diff --git a/scripts/Depth2Disparity/depth_to_disparity.py b/scripts/Depth2Disparity/depth_to_disparity.py
index f2ca50be08c25357901ac5b115a627696a966148..a0e3abef1f3339b7700595452986e0b1ba0e9694 100644
--- a/scripts/Depth2Disparity/depth_to_disparity.py
+++ b/scripts/Depth2Disparity/depth_to_disparity.py
@@ -8,6 +8,12 @@ import argparse
import numpy as np
import cv2
import os
+import matplotlib.pyplot as plt
+import matplotlib
+matplotlib.use("TkAgg") # Use TkAgg for GUI rendering
+import warnings
+warnings.filterwarnings( "ignore", module = "matplotlib\..*" )
+
class Depth2Disparity:
@@ -34,33 +40,40 @@ class Depth2Disparity:
if rel_depth_map is None:
raise FileNotFoundError(f"Unable to load file: {rel_depth_path}")
- # Normalize depth map
- print("Normalizing depth map...")
- rel_depth_map = rel_depth_map / 255.0
-
# Convert relative to absolute depth
print("Converting relative to absolute ...")
abs_depth_map = self._relative2abs(rel_depth_map, coord1, dist1, coord2, dist2)
- # Convert depth map to disparity map
- print("Converting abs depth to disparity ...")
- disparity_map = self._depth2disparity(abs_depth_map)
+ # Normalize depth map for saving
+ abs_depth_map_normalized = (abs_depth_map - abs_depth_map.min()) / (abs_depth_map.max() - abs_depth_map.min())
+ abs_depth_map_normalized *= 255
+ abs_depth_map_normalized = abs_depth_map_normalized.astype(np.uint8)
- # Determine the output path for the disparity map
- disparity_dir = os.path.dirname(rel_depth_path)
- disparity_base = "depth_e.png"
- disparity_path = os.path.join(disparity_dir, disparity_base)
+ # store absolute dpet map for debugging
+ abs_depth_path = os.path.join(os.path.dirname(rel_depth_path), "abs_depth.png")
+ cv2.imwrite(abs_depth_path, abs_depth_map_normalized)
+ print(f"Absolute depth map saved to: {abs_depth_path}\n")
- # Check if an existing disparity map needs to be renamed
- print(f"Checking for old depth map: {disparity_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}")
- os.rename(disparity_path, old_depth_path)
-
- # Save the new disparity map
- print(f"Saving new disparity map to: {disparity_path}")
- cv2.imwrite(disparity_path, (disparity_map * 255).astype(np.uint8))
+ # Convert depth map to disparity map
+ #print("Converting abs depth to disparity ...")
+ #disparity_map = self._depth2disparity(abs_depth_map)
+
+ ## Determine the output path for the disparity map
+ #disparity_dir = os.path.dirname(rel_depth_path)
+ #disparity_base = "disp_map.png"#"depth_e.png"
+ #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)
+ ## Save the new disparity map
+ ##print(f"Saving new disparity map to: {disparity_path}")
+ ##cv2.imwrite(disparity_path, (disparity_map).astype(np.uint8))
# Debug message for GUI or logs
print("Complete")
@@ -68,19 +81,43 @@ class Depth2Disparity:
# add typing to this method defintion
def _relative2abs(self, rel_depth_map, coord1: tuple, dist1: float, coord2: tuple, dist2: float):
- print("\tStoring relative depth value at coordinates")
+ # Normalize depth map
+ print("Normalizing depth map...")
