Added faded arrow visualization

demo.py

@@ -1,9 +1,130 @@
 import os
 os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
 import cv2
+import numpy as np
 from orisys import Sensor
 
+def draw_arrows_fade(img, flow, grid_spacing=10, arrow_scale=1.0, threshold=5.0):
+    """
+    Draw optical flow arrows on image with transparency based on magnitude.
     
+    Args:
+        img: Input image (BGR or grayscale)
+        flow: Optical flow field with shape (flow_height, flow_width, 2)
+        grid_spacing: Spacing between arrows in pixels (default: 20)
+        arrow_scale: Scale factor for arrow length (default: 1.0)
+        threshold: Minimum flow magnitude to display arrow (default: 0.0)
+    
+    Returns:
+        Image with arrows drawn, blended with original image
+    """
+    # Make a copy of the image
+    img_copy = img.copy()
+    
+    # Convert grayscale to BGR if needed
+    if len(img_copy.shape) == 2 or img_copy.shape[2] == 1:
+        img_copy = cv2.cvtColor(img_copy, cv2.COLOR_GRAY2BGR)
+    
+    # Get image and flow dimensions
+    img_height, img_width = img_copy.shape[:2]
+    flow_height, flow_width = flow.shape[:2]
+    
+    # Calculate scaling factors between image and flow dimensions
+    scale_x = img_width / flow_width
+    scale_y = img_height / flow_height
+    
+    # Create grid positions in flow coordinates
+    grid_y, grid_x = np.mgrid[grid_spacing//2:flow_height:grid_spacing, 
+                                grid_spacing//2:flow_width:grid_spacing]
+    
+    # Flatten grid positions
+    grid_y_flat = grid_y.flatten()
+    grid_x_flat = grid_x.flatten()
+    
+    # Get flow vectors at grid positions
+    flow_vectors = flow[grid_y_flat, grid_x_flat, :]  # Shape: (n_points, 2)
+    
+    # Calculate flow magnitudes
+    magnitudes = np.linalg.norm(flow_vectors, axis=1)
+    
+    # Filter arrows by threshold: only show arrows above threshold
+    valid_mask = magnitudes >= threshold
+    
+    # Normalize magnitudes to 0-1 range for alpha blending
+    # Zero magnitude = transparent, higher magnitude = more opaque white
+    max_magnitude = magnitudes.max() if magnitudes.max() > 0 else 1.0
+    alpha_values = magnitudes / max_magnitude
+    
+    # Scale grid positions to image coordinates
+    img_grid_x = (grid_x_flat * scale_x).astype(np.int32)
+    img_grid_y = (grid_y_flat * scale_y).astype(np.int32)
+    
+    # Scale flow vectors to image coordinates
+    scaled_flow_x = flow_vectors[:, 0] * scale_x / arrow_scale
+    scaled_flow_y = flow_vectors[:, 1] * scale_y / arrow_scale
+    
+    # Calculate arrow endpoints
+    end_x = (img_grid_x + scaled_flow_x).astype(np.int32)
+    end_y = (img_grid_y + scaled_flow_y).astype(np.int32)
+    
+    # Create overlay image with white background for arrows
+    overlay = np.zeros_like(img_copy)
+    
+    # Create weight map for blending based on arrow presence and magnitude
+    weight_map = np.zeros((img_height, img_width), dtype=np.float32)
+    
+    # Draw arrows on overlay with white color and build weight map
+    for i in range(len(img_grid_x)):
+        # Skip if magnitude is below threshold
+        if not valid_mask[i]:
+            continue
+            
+        # Check bounds
+        if (0 <= img_grid_x[i] < img_width and 0 <= img_grid_y[i] < img_height and
+            0 <= end_x[i] < img_width and 0 <= end_y[i] < img_height):
+            
+            # Get alpha value (0 = transparent, 1 = opaque white)
+            alpha = alpha_values[i]
+            
+            # Skip if magnitude is zero (transparent)
+            if alpha <= 0:
+                continue
+            
+            # Calculate arrow thickness based on magnitude
+            thickness = max(1, int(1 + 2 * alpha))
+            
+            # White color for arrows
+            color = (255, 255, 255)
+            
+            # Draw arrow on overlay
+            cv2.arrowedLine(overlay, 
+                          (img_grid_x[i], img_grid_y[i]), 
+                          (end_x[i], end_y[i]), 
+                          color, 
+                          thickness=thickness, 
+                          tipLength=0.3)
+            
+            # Create a line mask for this arrow in the weight map
+            line_mask = np.zeros((img_height, img_width), dtype=np.float32)
+            cv2.line(line_mask,
+                    (img_grid_x[i], img_grid_y[i]),
+                    (end_x[i], end_y[i]),
+                    1.0,
+                    thickness=thickness)
+            # Add arrow tip approximation
+            cv2.circle(line_mask, (end_x[i], end_y[i]), thickness, 1.0, -1)
+            
+            # Weight by alpha (magnitude) - use maximum for overlapping arrows
+            weight_map = np.maximum(weight_map, line_mask * alpha)
+    
+    # Expand weight map to 3 channels
+    weight_map_3ch = np.stack([weight_map] * 3, axis=2)
+    
+    # Blend: result = original * (1 - weight) + overlay * weight
+    result = (img_copy.astype(np.float32) * (1 - weight_map_3ch) + 
+              overlay.astype(np.float32) * weight_map_3ch)
+    
+    return result.astype(np.uint8)
 
 def main():
     global start_time
@@ -20,7 +141,8 @@ def main():
         # 帧率，时间戳: FPS, TIMESTAMP
         # 变形量总和: FNORMAL , FSHEARX, FSHEARY : 法向，切向（X)，切向（Y)
         fps, fn, fx, fy, flow = sensor1.read_info(sensor1.info.FPS, sensor1.info.FNORMAL, sensor1.info.FSHEARX, sensor1.info.FSHEARY, sensor1.info.VRAW)
-
+        arrows = draw_arrows_fade(sensor1.img, flow)
+        cv2.imshow("Deformation", arrows)
 
         key = cv2.waitKey(1)
         if key & 0xFF == ord("q"):