Add application file

app.py

@@ -81,8 +81,6 @@ def plot_depth(nor_hist):
     modulate1 = np.arange(1, 181)
     modulate = (modulate1 * modulate1) / (180 * 180)
 
-    arr = output[:, :, :180] * modulate[np.newaxis, np.newaxis, :]
-
     tc_bin = np.sum(arr, axis=(0,1))
     max_id = np.argmax(tc_bin[:-2])
 
@@ -91,7 +89,8 @@ def plot_depth(nor_hist):
     pad_tail = np.ones(180 - len(pad_head) - len(expand_kernel))
     expand_filter = np.concatenate([pad_head, expand_kernel, pad_tail])
 
-    arr_expandfilter = arr * expand_filter[np.newaxis, np.newaxis, :] 
+    arr = output[:, :, :180] 
+    arr_expandfilter = arr * modulate[np.newaxis, np.newaxis, :]
 
     tof = np.argmax(arr, axis=2)
     tof_filter = np.argmax(arr_expandfilter, axis=2)
@@ -110,8 +109,8 @@ def plot_depth(nor_hist):
     colored_tof = cv2.applyColorMap(img_tof, cv2.COLORMAP_VIRIDIS)[:, :, ::-1]
     colored_tof_filter = cv2.applyColorMap(img_filter, cv2.COLORMAP_VIRIDIS)[:, :, ::-1]
 
-    # return [colored_tof, colored_tof_filter]
-    return [img_ref, img_ref_filter]
+    return [colored_tof, colored_tof_filter]
+    # return [img_ref, img_ref_filter]
 
 
 with gr.Blocks() as demo: