From b3b028a86d59788b57221bb0af1ba5348fc0df71 Mon Sep 17 00:00:00 2001
From: tee1g21 <92794120+tee1g21@users.noreply.github.com>
Date: Thu, 12 Dec 2024 19:20:16 +0000
Subject: [PATCH] Refactor depth2disparity function for improved stability and
clarity
---
scripts/Depth2Disparity/depth2disparity.py | 21 ++++++++++++++-------
1 file changed, 14 insertions(+), 7 deletions(-)
diff --git a/scripts/Depth2Disparity/depth2disparity.py b/scripts/Depth2Disparity/depth2disparity.py
index 948b347..08c6bb2 100644
--- a/scripts/Depth2Disparity/depth2disparity.py
+++ b/scripts/Depth2Disparity/depth2disparity.py
@@ -24,7 +24,7 @@ def relative2abs(rel_depth_map, coord1, dist1, coord2, dist2):
return abs_depth_map
def depth2disparity(abs_depth_map, baseline=0.176, disp_scale=2.0, disp_offset=-120):
-
+
# Get image dimensions
height, width = abs_depth_map.shape
@@ -45,25 +45,32 @@ def depth2disparity(abs_depth_map, baseline=0.176, disp_scale=2.0, disp_offset=-
# Retrieve the absolute depth (r_t) for this pixel
r_t = abs_depth_map[i, j]
- # Avoid division by zero for invalid or infinite depth values
+ # Avoid invalid or infinite depth values
if r_t <= 0:
disparity_map[i, j] = 0
continue
- # Calculate angular disparity (d) using the spherical depth-to-disparity formula
try:
- angle_disp = np.arctan(
- baseline / (r_t * np.sin(theta_t) + r_t * np.cos(theta_t) * np.tan(theta_t))
- ) - theta_t
+ # Compute denominator with stability checks
+ epsilon = 1e-8 # Small value to prevent division instability
+ tan_theta_t = np.tan(theta_t) if np.abs(np.cos(theta_t)) > epsilon else np.sign(np.sin(theta_t)) * np.inf
+
+ denominator = r_t * np.sin(theta_t) + r_t * np.cos(theta_t) * tan_theta_t
+ if denominator <= 0:
+ disparity_map[i, j] = 0
+ continue
+
+ # Calculate angular disparity (d)
+ angle_disp = np.arctan(baseline / denominator) - theta_t
# Convert angular disparity to pixel disparity
disparity_map[i, j] = (angle_disp / (unit_h * np.pi) - disp_offset) * disp_scale
+
except ZeroDivisionError:
disparity_map[i, j] = 0
return disparity_map
-
if __name__ == "__main__":
# Set up argument parser
parser = argparse.ArgumentParser(description="Convert relative depth map to absolute depth map.")
--
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