split example visualizaiton pipeline
This commit is contained in:
ykcheungab
+63
-225
@@ -6,252 +6,90 @@
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2. 显示流场幅值热力图
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3. 使用 PyQtGraph 实时绘制法向力与切向力曲线
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4. 按键控制录像开始与结束
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SDK version: 0.3.1
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"""
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import argparse
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import os
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import sys
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import time
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from pathlib import Path
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os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
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import cv2
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import orisys
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import numpy as np
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import time
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import argparse
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try:
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import pyqtgraph as pg
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except:
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print("PyQtGraph is not installed. Please install it using 'pip install pyqt5 pyqtgraph'.")
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exit()
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def lp_filter(series, alpha=0.5):
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series = np.asarray(series)
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if series.ndim == 0:
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return float(series)
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if series.shape[0] < 2:
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return float(series[-1])
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return float(series[-1] * alpha + series[-2] * (1 - alpha))
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_EXAMPLES_DIR = Path(__file__).resolve().parent
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if str(_EXAMPLES_DIR) not in sys.path:
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sys.path.insert(0, str(_EXAMPLES_DIR))
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def median_filter(series, window_size=5):
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series = np.asarray(series)
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if series.ndim == 0:
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return float(series)
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if series.shape[0] == 0:
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return 0.0
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from viz import ForceChartWindow, FrameRecorder, draw_magnitude_map, lowpass_filter
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def open_sensor(video: str, config: str, cal: str, verbose: bool):
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try:
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window_n = max(1, int(window_size))
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except (TypeError, ValueError):
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window_n = 1
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return float(np.median(series[-window_n:]))
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def moving_average(series, window_size=5):
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series = np.asarray(series)
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if series.ndim == 0:
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return float(series)
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if series.shape[0] == 0:
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return 0.0
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try:
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window_n = max(1, int(window_size))
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except (TypeError, ValueError):
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window_n = 1
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return float(np.mean(series[-window_n:]))
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def create_plot():
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p1 = win.addPlot(title="法向力")
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p1.setLabel('bottom', '时间', units='s')
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win.nextRow()
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p2 = win.addPlot(title="切向力 X")
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p2.setLabel('bottom', '时间', units='s')
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win.nextRow()
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p3 = win.addPlot(title="切向力 Y")
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p3.setLabel('bottom', '时间', units='s')
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plot_af = p1.plot(pen='k')
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plot_tfx = p2.plot(pen='k')
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plot_tfy = p3.plot(pen='k')
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return p1, p2, p3, plot_af, plot_tfx, plot_tfy
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def update(plot_af, plot_tfx, plot_tfy, data, p1, p2, p3):
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# global plot_af, plot_tfx, plot_tfy, data, p1, p2, p3
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plot_af.setData(data[:,:,0])
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p1.setYRange(min(data[:,1,0]),max(data[:,1,0]))
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plot_tfx.setData(data[:,:,1])
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p2.setYRange(min(data[:,1,1]),max(data[:,1,1]))
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plot_tfy.setData(data[:,:,2])
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p3.setYRange(min(data[:,1,2]),max(data[:,1,2]))
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# 深度图
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def draw_magnitude_map(vfield, threshold=3.0, colormap=cv2.COLORMAP_JET) -> np.ndarray:
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"""
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绘制流场幅值伪彩色图。
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Args:
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vfield: 需要可视化的二维矢量场
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threshold: 最小显示阈值；低于阈值的区域显示为低值颜色
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colormap: OpenCV 颜色映射类型（默认 COLORMAP_JET）
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Returns:
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np.ndarray: 400x400 的 BGR 伪彩图像
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"""
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flow_field = vfield
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# 计算每个像素点的幅值
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magnitude = np.sqrt(flow_field[:, :, 0]**2 + flow_field[:, :, 1]**2)
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# 先降采样再插值回原尺寸，使显示更平滑
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downsample_factor = 10
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h, w = magnitude.shape
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magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor]
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magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC)
