add depth map

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)