developing depth estimation

2025-12-28 18:20:30 +08:00
parent 017561578d
commit 6ec9eaa334
7 changed files with 782 additions and 55 deletions
@@ -0,0 +1,95 @@
+import os
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"  # Windows 下禁用硬件加速，避免兼容性问题
+
+import cv2
+import orisys
+import numpy as np
+
+
+
+def main():
+   
+    
+    # 方式1: 从视频文件读取
+    # sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True)
+    
+    # 方式2: 从摄像头读取（取消注释使用）
+    sensor = orisys.Sensor(0, isstitch=True, cuda=True, verbose=True)
+
+    print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
+
+    while True:
+        # 步骤 2.1: 获取并拼接图像
+        sensor.get_img()
+        
+        # 步骤 2.2: 计算形变场
+        sensor.compute_deformation()
+        
+        fps, flow,vnormal, depth = sensor.read_info(
+            sensor.info.FPS,
+            sensor.info.VRAW,
+            sensor.info.VNORMAL,
+            sensor.info.DEPTH
+        )
+
+        # depth = get_depth_improved(vnormal, fps)
+        
+        # print(f"FPS: {fps:5.1f}, 深度: {np.min(depth):8.2f}, {np.mean(depth):8.2f}, {np.max(depth):8.2f}")
+
+        
+        
+     
+        arrows = orisys.util.draw_arrows(
+            sensor.img.copy(),  # 使用 copy() 避免修改原图
+            vnormal,
+            threshold=5,
+            grid_spacing=10,
+            arrow_scale=1.0
+        )
+        cv2.imshow("形变场 Deformation", arrows)
+
+
+        mag_img = orisys.util.draw_magnitude_map(
+            sensor.img.copy(),
+            vnormal,
+            threshold=5,
+            colormap=cv2.COLORMAP_HOT,
+            downsample_factor = 1
+        )
+        cv2.imshow("magnitude map", mag_img)
+
+        # 计算扩张焦点
+        # foe_result = orisys.util.compute_foe(vnormal,min_magnitude=1,expansion_threshold=0.01,downsample_factor=1)
+        foe_result = sensor.get_foe(multiple_foe=False, min_magnitude=1, expansion_threshold=0.01, downsample_factor=1)
+        # 在图像上绘制焦点和区域
+        image_with_foe = orisys.util.draw_foe(sensor.img.copy(), foe_result)
+        cv2.imshow("Focus of Expansion", image_with_foe)
+        
+        # 计算多个扩张焦点
+        # foe_result = orisys.util.compute_multiple_foe(vnormal, min_contour_area=3000,min_magnitude=1,expansion_threshold=0.001,downsample_factor=10)
+
+        # # 在图像上绘制多个焦点和区域
+        # image_with_foe = orisys.util.draw_multiple_foe(sensor.img.copy(), foe_result)
+        # cv2.imshow("Multiple FOE", image_with_foe)
+
+        # =====================================================================
+        # 4. 键盘控制
+        # =====================================================================
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            print("\n退出程序...")
+            break
+        if key == ord("r"):
+            # 重置光流追踪器（当追踪漂移时使用）
+            sensor.reset()
+            print("光流追踪器已重置")
+    
+    # =========================================================================
+    # 5. 清理资源
+    # =========================================================================
+    sensor.disconnect()  # 释放视频源和相关资源
+    cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    main()