From 0240142df25a5033e99196bebe07213ebf527c83 Mon Sep 17 00:00:00 2001
From: tee1g21 <92794120+tee1g21@users.noreply.github.com>
Date: Wed, 15 Jan 2025 23:33:17 +0000
Subject: [PATCH] Final version of depth2disparity
---
scripts/Depth2Disparity/depth_to_disparity.py | 178 +++++++++---------
scripts/simple_tab.py | 19 +-
2 files changed, 93 insertions(+), 104 deletions(-)
diff --git a/scripts/Depth2Disparity/depth_to_disparity.py b/scripts/Depth2Disparity/depth_to_disparity.py
index 10c0df9..e329440 100644
--- a/scripts/Depth2Disparity/depth_to_disparity.py
+++ b/scripts/Depth2Disparity/depth_to_disparity.py
@@ -64,13 +64,13 @@ class Depth2Disparity:
disparity_path = os.path.join(disparity_dir, disparity_base)
## Check if an existing disparity map needs to be renamed
- ##if os.path.exists(disparity_path):
- ## old_depth_path = os.path.join(disparity_dir, "depth_e_old.png")
- ## print(f"Renaming monodepth map to: {old_depth_path}")
- ## # if pre-existing 'old depth map' exists, remove it
- ## if os.path.exists(old_depth_path):
- ## os.remove(old_depth_path)
- ## os.rename(disparity_path, old_depth_path)
+ if os.path.exists(disparity_path):
+ old_depth_path = os.path.join(disparity_dir, "depth_e_old.png")
+ print(f"Renaming monodepth map to: {old_depth_path}")
+ # if pre-existing 'old depth map' exists, remove it
+ if os.path.exists(old_depth_path):
+ os.remove(old_depth_path)
+ os.rename(disparity_path, old_depth_path)
# Save the new disparity map
print(f"Saving new disparity map to: {disparity_path}")
@@ -119,103 +119,93 @@ class Depth2Disparity:
return abs_depth_map
def _depth2disparity(self, abs_depth_map):
- """
- Convert absolute depth map to disparity map for 360-degree images.
-
- Parameters:
- abs_depth_map (numpy.ndarray): Absolute depth map with pixel values as distances in meters.
-
- Returns:
- disparity_map (numpy.ndarray): Disparity map with values representing disparity.
- disparity_map_normalized (numpy.ndarray): Normalized disparity map for visualization.
- """
- # Define parameters for the conversion
height, width = abs_depth_map.shape
-
- # Latitude grid (θ_l)
- epsilon = 1e-6
- latitudes = np.linspace(-np.pi / 2, np.pi / 2, height)
- latitudes_grid = np.tile(latitudes[:, np.newaxis], (1, width))
-
- # Clamp extreme latitudes to avoid instability
- latitudes_grid = np.clip(latitudes_grid, -np.pi/2 + epsilon, np.pi/2 - epsilon)
-
- plt.imshow(latitudes_grid, cmap="jet")
- plt.colorbar()
- plt.title("Latitude Grid")
- plt.show()
-
- self.baseline = 0.176
-
-
- # Calculate angular disparity Δθ(x, y)
- # Δθ(x, y) = arctan(B / (r_t * sin(θ_l) + r_t * cos(θ_l) * tan(θ_l))) - θ_l
- epsilon = 1e-6 # Small value to prevent instability
- denominator = (
- abs_depth_map * np.sin(latitudes_grid) +
- abs_depth_map * np.cos(latitudes_grid) * np.tan(latitudes_grid) +
- epsilon
- )
- angular_disparity = np.arctan(self.baseline / denominator) - latitudes_grid
-
- self.disp_scale = 10
- self.disp_offset = np.median(angular_disparity)
-
- # Normalize the disparity map for saving
- pixel_angle_scale = 1 # Assume scale factor is 1 if not provided (can be adjusted if needed)
- disparity_map = (angular_disparity / pixel_angle_scale - self.disp_offset) * self.disp_scale
+ unit_h = 1.0 / height
+ disparity_map = np.zeros_like(abs_depth_map, dtype=np.float32)
+
+ for i in range(height):
+ theta_t = i * unit_h * np.pi
+ for j in range(width):
+ r_t = max(abs_depth_map[i, j], 0.01) # Clamp small depths
+ if r_t <= 0:
+ disparity_map[i, j] = 0
+ continue
+ try:
+ tan_theta_t = np.tan(theta_t) if np.abs(np.cos(theta_t)) > 1e-6 else np.sign(np.sin(theta_t)) * np.inf
+ denominator = max(r_t * np.sin(theta_t) + r_t * np.cos(theta_t) * tan_theta_t, 1e-6)
+ angle_disp = np.arctan(self.baseline / denominator) - theta_t
+ pixel_disp = (angle_disp / (unit_h * np.pi) - self.disp_offset) * self.disp_scale
+ disparity_map[i, j] = pixel_disp
+ except ZeroDivisionError:
+ disparity_map[i, j] = 0
# Normalize for visualization
disparity_map_normalized = (disparity_map - disparity_map.min()) / (disparity_map.max() - disparity_map.min())
disparity_map_normalized *= 255
disparity_map_normalized = disparity_map_normalized.astype(np.uint8)
- # Debugging visualization
- plt.imshow(disparity_map, cmap="jet")
- plt.colorbar()
- plt.title("Disparity Map (Debugging)")
- plt.show()
-
- return disparity_map, disparity_map_normalized
-
- def __depth2disparity(self, abs_depth_map):
- height, width = abs_depth_map.shape
- unit_w = 2.0 / width # Horizontal unit angle
