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#TO DO: 
#(1) compute depth map from disparity map using the formula: depth = (focalLength * baseline)/disparity
#(2) use the depth map to show only object within 10m/20m/50m (Tip: apply depth threshold for each pixel)
disparity = precomputed_dipsmap

depth = (baseline * focalLength) / (disparity + 0.0000001)

depth_50m_mask = np.where(depth < 50, 255, 0).astype(np.uint8)
depth_20m_mask = np.where(depth < 20, 255, 0).astype(np.uint8)
depth_10m_mask = np.where(depth < 10, 255, 0).astype(np.uint8)

depth_50m_img = left_img * (depth_50m_mask[...] / 255)
depth_20m_img = left_img * (depth_20m_mask[...] / 255)
depth_10m_img = left_img * (depth_10m_mask[...] / 255)

# #display results
print("original_image")
cv2_imshow(left_img)
print("depth_50m")
cv2_imshow(depth_50m_img)
print("depth_20m")
cv2_imshow(depth_20m_img)
print("depth_10m")
cv2_imshow(depth_10m_img)