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[Fix] image size before feeding into model #133

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[Fix] image size before feeding into model #133

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9 changes: 4 additions & 5 deletions metric_depth/depth_to_pointcloud.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ def main():
help='Path to the pre-trained model weights.')
parser.add_argument('--max-depth', default=20, type=float,
help='Maximum depth value for the depth map.')
parser.add_argument('--input-size', type=int, default=518,
help='Input image size for model, which different from the raw image resolution.')
parser.add_argument('--img-path', type=str, required=True,
help='Path to the input image or directory containing images.')
parser.add_argument('--outdir', type=str, default='./vis_pointcloud',
Expand Down Expand Up @@ -90,16 +92,13 @@ def main():

# Read the image using OpenCV
image = cv2.imread(filename)
pred = depth_anything.infer_image(image, height)

# Resize depth prediction to match the original image size
resized_pred = Image.fromarray(pred).resize((width, height), Image.NEAREST)
pred = depth_anything.infer_image(image, args.input_size)

# Generate mesh grid and calculate point cloud coordinates
x, y = np.meshgrid(np.arange(width), np.arange(height))
x = (x - width / 2) / args.focal_length_x
y = (y - height / 2) / args.focal_length_y
z = np.array(resized_pred)
z = pred
points = np.stack((np.multiply(x, z), np.multiply(y, z), z), axis=-1).reshape(-1, 3)
colors = np.array(color_image).reshape(-1, 3) / 255.0

Expand Down