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# 应用阈值，将低于阈值的区域置零
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magnitude_thresholded = magnitude_smoothed.copy()
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magnitude_thresholded[magnitude_smoothed < threshold] = 0
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# 归一化到 0-255
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mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max()
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if mag_max > mag_min:
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magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8)
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else:
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magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8)
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# 应用伪彩色映射
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magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap)
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# 缩放到固定输出尺寸
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out_img = cv2.resize(magnitude_colored, (400, 400), interpolation=cv2.INTER_CUBIC)
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return out_img
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# 实时图表
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npoints = 100 # 曲线缓冲区长度
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pg.setConfigOption('background', 'w')
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pg.setConfigOption('foreground', 'k')
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app = pg.mkQApp("Orisys Plot Example")
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win = pg.GraphicsLayoutWidget(show=True, title="Orisys 实时力曲线")
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win.setWindowTitle('Orisys 实时力曲线')
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p1, p2, p3, plot_af, plot_tfx, plot_tfy = create_plot()
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data = np.zeros([npoints,2,3])
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start_time = None # Will be set when sensor starts
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for i in range(3):
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data[:,0,i] = np.linspace(-npoints,0,npoints)/30
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source = int(video)
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except ValueError:
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source = video
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return orisys.Sensor(source, config_name=config, cal_path=cal, verbose=verbose)
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def main():
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global start_time
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parser = argparse.ArgumentParser()
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parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
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parser.add_argument("--config","-c", type=str, default="./config/ddjx01.json", help="配置文件名称或路径")
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parser.add_argument("--cal","-cal", type=str, default="./config/ddjx01.npy", help="标定文件路径")
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parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
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parser.add_argument("--video", "-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
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parser.add_argument("--config", "-c", type=str, default="./config/ddjx01.json", help="配置文件名称或路径")
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parser.add_argument("--cal", "-cal", type=str, default="./config/ddjx01.npy", help="标定文件路径")
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parser.add_argument("--verbose", "-verbose", type=bool, default=True, help="是否输出详细日志")
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args = parser.parse_args()
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# 步骤 1：创建传感器对象（必需）
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# config_name 可以是内置配置名称，也可以是自定义配置文件路径
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# cal_path 为标定文件路径；每台设备建议使用独立的标定文件
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# 输入既可以是摄像头编号，也可以是视频文件路径
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try:
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input = int(args.video)
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is_camera = True
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sensor = orisys.Sensor(input, config_name=args.config, cal_path= args.cal, verbose=args.verbose)
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except:
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is_camera = False
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sensor = orisys.Sensor(args.video, config_name=args.config, cal_path= args.cal, verbose=args.verbose)
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# 下面保留了历史示例写法，便于参考
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# sensor1 = orisys.Sensor("./s1.mp4", config_name="./config/ddjx01.json", cal_path= "./config/ddjx01.npy", cuda=False, verbose=True)
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charts = ForceChartWindow()
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recorder = FrameRecorder()
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sensor = open_sensor(args.video, args.config, args.cal, args.verbose)
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start_time = time.time()
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is_save = False
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frame_count = 0
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writer = None
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save_path = None
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print("\n按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。")
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while True:
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sensor.get_img() # 获取并拼接复眼图像
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if is_save and writer is not None and sensor.frame is not None:
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frame_count += 1
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save_img = sensor.frame
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# 若为灰度图，则先转换为 BGR 再写入视频
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if len(save_img.shape) == 2 or (len(save_img.shape) == 3 and save_img.shape[2] == 1):
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if len(save_img.shape) == 3:
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save_img = save_img.squeeze(2)
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save_img = cv2.cvtColor(save_img, cv2.COLOR_GRAY2BGR)
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writer.write(save_img)
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try:
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while True:
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sensor.get_img()
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recorder.write_if_recording(sensor.frame)
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sensor.compute_deformation(check_motion=True, threshold=0) # 计算形变与分解结果
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# 读取信息：
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# 向量场：VRAW、VNORMAL、VSHEAR -> 原始 / 法向 / 切向
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# 标量：FNORMAL、FSHEARX、FSHEARY -> 法向力 / X 向切向力 / Y 向切向力
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fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info(sensor.info.FPS, sensor.info.FNORMAL, sensor.info.FSHEARX, sensor.info.FSHEARY, sensor.info.VRAW, sensor.info.VNORMAL,sensor.info.VSHEAR)
