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 +1,73 @@
+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
+from scipy.ndimage import gaussian_filter
+
+
+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
+        )       
+         
+        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 = np.sqrt(vnormal[:, :, 0]**2 + vnormal[:, :, 1]**2)
+        mag_img = cv2.applyColorMap(
+            (mag/20 * 255.0).astype('uint8'),
+            cv2.COLORMAP_JET
+        )
+        cv2.imshow("magnitude map", mag_img)
+
+        print(np.median(mag), np.min(mag), np.max(mag))
+
+        # =====================================================================
+        # 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()