- unit_h = 1.0 / height # Vertical unit angle
- epsilon = 1e-8 # Small value to prevent instability
-
- # Latitude angles (theta_t) for each row
- theta_t_grid = np.linspace(0, np.pi, height).reshape(height, 1)
-
- # Ensure no instability in tangent calculation
- tan_theta_t = np.tan(np.clip(theta_t_grid, -np.pi/2 + epsilon, np.pi/2 - epsilon))
-
- # Broadcast depth map and latitude grid
- r_t = abs_depth_map # Absolute depth values (meters)
- sin_theta_t = np.sin(theta_t_grid)
- cos_theta_t = np.cos(theta_t_grid)
-
- # Compute denominator
- denominator = r_t * sin_theta_t + r_t * cos_theta_t * tan_theta_t + epsilon
-
- # Avoid invalid denominator values
- denominator[denominator <= 0] = epsilon
-
- # Calculate angular disparity
- angle_disp = np.arctan(self.baseline / denominator) - theta_t_grid
-
- # Convert angular disparity to pixel disparity
- disparity_map = (angle_disp / (unit_h * np.pi) - self.disp_offset) * self.disp_scale
-
plt.imshow(disparity_map, cmap='gray')
plt.colorbar()
plt.show()
-
- # Normalize disparity map for visualization
- disparity_map_normalized = (disparity_map - disparity_map.min()) / (disparity_map.max() - disparity_map.min())
- disparity_map_normalized *= 255
- disparity_map_normalized = disparity_map_normalized.astype(np.uint8)
return disparity_map, disparity_map_normalized
-
\ No newline at end of file
+ #def __depth2disparity(self, abs_depth_map):
+ # """
+ # Convert absolute depth map to disparity map for 360-degree images.
+
+ # Parameters:
+ # abs_depth_map (numpy.ndarray): Absolute depth map with pixel values as distances in meters.
+
+ # Returns:
+ # disparity_map (numpy.ndarray): Disparity map with values representing disparity.
+ # disparity_map_normalized (numpy.ndarray): Normalized disparity map for visualization.
+ # """
+ # # Define parameters for the conversion
+ # height, width = abs_depth_map.shape
+ #
+ # # Latitude grid (θ_l)
+ # epsilon = 1e-6
+ # latitudes = np.linspace(-np.pi / 2, np.pi / 2, height)
+ # latitudes_grid = np.tile(latitudes[:, np.newaxis], (1, width))
+
+ # # Clamp extreme latitudes to avoid instability
+ # latitudes_grid = np.clip(latitudes_grid, -np.pi/2 + epsilon, np.pi/2 - epsilon)
+
+ # plt.imshow(latitudes_grid, cmap="jet")
+ # plt.colorbar()
+ # plt.title("Latitude Grid")
+ # plt.show()
+
+ # self.baseline = 0.176
+ #
+ #
+ # # Calculate angular disparity Δθ(x, y)
+ # # Δθ(x, y) = arctan(B / (r_t * sin(θ_l) + r_t * cos(θ_l) * tan(θ_l))) - θ_l
+ # epsilon = 1e-6 # Small value to prevent instability
+ # denominator = (
+ # abs_depth_map * np.sin(latitudes_grid) +
+ # abs_depth_map * np.cos(latitudes_grid) * np.tan(latitudes_grid) +
+ # epsilon
+ # )
+ # angular_disparity = np.arctan(self.baseline / denominator) - latitudes_grid
+ #
+ # self.disp_scale = 10
+ # self.disp_offset = np.median(angular_disparity)
+ #
+ # # Normalize the disparity map for saving
+ # pixel_angle_scale = 1 # Assume scale factor is 1 if not provided (can be adjusted if needed)
+ # disparity_map = (angular_disparity / pixel_angle_scale - self.disp_offset) * self.disp_scale
+
+ # # Normalize for visualization
+ # disparity_map_normalized = (disparity_map - disparity_map.min()) / (disparity_map.max() - disparity_map.min())
+ # disparity_map_normalized *= 255
+ # disparity_map_normalized = disparity_map_normalized.astype(np.uint8)
+
+ # # Debugging visualization
+ # plt.imshow(disparity_map, cmap="jet")
+ # plt.colorbar()
+ # plt.title("Disparity Map (Debugging)")
+ # plt.show()
+
+ # return disparity_map, disparity_map_normalized
\ No newline at end of file
diff --git a/scripts/simple_tab.py b/scripts/simple_tab.py
index ab01fa7..026ab0d 100644
--- a/scripts/simple_tab.py
+++ b/scripts/simple_tab.py
@@ -172,16 +172,15 @@ class PipelineWorker(QThread):
self.progress.emit("File saved in edgenet-360\Output")
def run_pipeline(self):
- #self.clean_temp_files()
- #self.shift_image()
- #self.copy_file()
- #self.run_depth_estimation()
- self.run_depth_to_disparity()
-
- #self.run_material_recognition()
- #self.run_edge_net()
- #self.run_post_processing()
- self.progress.emit("Pipeline completed!")
+ self.clean_temp_files()
+ self.shift_image()
+ self.copy_file()
+ self.run_depth_estimation()
+ #self.run_depth_to_disparity()
+ self.run_material_recognition()
+ self.run_edge_net()
+ self.run_post_processing()
+ self.progress.emit("Pipeline completed!")
class SimpleTab(QWidget):
def __init__(self, config_reader):
--
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