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Signed-off-by: bluepulsar <cheungken3@yahoo.com.hk>

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bluepulsar
2025-12-28 19:10:38 +08:00
parent 4192683271
commit 79c55b7529
4 changed files with 8 additions and 21 deletions
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src/orisys/get_depth.py
+6 -19
View File
@@ -1,8 +1,7 @@
import numpy as np
import cv2
from scipy.ndimage import gaussian_filter
def compute_foe(flow_field, min_magnitude=1.0, expansion_threshold=1, downsample_factor=10, return_all_contours=False, kernel_size=(5,5), denoise_sigma=10):
def compute_foe(flow_field, min_magnitude=1.0, expansion_threshold=1, downsample_factor=1, return_all_contours=False, kernel_size=(5,5), denoise_sigma=10):
"""
计算光流场的扩张焦点(Focus of Expansion)。
@@ -25,34 +24,22 @@ def compute_foe(flow_field, min_magnitude=1.0, expansion_threshold=1, downsample
flow_ds = flow_field[::downsample_factor, ::downsample_factor, :]
u_ds, v_ds = flow_ds[:, :, 0], flow_ds[:, :, 1]
# 降噪：在计算散度之前对光流场进行平滑
if denoise_sigma > 0:
u_ds = cv2.GaussianBlur(u_ds, (0, 0), denoise_sigma)
v_ds = cv2.GaussianBlur(v_ds, (0, 0), denoise_sigma)
magnitude_ds = np.sqrt(u_ds**2 + v_ds**2)
magnitude_ds = cv2.GaussianBlur(magnitude_ds, (0, 0), denoise_sigma)
divergence_ds = np.gradient(u_ds, axis=1) + np.gradient(v_ds, axis=0)
# 降噪：在计算散度之后对散度图进行平滑
if denoise_sigma > 0:
divergence_ds = cv2.GaussianBlur(divergence_ds, (0, 0), denoise_sigma)
divergence_ds = cv2.GaussianBlur(divergence_ds, (0, 0), denoise_sigma)
magnitude = cv2.resize(magnitude_ds, (W, H), interpolation=cv2.INTER_CUBIC)
divergence = cv2.resize(divergence_ds, (W, H), interpolation=cv2.INTER_CUBIC)
else:
u, v = flow_field[:, :, 0], flow_field[:, :, 1]
# 降噪：在计算散度之前对光流场进行平滑
if denoise_sigma > 0:
u = cv2.GaussianBlur(u, (0, 0), denoise_sigma)
v = cv2.GaussianBlur(v, (0, 0), denoise_sigma)
magnitude = np.sqrt(u**2 + v**2)
magnitude = cv2.GaussianBlur(magnitude, (0, 0), denoise_sigma)
divergence = np.gradient(u, axis=1) + np.gradient(v, axis=0)
# 降噪：在计算散度之后对散度图进行平滑
if denoise_sigma > 0:
divergence = cv2.GaussianBlur(divergence, (0, 0), denoise_sigma)
divergence = cv2.GaussianBlur(divergence, (0, 0), denoise_sigma)
# 创建掩码
valid_mask = magnitude > min_magnitude
@@ -88,7 +75,7 @@ def compute_foe(flow_field, min_magnitude=1.0, expansion_threshold=1, downsample
return result
def compute_multiple_foe(flow_field, min_magnitude=1.0, expansion_threshold=0.001,
downsample_factor=10, min_contour_area=3000, denoise_sigma=10, kernel_size=(5,5)):
downsample_factor=1, min_contour_area=3000, denoise_sigma=15, kernel_size=(5,5)):
"""
计算光流场的多个扩张焦点(Foci of Expansion)。
src/orisys/sensor.py
+1 -1
View File
@@ -241,7 +241,7 @@ class Sensor:
return self.flow
def get_foe(self, multiple_foe=False, min_contour_area=3000, min_magnitude=1.0, expansion_threshold=1, downsample_factor=10, kernel_size=(5,5), denoise_sigma=1.5):
def get_foe(self, multiple_foe=False, min_contour_area=3000, min_magnitude=1.0, expansion_threshold=0.01, downsample_factor=1, kernel_size=(5,5), denoise_sigma=15):
if multiple_foe:
return compute_multiple_foe(self.vnormal, min_contour_area=min_contour_area, min_magnitude=min_magnitude, expansion_threshold=expansion_threshold, downsample_factor=downsample_factor, kernel_size=kernel_size, denoise_sigma=denoise_sigma)