First draft - added real2abs code and script to take arguments

scripts/Depth2Disparity/abs2disparity.py

-# takes absolute depth map and converts to disparity map
-# uses disparity and depth relationship
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scripts/Depth2Disparity/depth2disparity.py

+# takes 2 pixel coordinates and corresponding distance values - and a relative depth map
+# caculates relative to absolute function - if linear
+# applies function to relative depth map to get absolute depth map
+# then convert to disparity map using depth disparity formula
+
+
+import argparse
+import cv2
+
+def relative2abs(rel_depth_map, coord1, dist1, coord2, dist2):
+    # 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]]
+
+    # Calculate the linear transformation: depth = a * rel_depth + b
+    a = (dist2 - dist1) / (rel_value2 - rel_value1)
+    b = dist1 - a * rel_value1
+
+    # Apply the transformation to the entire relative depth map
+    abs_depth_map = a * rel_depth_map + b
+    
+    # this should not be normalised, the values in the array should equate to literal distances
+    return abs_depth_map
+
+def depth2disparity(_abs_depth_map):
+    # Calculate disparity map from depth map
+    
+    # random values
+    baseline = 0.54  # Baseline distance in meters
+    focal_length = 0.05  # Focal length in meters
+    
+    # Calculate disparity map
+    disparity_map = baseline * focal_length / _abs_depth_map
+    
+    # normalise disparity map between 0 and 255
+    disparity_map = (disparity_map - disparity_map.min()) / (disparity_map.max() - disparity_map.min()) * 255    
+    
+    return disparity_map
+
+
+if __name__ == "__main__":
+    # Set up argument parser
+    parser = argparse.ArgumentParser(description="Convert relative depth map to absolute depth map.")
+    parser.add_argument("rel_depth_map", type=str, help="Path to the relative depth map (image file).")
+    parser.add_argument("coord1", type=int, nargs=2, help="Pixel coordinates of the first point (x y).")
+    parser.add_argument("dist1", type=float, help="Absolute depth value at the first point.")
+    parser.add_argument("coord2", type=int, nargs=2, help="Pixel coordinates of the second point (x y).")
+    parser.add_argument("dist2", type=float, help="Absolute depth value at the second point.")
+
+    # Parse arguments
+    args = parser.parse_args()
+
+    # Load the relative depth map (dummy placeholder for now)
+    print(f"Loading relative depth map from: {args.rel_depth_map}")
+    rel_depth_map = cv2.imread(args.rel_depth_map, cv2.IMREAD_GRAYSCALE)  # Load as grayscale
+    if rel_depth_map is None:
+        raise FileNotFoundError(f"Unable to load file: {args.rel_depth_map}")
+    
+    # Normalise depth map
+    rel_depth_map = rel_depth_map / 255.0
+
+    # Convert relative to absolute depth
+    abs_depth_map = relative2abs(
+        rel_depth_map, tuple(args.coord1), args.dist1, tuple(args.coord2), args.dist2
+    )
+    
+    # Convert depth map to disparity map
+    disparity_map = depth2disparity(abs_depth_map)
+    
+    # save disparity map
+    #cv2.imwrite(f"{args.rel_depth_map}-disparity.png", disparity_map)
+    
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scripts/Depth2Disparity/relative2abs.py

-# takes 2 pixel coordinates and corresponding distance values - and a relative depth map
-# caculates relative to absolute function - if linear
-# applies function to relative depth map to get absolute depth map
-# then convert to disparity map
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