding = 'passthrough'

greyscale.

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        encoding : :obj:`str`
            Either rgb8 or bgr8, depending on the channel storage mode

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        Image.__init__(self, data, frame)
        self._encoding = encoding
        if self._encoding != 'rgb8' and self._encoding != 'bgr8':
            raise ValueError(
                'Illegal encoding: %s. Please use rgb8 or bgr8' %
                (self._encoding))
        if self._encoding == 'rgb8':
            self.r_axis = 0
            self.g_axis = 1
            self.b_axis = 2
        else:
            self.r_axis = 2
            self.g_axis = 1
            self.b_axis = 0

An array of data with which to make the image. The first dimension
            of the data should index rows, the second columns, and the third
            individual pixel elements (greyscale values as uint8's).

        frame : :obj:`str`
            A string representing the frame of reference in which this image
            lies.

        Raises
        ------
        ValueError
            If the data is not a properly-formatted ndarray or frame is not a
            string.
        """
        self._encoding = 'mono16'
        Image.__init__(self, data, frame)