updated depth examples to not fail on empty depth detections

Author: JanLipovsek

examples/SpatialDetection/spatial_calculator_multi_roi.py

@@ -67,7 +67,10 @@
         depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
 
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

examples/SpatialDetection/spatial_location_calculator.py

@@ -75,7 +75,10 @@
         depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
 
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

examples/SpatialDetection/spatial_mobilenet.py

@@ -115,7 +115,10 @@
         depthFrame = depth.getFrame() # depthFrame values are in millimeters
 
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

examples/SpatialDetection/spatial_mobilenet_mono.py

@@ -118,7 +118,10 @@
         depthFrame = inDepth.getFrame() # depthFrame values are in millimeters
 
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

examples/SpatialDetection/spatial_tiny_yolo.py

@@ -148,7 +148,10 @@
         depthFrame = depth.getFrame() # depthFrame values are in millimeters
 
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

examples/StereoDepth/depth_crop_control.py

@@ -64,7 +64,10 @@
 
         # Frame is transformed, the color map will be applied to highlight the depth info
         depth_downscaled = depthFrame[::4]
-        min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
+        if np.all(depth_downscaled == 0):
+            min_depth = 0  # Set a default minimum depth value when all elements are zero
+        else:
+            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
         max_depth = np.percentile(depth_downscaled, 99)
         depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
         depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)