Update app.py

app.py

@@ -63,12 +63,15 @@ def stitch_rgbd_videos(
                     # then convert that color image to grayscale.
                     cmap = matplotlib.colormaps.get_cmap("inferno")
                     depth_color = (cmap(depth_norm / 255.0)[..., :3] * 255).astype(np.uint8)
+
+                    # Check if depth_color actually has 3 or 4 channels.
+                    if depth_color.ndim == 3 and depth_color.shape[2] in [3, 4]:
+                        depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
+                    else:
+                        # If it's not 3 or 4 channels, assume it's already grayscale.
+                        depth_gray = depth_color
                     
-                    depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
                     depth_vis = np.stack([depth_gray] * 3, axis=-1)
-
-                    #depth_gray = cv2.cvtColor(depth_color, cv2.COLOR_RGB2GRAY)
-                    #depth_vis = np.stack([depth_gray] * 3, axis=-1)
                 else:
                     # Directly generate a grayscale image from the normalized depth values.
                     depth_vis = np.stack([depth_norm] * 3, axis=-1)