bluepulsar
74 lines
2.2 KiB
Python
74 lines
2.2 KiB
Python
import os
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os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" # Windows 下禁用硬件加速，避免兼容性问题
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import cv2
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import orisys
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import numpy as np
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from scipy.ndimage import gaussian_filter
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def main():
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# 方式1: 从视频文件读取
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# sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True)
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# 方式2: 从摄像头读取（取消注释使用）
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sensor = orisys.Sensor(0, isstitch=True, cuda=True, verbose=True)
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print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
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while True:
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# 步骤 2.1: 获取并拼接图像
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sensor.get_img()
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# 步骤 2.2: 计算形变场
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sensor.compute_deformation()
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fps, flow,vnormal, depth = sensor.read_info(
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sensor.info.FPS,
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sensor.info.VRAW,
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sensor.info.VNORMAL,
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sensor.info.DEPTH
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)
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arrows = orisys.util.draw_arrows(
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sensor.img.copy(), # 使用 copy() 避免修改原图
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vnormal,
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threshold=5,
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grid_spacing=10,
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arrow_scale=1.0
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)
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cv2.imshow("形变场 Deformation", arrows)
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mag = np.sqrt(vnormal[:, :, 0]**2 + vnormal[:, :, 1]**2)
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mag_img = cv2.applyColorMap(
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(mag/20 * 255.0).astype('uint8'),
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cv2.COLORMAP_JET
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)
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cv2.imshow("magnitude map", mag_img)
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print(np.median(mag), np.min(mag), np.max(mag))
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# =====================================================================
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# 4. 键盘控制
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# =====================================================================
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key = cv2.waitKey(1) & 0xFF
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if key == ord("q"):
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print("\n退出程序...")
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break
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if key == ord("r"):
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# 重置光流追踪器（当追踪漂移时使用）
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sensor.reset()
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print("光流追踪器已重置")
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# =========================================================================
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# 5. 清理资源
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# =========================================================================
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sensor.disconnect() # 释放视频源和相关资源
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cv2.destroyAllWindows()
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if __name__ == '__main__':
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main()
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