update box for robust stitch

promote_video.py

@@ -147,21 +147,23 @@ def main():
 
     parser = argparse.ArgumentParser()
     parser.add_argument("--video","-v", type=str, default="s1.mp4", help="视频文件路径")
-    parser.add_argument("--fps", type=float, default=30)
+    parser.add_argument("--fps", type=float, default=15)
     args = parser.parse_args()
     fps_video = args.fps
     arrow_writer = cv2.VideoWriter(args.video.replace(".mp4", "_arrows.mp4"), cv2.VideoWriter_fourcc(*'mp4v'), fps_video, (384, 384))
     pyqt_writer = cv2.VideoWriter(args.video.replace(".mp4", "_pyqt.mp4"), cv2.VideoWriter_fourcc(*'mp4v'), fps_video, (1600, 1200))
     depth_writer = cv2.VideoWriter(args.video.replace(".mp4", "_depth.mp4"), cv2.VideoWriter_fourcc(*'mp4v'),fps_video, (384, 384))
 
-    sensor1 = orisys.Sensor(args.video, config_name="./config/prototype_of3.json", cal_path= "./config/dd01a_98.npy", isstitch=True, cuda=False, verbose=True)
+    sensor1 = orisys.Sensor(args.video, config_name="./config/prototype_of3.json", cal_path= args.video.replace(".mp4", ".npy"), isstitch=True, cuda=True, verbose=True)
 
     start_time = time.time()
     is_save = False
     frame_count = 0
     writer = None
     while True:
-        sensor1.get_img() # 提取并拼接复眼图像        
+        img = sensor1.get_img() # 提取并拼接复眼图像      
+        if img is None:
+            break;  
 
         sensor1.compute_deformation() # 计算形变和分解
         sensor1.compute_contact()
@@ -177,7 +179,7 @@ def main():
         # 显示向量场
         # Background color #24292E (BGR)
         black_img = np.full_like(sensor1.img, bg_color)
-        arrows  = orisys.util.draw_arrows(black_img, flow, threshold=1, grid_spacing=20, arrow_scale=0.5, colormap=cv2.COLORMAP_PARULA, below_threshold_color=text_color) 
+        arrows  = orisys.util.draw_arrows(img, flow, threshold=1, grid_spacing=20, arrow_scale=0.5, colormap=cv2.COLORMAP_PARULA, below_threshold_color=text_color) 
         cv2.imshow("Deformation", arrows)
 
         # 显示深度图