You can do this with the code below, and the code in your question was actually very close to what you needed, all you have to do is call the cmap object you have.

import matplotlib

cmap = matplotlib.cm.get_cmap('Spectral')

rgba = cmap(0.5)
print(rgba) # (0.99807766255210428, 0.99923106502084169, 0.74602077638401709, 1.0)

For values outside of the range [0.0, 1.0] it will return the under and over colour (respectively). This, by default, is the minimum and maximum colour within the range (so 0.0 and 1.0). This default can be changed with cmap.set_under() and cmap.set_over().

For "special" numbers such as np.nan and np.inf the default is to use the 0.0 value, this can be changed using cmap.set_bad() similarly to under and over as above.

Finally it may be necessary for you to normalize your data such that it conforms to the range [0.0, 1.0]. This can be done using matplotlib.colors.Normalize simply as shown in the small example below where the arguments vmin and vmax describe what numbers should be mapped to 0.0 and 1.0 respectively.

import matplotlib

norm = matplotlib.colors.Normalize(vmin=10.0, vmax=20.0)

print(norm(15.0)) # 0.5

A logarithmic normaliser (matplotlib.colors.LogNorm) is also available for data ranges with a large range of values.

(Thanks to both Joe Kington and tcaswell for suggestions on how to improve the answer.)

I know this is late to the game, but I just went through this process and came up with a solution that perhaps less robust than subclassing normalize, but much simpler. I thought it'd be good to share it here for posterity.

The function

import numpy as np
import matplotlib
import matplotlib.pyplot as plt
from mpl_toolkits.axes_grid1 import AxesGrid

def shiftedColorMap(cmap, start=0, midpoint=0.5, stop=1.0, name='shiftedcmap'):
    '''
    Function to offset the "center" of a colormap. Useful for
    data with a negative min and positive max and you want the
    middle of the colormap's dynamic range to be at zero.

    Input
    -----
      cmap : The matplotlib colormap to be altered
      start : Offset from lowest point in the colormap's range.
          Defaults to 0.0 (no lower offset). Should be between
          0.0 and `midpoint`.
      midpoint : The new center of the colormap. Defaults to 
          0.5 (no shift). Should be between 0.0 and 1.0. In
          general, this should be  1 - vmax / (vmax + abs(vmin))
          For example if your data range from -15.0 to +5.0 and
          you want the center of the colormap at 0.0, `midpoint`
          should be set to  1 - 5/(5 + 15)) or 0.75
      stop : Offset from highest point in the colormap's range.
          Defaults to 1.0 (no upper offset). Should be between
          `midpoint` and 1.0.
    '''
    cdict = {
        'red': [],
        'green': [],
        'blue': [],
        'alpha': []
    }

    # regular index to compute the colors
    reg_index = np.linspace(start, stop, 257)

    # shifted index to match the data
    shift_index = np.hstack([
        np.linspace(0.0, midpoint, 128, endpoint=False), 
        np.linspace(midpoint, 1.0, 129, endpoint=True)
    ])

    for ri, si in zip(reg_index, shift_index):
        r, g, b, a = cmap(ri)

        cdict['red'].append((si, r, r))
        cdict['green'].append((si, g, g))
        cdict['blue'].append((si, b, b))
        cdict['alpha'].append((si, a, a))

    newcmap = matplotlib.colors.LinearSegmentedColormap(name, cdict)
    plt.register_cmap(cmap=newcmap)

    return newcmap

An example

biased_data = np.random.random_integers(low=-15, high=5, size=(37,37))

orig_cmap = matplotlib.cm.coolwarm
shifted_cmap = shiftedColorMap(orig_cmap, midpoint=0.75, name='shifted')
shrunk_cmap = shiftedColorMap(orig_cmap, start=0.15, midpoint=0.75, stop=0.85, name='shrunk')

fig = plt.figure(figsize=(6,6))
grid = AxesGrid(fig, 111, nrows_ncols=(2, 2), axes_pad=0.5,
                label_mode="1", share_all=True,
                cbar_location="right", cbar_mode="each",
                cbar_size="7%", cbar_pad="2%")

# normal cmap
im0 = grid[0].imshow(biased_data, interpolation="none", cmap=orig_cmap)
grid.cbar_axes[0].colorbar(im0)
grid[0].set_title('Default behavior (hard to see bias)', fontsize=8)

im1 = grid[1].imshow(biased_data, interpolation="none", cmap=orig_cmap, vmax=15, vmin=-15)
grid.cbar_axes[1].colorbar(im1)
grid[1].set_title('Centered zero manually,\nbut lost upper end of dynamic range', fontsize=8)

im2 = grid[2].imshow(biased_data, interpolation="none", cmap=shifted_cmap)
grid.cbar_axes[2].colorbar(im2)
grid[2].set_title('Recentered cmap with function', fontsize=8)

im3 = grid[3].imshow(biased_data, interpolation="none", cmap=shrunk_cmap)
grid.cbar_axes[3].colorbar(im3)
grid[3].set_title('Recentered cmap with function\nand shrunk range', fontsize=8)

for ax in grid:
    ax.set_yticks([])
    ax.set_xticks([])

Results of the example:

plt.colormaps() returns a list of all registered colormaps. From the docs:

matplotlib.pyplot.colormaps()

Matplotlib provides a number of colormaps, and others can be added using register_cmap(). This function documents the built-in colormaps, and will also return a list of all registered colormaps if called.

The list this returns includes viridis, magma, inferno and plasma for me in 1.5.0