Update app.py

app.py

@@ -149,17 +149,20 @@ def make_video(video_path, outdir='./vis_video_depth', encoder='vits'):
             depth = depth.cpu().numpy().astype(np.uint8)
             depth_color = cv2.applyColorMap(depth, cv2.COLORMAP_BONE)
             depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGBA2GRAY)
-            depth_color = cv2.cvtColor(depth_gray, cv2.COLOR_GRAY2BGR)
 
             # Remove white border around map:
             # define lower and upper limits of white
-            white_lo = np.array([250,250,250])
-            white_hi = np.array([255,255,255])
+            #white_lo = np.array([250,250,250])
+            #white_hi = np.array([255,255,255])
             # mask image to only select white
-            mask = cv2.inRange(depth_color, white_lo, white_hi)
+            mask = cv2.inRange(depth_gray, 250, 255)
             # change image to black where we found white
-            depth_color[mask>0] = (0,0,0)
-            
+            depth_gray[mask>0] = 0
+
+            mask = cv2.inRange(depth_gray[int(depth_gray.shape[0]/8*6.5):depth_gray.shape[0]-1, 0:depth_gray.shape[1]], 160, 255)
+            depth_gray[int(depth_gray.shape[0]/8*6.5):depth_gray.shape[0]-1, 0:depth_gray.shape[1]][mask>0] = 160
+
+            depth_color = cv2.cvtColor(depth_gray, cv2.COLOR_GRAY2BGR)
             # split_region = np.ones((frame_height, margin_width, 3), dtype=np.uint8) * 255
             # combined_frame = cv2.hconcat([raw_frame, split_region, depth_color])
             
@@ -225,12 +228,6 @@ def pano_depth_to_world_points(depth):
     latitude : -pi/2 to pi/2
     """
 
-    depth[depth.shape[0]-1:depth.shape[0], 0:depth.shape[1]] = 255
-    mask = cv2.inRange(depth, 192, 255)
-    depth[mask>0] = 255
-    mask = cv2.inRange(depth[int(depth.shape[0]/8*6.5):depth.shape[0]-1, 0:depth.shape[1]], 160, 254)
-    depth[int(depth.shape[0]/8*6.5):depth.shape[0]-1, 0:depth.shape[1]][mask>0] = 160
-
     # Convert depth to radius
     radius = (255 - depth.flatten())