Update app.py

app.py

@@ -264,15 +264,24 @@ 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])
+            #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
+            #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)
+            debugLog(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):
+                debugLog(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
@@ -313,7 +322,8 @@ def get_detection_data(image_data):
                     "vertices": get_box_vertices([x1, y1, x2, y2])
                 },
                 "center_2d": center,  # Add 2D center in screen space
-                "distance": depth_value,  # Depth in meters
+                "distance": float(mean_depth),  # Depth in meters
+                #"distance": depth_value,  # Depth in meters
                 "color": color_rgb,
                 "confidence": float(confidence)