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print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
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# 显示形变矢量场
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arrows = orisys.util.draw_arrows(sensor.img, flow, threshold=5, grid_spacing=10, arrow_scale=1.0)
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cv2.imshow("形变矢量场", arrows)
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# 显示流场幅值图
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mag = draw_magnitude_map(flow)
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cv2.imshow("流场幅值图", mag)
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sensor.compute_deformation(check_motion=True, threshold=0)
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fps, fn, fx, fy, flow, vnormal, vshear = sensor.read_info(
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sensor.info.FPS,
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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sensor.info.VRAW,
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sensor.info.VNORMAL,
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sensor.info.VSHEAR,
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)
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print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
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# 更新实时曲线
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current_time = time.time() - start_time
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data_filtered = data.copy()
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for i in range(3):
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data[:-1, 0, i] = data[1:, 0, i] # 时间轴左移
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data[:-1, 1, i] = data[1:, 1, i] # 力数据左移
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data[-1, 0, :] = current_time # 写入当前时间
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data[-1, 1, 0] = fn
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data[-1, 1, 1] = fx
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data[-1, 1, 2] = fy
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# 对最新采样点做一阶低通，滤波对象是历史曲线而不是单个标量。
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data_filtered[-1, 1, 0] = moving_average(data[:, 1, 0])
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data_filtered[-1, 1, 1] = moving_average(data[:, 1, 1])
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data_filtered[-1, 1, 2] = moving_average(data[:, 1, 2])
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update(plot_af, plot_tfx, plot_tfy, data_filtered, p1, p2, p3) # 更新曲线
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arrows = orisys.util.draw_arrows(sensor.img, flow, threshold=5, grid_spacing=10, arrow_scale=1.0)
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cv2.imshow("形变矢量场", arrows)
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cv2.imshow("流场幅值图", draw_magnitude_map(flow))
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key = cv2.waitKey(1)
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if key & 0xFF == ord("q"):
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print("\n正在退出示例程序...")
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break
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if key == ord("s"):
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save_path = f"./data/pulse_test.mp4"
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# 确保输出目录存在
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os.makedirs(os.path.dirname(save_path), exist_ok=True)
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# 从当前帧获取视频尺寸
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save_img = sensor.frame
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charts.push(time.time() - start_time, fn, fx, fy)
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display = charts.data.copy()
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for channel in range(3):
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display[:, 1, channel] = lowpass_filter(
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charts.data[:, 1, channel],
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cutoff_hz=5,
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sample_rate_hz=30,
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)
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charts.refresh(display)
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if save_img is not None:
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# 如为灰度图，先转换为 BGR 以获取视频尺寸
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temp_img = save_img.copy()
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if len(temp_img.shape) == 2 or (len(temp_img.shape) == 3 and temp_img.shape[2] == 1):
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if len(temp_img.shape) == 3:
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temp_img = temp_img.squeeze(2)
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temp_img = cv2.cvtColor(temp_img, cv2.COLOR_GRAY2BGR)
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frame_height, frame_width = temp_img.shape[:2]
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writer = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), 30, (frame_width, frame_height))
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if writer.isOpened():
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is_save = True
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print(f"开始录像：{save_path}")
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else:
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print(f"无法创建录像文件：{save_path}")
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writer = None
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else:
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print("当前没有可用帧，无法确定录像尺寸。")
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if key == ord("e"):
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is_save = False
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if writer is not None:
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writer.release()
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writer = None
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if save_path is not None:
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print(f"录像结束：{save_path}，总帧数：{frame_count}")
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else:
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print(f"录像结束，总帧数：{frame_count}")
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frame_count = 0
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sensor.disconnect() # 断开传感器连接并释放资源
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key = cv2.waitKey(1)
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if key & 0xFF == ord("q"):
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print("\n正在退出示例程序...")
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break
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if key == ord("s"):
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recorder.start(sensor.frame)
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if key == ord("e"):
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recorder.stop()
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finally:
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sensor.disconnect()
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if __name__ == '__main__':
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if __name__ == "__main__":
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main()
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Block a user