update example and coomputation dependency error handling

src/orisys/sensor.py

@@ -53,16 +53,16 @@ class Sensor:
     # Initialization
     # =========================================================================
     
-    def __init__(self, vid_src, isstitch=False, verbose=True, cuda=True, 
-                 config_name="prototype", cal_path=None, override=False, box=None,mirror=True):
+    def __init__(self, vid_src, cuda=True, isstitch=True, verbose=True, 
+                 config_name="prototype", cal_path=None, override=False, box=None, mirror=True):
         """
         Initialize Sensor with video source and configuration.
         
         Args:
             vid_src: Video source (int for camera ID, str for file path)
+            cuda: Enable CUDA acceleration (default: True)
             isstitch: Enable stitching mode for multi-tile sensor (default: False)
             verbose: Print initialization logs (default: True)
-            cuda: Enable CUDA acceleration (default: True)
             config_name: Configuration name (default: "prototype")
             cal_path: Path to calibration file (default: None)
             override: Skip auto-detection, use provided box (default: False)
@@ -89,9 +89,9 @@ class Sensor:
 
         # State variables
         self.stitch_valid = False
-        self.imgupdate = False
-        self.vupdate = False
         self.stitch_calibration = []
+        self.compute_deformation_valid = False
+        self.compute_contact_valid = False
         
         # Data Variables
         self.__img = None
@@ -193,7 +193,6 @@ class Sensor:
             self.__img_filtered = alpha * img + (1 - alpha) * self.__img_filtered
         
         self.__img = self.__img_filtered.astype(np.uint8)
-        self.__imgupdate = True
 
         if log_timing:
             timings['total'] = (time.perf_counter() - t_start) * 1000
@@ -210,6 +209,8 @@ class Sensor:
         Returns:
             np.ndarray: Optical flow field
         """
+        if self.__img is None:
+            raise Exception("Warning: Get image first")
         if log_timing:
             timings = {}
             t_start = time.perf_counter()
@@ -245,9 +246,7 @@ class Sensor:
         
         # Update state
         self.__flow = flow
-        self.imgupdate = False
-        self.vupdate = True
-        
+        self.compute_deformation_valid = True
         # FPS calculation
         self._fps = 1.0 / (time.perf_counter() - self.last_log_time)
         self.last_log_time = time.perf_counter()
@@ -258,8 +257,13 @@ class Sensor:
 
         return True
 
-    def compute_contact(self, multiple_foe=False, min_contour_area=3000, min_magnitude=1.0, expansion_threshold=0.01, downsample_factor=1, kernel_size=(5,5), denoise_sigma=15):
+    def compute_contact(self):
         
+        multiple_foe=False
+
+        if not self.compute_deformation_valid:
+            raise Exception("Warning: Compute deformation first")
+
         if multiple_foe:
             result = self.__contact3d.compute_multiple_foe(self.__vnormal)
         else:
@@ -274,6 +278,7 @@ class Sensor:
             self.__contour = result['contour']
         self.__depth_map = result['divergence_map']
 
+        self.compute_contact_valid = True
         return True
     
 
@@ -307,9 +312,18 @@ class Sensor:
         Returns:
             Tuple: Requested data in order
         """
-        if not self.vupdate:
-            print("Warning: Call compute_deformation() first.")
-        
+        if any(arg in [self.info.IMG] for arg in args):
+            if self.__img is None:
+                raise Exception("Warning: Get image first")
+
+        if any(arg in [self.info.VRAW, self.info.VNORMAL, self.info.VSHEAR, self.info.FNORMAL, self.info.FSHEARX, self.info.FSHEARY] for arg in args):
+            if not self.compute_deformation_valid:
+                raise Exception("Warning: Compute deformation first")
+
+        if any(arg in [self.info.CENTROID, self.info.CONTOUR, self.info.DEPTH] for arg in args):
+            if not self.compute_contact_valid:
+                raise Exception("Warning: Compute contact first")
+
         mapping = {
             # Return copies of arrays to prevent external modification of internal state
             self.info.VRAW: lambda: self.__flow.copy() if self.__flow is not None else np.array([]),