+ #rel_depth_map = rel_depth_map.astype(np.float32) / 255.0
+
+ plt.imshow(rel_depth_map, cmap='gray')
+ plt.colorbar()
+ plt.show()
+
+ #print("\tStoring relative depth value at coordinates")
# Get the relative depth values at the two points
- rel_value1 = rel_depth_map[coord1[1], coord1[0]] # (y, x)
- rel_value2 = rel_depth_map[coord2[1], coord2[0]]
+ rel_value1 = float(rel_depth_map[coord1[1], coord1[0]]) # (y, x)
+ rel_value2 = float(rel_depth_map[coord2[1], coord2[0]])
+ print(f"rel1: {rel_value1}, rel2: {rel_value2}, dist1: {dist1}, dist2: {dist2}")
+
+ #if rel_value1 > rel_value2:
+ # coord1, coord2 = coord2, coord1
+ # dist1, dist2 = dist2, dist1
- print("\tPerforming linear transformation")
+
+ #print("\tPerforming linear transformation")
# Calculate the linear transformation: depth = a * rel_depth + b
- a = (dist2 - dist1) / (rel_value2 - rel_value1)
+ numerator = dist2 - dist1
+ denominator = rel_value2 - rel_value1
+ a = numerator / denominator
+ print("Calculated a: ", a)
b = dist1 - a * rel_value1
-
- print("\tApplying transformation to entire depth map")
+ print("Calculated b: ", b)
+
+ #print("\tApplying transformation to entire depth map")
# Apply the transformation to the entire relative depth map
abs_depth_map = a * rel_depth_map + b
+ print("Applied transformation to entire depth map")
+
+ plt.imshow(abs_depth_map, cmap='gray')
+ plt.colorbar()
+ plt.show()
+
# this should not be normalised, the values in the array should equate to literal distances
return abs_depth_map
@@ -131,6 +168,10 @@ class Depth2Disparity:
except ZeroDivisionError:
disparity_map[i, j] = 0
+ plt.imshow(disparity_map, cmap='gray')
+ plt.colorbar()
+ plt.show()
+
return disparity_map
diff --git a/scripts/debug_tool/utils/image_handlers.py b/scripts/debug_tool/utils/image_handlers.py
index e1cdcdd8a8d34721cff7464c7f4c975c00869a9f..7ecd65c534ce861284f9c07e77e13265b9579f02 100644
--- a/scripts/debug_tool/utils/image_handlers.py
+++ b/scripts/debug_tool/utils/image_handlers.py
@@ -49,7 +49,7 @@ def load_and_resize_image(image_path, max_size=800):
new_size = (int(width * ratio), int(height * ratio))
img = cv2.resize(img, new_size, interpolation=cv2.INTER_AREA)
- return img
+ return img, ratio
except Exception as e:
raise Exception(f"Error loading image: {str(e)}")
@@ -65,7 +65,7 @@ def update_preview(preview_label, image_path, max_size=300, error_callback=None)
"""
if image_path and os.path.exists(image_path):
try:
- img = load_and_resize_image(image_path, max_size)
+ img, ratio = load_and_resize_image(image_path, max_size)
pixmap = convert_cv_to_pixmap(img)
preview_label.setPixmap(pixmap)
except Exception as e:
diff --git a/scripts/simple_tab.py b/scripts/simple_tab.py
index ff0c9123eb027ec0dbe0a7454e8c356e8652c846..ab01fa76197df07c7f668cb11ab21dfd54b9477b 100644
--- a/scripts/simple_tab.py
+++ b/scripts/simple_tab.py
@@ -28,7 +28,8 @@ class PipelineWorker(QThread):
super().__init__()
self.tab = tab_instance
self.distance_points = self.tab.distance_points # added distance points to class for disparity calculation
-
+ self.ratio = self.tab.ratio # image scale ratio for reversal
+
def run(self):
try:
self.run_pipeline()
@@ -96,17 +97,17 @@ class PipelineWorker(QThread):
# execute function to convert depth to disparity
real_depth_path = self.tab.depth.depth_output_path # depthmap path
- coord1 = int(self.distance_points[0][0]), int(self.distance_points[0][1]) # x,y coordinates of point 1
+ coord1 = int(self.distance_points[0][0] / self.ratio), int(self.distance_points[0][1] / self.ratio) # x,y coordinates of point 1
dist1 = float(self.distance_points[0][2]) # distance from camera to point 1
- coord2 = int(self.distance_points[1][0]), int(self.distance_points[1][1]) # x,y coordinates of point 2
+ coord2 = int(self.distance_points[1][0] / self.ratio), int(self.distance_points[1][1] / self.ratio) # x,y coordinates of point 2
dist2 = float(self.distance_points[1][2]) # distance from camera to point 2
- print(f"{coord1}, {dist1}, {coord2}, {dist2}")
+ print(f"{coord1}, {dist1}, {coord2}, {dist2}. Ratio: {self.ratio}")
convert_d2d = Depth2Disparity()
print("Executing...")
convert_d2d.execute(real_depth_path, coord1, dist1, coord2, dist2)
- print("Saved disparity map to output directory: " + real_depth_path)
+ #print("Saved disparity map to output directory: " + real_depth_path)
self.progress.emit("Completed Disparity Map Conversion")
@@ -573,7 +574,7 @@ class SimpleTab(QWidget):
update_preview(self.input_preview, file_path,
error_callback=self.update_status)
update_preview(self.distance_preview,file_path,max_size=1500)
- pixmap = load_and_resize_image(file_path, 1500)
+ pixmap, self.ratio = load_and_resize_image(file_path, 1500)
pixmap = convert_cv_to_pixmap(pixmap)
self.distance_preview.setFixedSize(pixmap.size())
self.image_distance_group.show()