Update app.py

app.py

@@ -43,11 +43,15 @@ def stitch_rgbd_videos(
         for i in range(min(len(full_frames), len(depths))):
             rgb_full = full_frames[i]  # Full-resolution RGB frame.
             depth_frame = depths[i]
+
+            if d_max == d_min:
+                d_max = d_min + 1
             
             # Normalize the depth frame to the range [0, 255].
             depth_norm = ((depth_frame - d_min) / (d_max - d_min) * 255).astype(np.uint8)
-            #depth_norm = cv2.normalize(depth_frame, None, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX)
-            #depth_norm = depth_norm.astype(np.uint8)
+
+            if depth_norm > 255:
+                depth_norm = 255
             
             # Generate depth visualization:
             if grayscale:
@@ -57,10 +61,7 @@ def stitch_rgbd_videos(
                     cmap = matplotlib.colormaps.get_cmap("inferno")
                     depth_color = (cmap(depth_norm / 255.0)[..., :3] * 255).astype(np.uint8)
                     
-                    if len(depth_color.shape) == 3 and depth_color.shape[2] in [3, 4]:
-                        depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
-                    else:
-                        depth_gray = depth_color                    
+                    depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
                     depth_vis = np.stack([depth_gray] * 3, axis=-1)
 
                     #depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
@@ -87,9 +88,9 @@ def stitch_rgbd_videos(
             # Resize the depth visualization to match the full-resolution RGB frame.
             H_full, W_full = rgb_full.shape[:2]
             depth_vis_resized = cv2.resize(depth_vis, (W_full, H_full))
+            depth_vis_resized = depth_vis_resized.astype(np.uint8)  # Ensure uint8
             
-            # Ensure both are 3-channel images:
-            if len(rgb_full.shape) == 3 and len(depth_vis_resized.shape) == 2:
+            if len(depth_vis_resized.shape) == 2:
                 depth_vis_resized = cv2.cvtColor(depth_vis_resized, cv2.COLOR_GRAY2BGR)
             
             # Ensure both are the same type (commonly uint8):