evan/OpenDepthMap
Archived
1
Fork 0
Code

filter overlay

Browse Source
This commit is contained in:
Evan Pratten 2021-05-29 17:20:30 -04:00
parent 6390f22957
commit 05d41216ca
1 changed files with 13 additions and 6 deletions

19
odm/__main__.py

@ -10,9 +10,10 @@ logging.basicConfig(format=FORMAT)
logging.getLogger().setLevel(logging.DEBUG)
# Config
BLUR_KERNEL_SIZE = 15
BLUR_KERNEL_SIZE = 3
THRESH_MIN_PIXEL = 32
BLOB_MIN_AREA = 40
BLOB_MIN_AREA = 120
HEAT_OVERLAY_ALPHA = 0.5
# Load in libodm
sys.path.append(os.getcwd() + "/target/debug")
@ -43,14 +44,20 @@ def handle_image_data(stereo, left_image, right_image):
mask = np.zeros(disparity.shape, np.uint8)
cv2.drawContours(mask, filtered_contours, -1, (255), thickness=cv2.FILLED)
# Mask out the disparity map
masked_disparity = cv2.bitwise_and(disparity, disparity, mask=mask)
# Build a heatmap
heatmap = cv2.applyColorMap(disparity, cv2.COLORMAP_JET)
masked_heatmap = cv2.bitwise_and(heatmap, heatmap, mask=mask)
# Create an overlay from the heatmap
output_base = cv2.cvtColor(left_image_cv,cv2.COLOR_GRAY2RGB)
output_base_mod = cv2.convertScaleAbs(output_base, alpha=1.5, beta= 20)
output = cv2.addWeighted(masked_heatmap, HEAT_OVERLAY_ALPHA, output_base_mod, 1.0, 0.0)
cv2.imshow("Left", left_image_cv)
cv2.imshow("Right", right_image_cv)
cv2.imshow("Disparity", disparity)
cv2.imshow("Disparity (masked)", masked_disparity)
# cv2.imshow("Mask", mask)
cv2.imshow("Heatmap", masked_heatmap)
cv2.imshow("Output", output)
def main() -> int:
# Handle program arguments