convert_depth_and_visualize.py

FOV = 90.0
plane_depth = DepthConversion(depth, FOV)
plt.imshow(applyColorMap(plane_depth))

H, W = depth.shape
x = np.arange(W) 
y = H / 2
plt.plot(x, depth[y,x],label='distance from camera center')
plt.plot(x, plane_depth[y,x],label='distance from camera plane')
plt.legend()
plt.title(f'depth(y={y})')
plt.show()

depth_conversion.py

# Refs: https://github.com/unrealcv/unrealcv/issues/14
import numpy as np

def DepthConversion(PointDepth, FOV):
    H = PointDepth.shape[0]
    W = PointDepth.shape[1]
    f = W / 2 / np.tan(np.radians(FOV / 2))
    i_c = np.float(H) / 2 - 1
    j_c = np.float(W) / 2 - 1
    columns, rows = np.meshgrid(np.linspace(0, W-1, num=W), np.linspace(0, H-1, num=H))
    DistanceFromCenter = ((rows - i_c)**2 + (columns - j_c)**2)**(0.5)
    PlaneDepth = PointDepth / (1 + (DistanceFromCenter / f)**2)**(0.5)
    return PlaneDepth

unrealcv-get-and-show-depth.py

%matplotlib inline

import matplotlib.pyplot as plt
import numpy as np
import cv2
from unrealcv import client
from io import BytesIO

def applyColorMap(npy, alpha=50):
    return cv2.applyColorMap(cv2.convertScaleAbs(npy, alpha=alpha), cv2.COLORMAP_TURBO)

client.connect()
res = client.request('vget /camera/0/depth npy')
depth = np.load(BytesIO(res))
plt.imshow(applyColorMap(depth))
client.disconnect()