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add depth map

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2025-12-21 19:32:25 +08:00
parent 09eb281c90
commit 799b0d4ed9
1 changed files with 7 additions and 4 deletions
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demo.py
+7 -4
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@@ -4,7 +4,7 @@ import cv2
import numpy as np import numpy as np
from orisys import Sensor 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. 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: Returns:
Image with arrows drawn, blended with original image 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 # Make a copy of the image
img_copy = img.copy() img_copy = depth_img.copy()
# Convert grayscale to BGR if needed # Convert grayscale to BGR if needed
if len(img_copy.shape) == 2 or img_copy.shape[2] == 1: 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 # 向量场: VRAW, VNORMAL, VSHEAR: 原始，法向，切向
# 帧率，时间戳: FPS, TIMESTAMP # 帧率，时间戳: FPS, TIMESTAMP
# 变形量总和: FNORMAL , FSHEARX, FSHEARY : 法向，切向（X)，切向（Y) # 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) 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) arrows = draw_arrows_fade(sensor1.img, flow, depth)
print(fps,np.min(depth),np.mean(depth))
cv2.imshow("Deformation", arrows) cv2.imshow("Deformation", arrows)
key = cv2.waitKey(1) key = cv2.waitKey(1)