From 799b0d4ed977768f767d9f992ab075c5908114d5 Mon Sep 17 00:00:00 2001 From: unknown Date: Sun, 21 Dec 2025 19:32:25 +0800 Subject: [PATCH] add depth map --- demo.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/demo.py b/demo.py index feb4f36..861b202 100644 --- a/demo.py +++ b/demo.py @@ -4,7 +4,7 @@ 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): +def draw_arrows_fade(img, flow, depth, depth_scale=0.5, grid_spacing=40, arrow_scale=1.0, threshold=5.0): """ Draw optical flow arrows on image with transparency based on magnitude. @@ -18,8 +18,10 @@ def draw_arrows_fade(img, flow, grid_spacing=10, arrow_scale=1.0, threshold=5.0) Returns: Image with arrows drawn, blended with original image """ + + depth_img = cv2.applyColorMap(((depth+1)*depth_scale* 255.0).astype('uint8'), cv2.COLORMAP_HOT) # Make a copy of the image - img_copy = img.copy() + img_copy = depth_img.copy() # Convert grayscale to BGR if needed if len(img_copy.shape) == 2 or img_copy.shape[2] == 1: @@ -140,8 +142,9 @@ def main(): # 向量场: VRAW, VNORMAL, VSHEAR: 原始，法向，切向 # 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) + fps, fn, fx, fy, flow, depth = sensor1.read_info(sensor1.info.FPS, sensor1.info.FNORMAL, sensor1.info.FSHEARX, sensor1.info.FSHEARY, sensor1.info.VRAW, sensor1.info.DEPTH) + arrows = draw_arrows_fade(sensor1.img, flow, depth) + print(fps,np.min(depth),np.mean(depth)) cv2.imshow("Deformation", arrows) key = cv2.waitKey(1)