注释注释注释
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@ -5,6 +5,7 @@ import cv2
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import os
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import os
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import sys
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import sys
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from matplotlib import pyplot as plt
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from matplotlib import pyplot as plt
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from scipy import stats
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'''
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'''
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@ -19,10 +20,15 @@ TODO:
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# 打开视频文件
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# 打开视频文件
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def openVid():
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def openVid():
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fileName = input("video path:")
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fileName = input("video path: ./vid/")
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fileName = "./vid/" + fileName
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while not os.path.isfile(fileName):
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while not os.path.isfile(fileName):
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if os.path.isfile(fileName + ".mkv"):
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fileName = fileName + ".mkv"
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break
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print("file doesn't exist!")
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print("file doesn't exist!")
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fileName = input("video path:")
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fileName = input("video path: ./vid/")
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fileName = "./vid/" + fileName
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cap = cv2.VideoCapture(fileName)
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cap = cv2.VideoCapture(fileName)
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if cap.isOpened():
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if cap.isOpened():
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return cap
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return cap
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@ -49,7 +55,7 @@ def getFrameRate(cap):
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# 给出左右画面,计算景深
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# 给出左右画面,计算景深
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def getDepthMap(imgL, imgR):
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def getDepthMap(imgL, imgR):
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stereo = cv2.StereoSGBM_create(numDisparities=64, blockSize=3)
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stereo = cv2.StereoSGBM_create(numDisparities=32, blockSize=3)
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return stereo.compute(imgL, imgR)
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return stereo.compute(imgL, imgR)
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@ -76,7 +82,7 @@ if __name__ == "__main__":
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isDemo = int(input("is Demo(0/1)?"))
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isDemo = int(input("is Demo(0/1)?"))
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frameRate = getFrameRate(cap)
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frameRate = getFrameRate(cap)
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frameCount = getFrameCount(cap)
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frameCount = getFrameCount(cap)
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framesCalculated = 0
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isSuccess, img = cap.read()
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isSuccess, img = cap.read()
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if not isSuccess:
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if not isSuccess:
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print("video read error.")
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print("video read error.")
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@ -87,8 +93,8 @@ if __name__ == "__main__":
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imgR = np.split(img, 2, 1)[1]
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imgR = np.split(img, 2, 1)[1]
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prvs = imgR # 上一帧的右画面,用于运动矢量计算
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prvs = imgR # 上一帧的右画面,用于运动矢量计算
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# 每秒取10帧进行计算
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# 每秒取4帧进行计算
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for frameID in range(round(cap.get(cv2.CAP_PROP_POS_FRAMES)), round(frameCount), round(frameRate/10)):
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for frameID in range(round(cap.get(cv2.CAP_PROP_POS_FRAMES)), round(frameCount), round(frameRate/4)):
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cap.set(cv2.CAP_PROP_POS_FRAMES, frameID)
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cap.set(cv2.CAP_PROP_POS_FRAMES, frameID)
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isSuccess, img = cap.read()
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isSuccess, img = cap.read()
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if not isSuccess:
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if not isSuccess:
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@ -105,10 +111,17 @@ if __name__ == "__main__":
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# 计算深度图
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# 计算深度图
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disparity = getDepthMap(imgL, imgR)
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disparity = getDepthMap(imgL, imgR)
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framesCalculated += 1
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# 显示计算结果
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# 显示计算结果
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print("time: ", round(frameID/frameRate, 2))
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print("time: ", round(frameID/frameRate, 2))
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print("AVG depth: ", round(np.mean(disparity), 2))
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print("AVG depth: ", round(np.mean(disparity), 2)) # 景深的平均值,偏大则意味着负视差,可能不适
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print("AVG motion: ", round(np.mean(hsv[..., 2]), 2))
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print("AVG motion: ", round(np.mean(hsv[..., 2]), 2)) # 运动矢量大小的平均值,可判断画面大致上是否稳定
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print("Mode depth: ", stats.mode(disparity.reshape(-1))[0][0]) # 景深的众数,由于景深基本不连续,众数意义不大
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print("Mode motion: ", stats.mode(hsv[..., 2].reshape(-1))[0][0]) # 运动矢量大小的众数,一般为0,若较大,说明画面中存在较大面积的快速运动,可能不适
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print("STD depth: ", round(np.std(disparity),2)) # 景深的标准差,若偏大说明景深范围较大,可能不适,但同时也是3D感更强的特征
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print("STD motion: ", round(np.std(hsv[...,2]),2)) # 运动矢量大小的标准差,若偏大说明各部分运动比较不一致,可能需要结合运动矢量的方向作进一步判断,若存在较复杂的运动形式,则可能不适
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print()
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print()
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# 当为demo模式时显示当前帧画面、运动矢量图和景深图
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# 当为demo模式时显示当前帧画面、运动矢量图和景深图
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@ -121,12 +134,16 @@ if __name__ == "__main__":
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bgr = cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR) # hsv转为rgb用于显示
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bgr = cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR) # hsv转为rgb用于显示
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cv2.namedWindow("MotionVector", cv2.WINDOW_NORMAL)
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cv2.namedWindow("MotionVector", cv2.WINDOW_NORMAL)
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cv2.imshow("MotionVector", bgr)
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cv2.imshow("MotionVector", bgr)
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# cv2.waitKey(1)
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# 显示当前帧的景深图
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# 显示当前帧的景深图
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plt.title("DepthMap")
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plt.title("DepthMap")
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plt.imshow(disparity)
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plt.imshow(disparity)
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# 运动矢量的直方图,方便查看数值
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# plt.title("MotionVector")
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# plt.imshow(hsv[...,2])
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# plt.show()
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plt.pause(0.2)
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plt.pause(0.2)
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input("press to continue")
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prvs = next # 当前帧覆盖上一帧,继续计算
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prvs = next # 当前帧覆盖上一帧,继续计算
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print("success")
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print("success")
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