Update app.py

app.py

@@ -264,79 +264,34 @@ def get_detection_data(image_data):
             cls_id, cls_name, center, mask, color_bgr, confidence = obj  
             x1, y1, x2, y2 = get_bbox_from_mask(mask)
             
-            #depth_value = depth_at_center(depthmap, [x1, y1, x2, y2])
-            
             # Debug: Log original center and vertices (1536x1024)
             print(f"Debug - Object {idx}: Original Center = {center}, Original Vertices = {get_box_vertices([x1, y1, x2, y2])}")
 
-            # Handle invalid or NaN depth values
-            #if depth_value is None or np.isnan(depth_value) or not isinstance(depth_value, (int, float)) or depth_value <= 0:
-                #print(f"Warning: Invalid depth value ({depth_value}) for Object {idx}. Using default depth of 1.0...")
-                #depth_value = 1.0  # Default to 1.0 if depth is invalid or NaN
-
             # Use get_masked_depth to get mean depth directly from depthmap and mask
             masked_depth_map, mean_depth = utils.get_masked_depth(depthmap, mask)
             print(f"Debug - Object {idx}: Masked depth min/max: {masked_depth_map.min()}, {masked_depth_map.max()}, Mean depth: {mean_depth}")
 
             # Handle invalid or NaN mean_depth
-            if (np.isnan(mean_depth) or not isinstance(mean_depth, (int, float)) or mean_depth <= 0):
+            if np.isnan(mean_depth) or not isinstance(mean_depth, (int, float)) or mean_depth <= 0:
                 print(f"Warning: Invalid mean depth ({mean_depth}) for Object {idx}. Using default depth of 1.0...")
                 mean_depth = 1.0  # Fallback to 1.0 meter
 
-            
-            # Scale from 1536x1024 to 1512x1008, ensuring values fit within bounds
-            scale_x = 1512 / 1536  # Width scaling factor
-            scale_y = 1008 / 1024  # Height scaling factor
-
-            # Scale and clamp center and vertices to 1512x1008
-            scaled_x = center[0] * scale_x
-            scaled_y = center[1] * scale_y
-            scaled_center = (
-                int(min(max(scaled_x, 0), 1511)),  # Clamp to [0, 1511]
-                int(min(max(scaled_y, 0), 1007))    # Clamp to [0, 1007]
-            )
-            scaled_vertices = [
-                [int(min(max(x * scale_x, 0), 1511)), int(min(max(y * scale_y, 0), 1007))]
-                for x, y in get_box_vertices([x1, y1, x2, y2])
-            ]
-            # Debug: Log scaled (before and after clamping) and clamped center and vertices
-            print(f"Debug - Object {idx}: Pre-Clamp Scaled Center = ({scaled_x}, {scaled_y}), Clamped Center = {scaled_center}, Clamped Vertices = {scaled_vertices}")
+            # Calculate real-world distance as done in draw_depth_info
+            real_distance = mean_depth * 10  # Scale by 10 to match draw_depth_info
+
             # Convert BGR to RGB
             color_rgb = (int(color_bgr[2]), int(color_bgr[1]), int(color_bgr[0]))
 
-            #detections.append({
-            #"class_id": cls_id,
-            #"class_name": cls_name,
-            #"bounding_box": {
-            #   "vertices": get_box_vertices([x1, y1, x2, y2])
-            #},
-            #"position_3d": get_3d_position(center, depth_value, get_camera_matrix(depth_estimator)),
-            #"distance": depth_value,
-            #"color": color_rgb,
-            #"confidence": float(confidence)
-
             detections.append({
                 "class_id": cls_id,
                 "class_name": cls_name,
                 "bounding_box": {
                     "vertices": get_box_vertices([x1, y1, x2, y2])
                 },
-                "center_2d": center,  # Add 2D center in screen space
-                "distance": float(mean_depth),  # Depth in meters
-                #"distance": depth_value,  # Depth in meters
+                "center_2d": center, 
+                "distance": float(real_distance),
                 "color": color_rgb,
                 "confidence": float(confidence)
-                
-            #detections.append({
-                #"class_id": cls_id,
-                #"class_name": cls_name,
-                #"bounding_box": {
-                #    "vertices": scaled_vertices
-                #},
-                #"center_2d": scaled_center,  # Use scaled center
-                #"distance": float(depth_value),  # Ensure depth is a float, not NaN
-                #"color": color_rgb,
-                #"confidence": float(confidence)
             
     })