config json update

config/prototype.json

@@ -6,14 +6,16 @@
       "fps": 60,
       "units": 15,
       "units_used": 9, 
-      "resolution_stitch": [400, 400],
-      "index": [1,2,3,6,7,8,11,12,13],
-      "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]]
+      "resolution_stitch": [400, 400]
     },
     "stitcher": {
       "min_area_frac": 0.018,
       "max_area_frac": 0.035,
-      "max_aspect_ratio": 20
+      "max_aspect_ratio": 20,
+      "index": [1,2,3,6,7,8,11,12,13],
+      "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]],
+      "margin": 10,
+      "nominal_ov_pos": 100
     },
     "contact": {
       "min_contour_area": 3000,

example1_basic.py

@@ -28,7 +28,7 @@ def main():
     #   verbose:  是否打印详细初始化日志
     
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=False, verbose=True)
+    sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=False, verbose=True,config_name="prototype")
     
     # 方式2: 从摄像头读取（取消注释使用）
     # sensor = orisys.Sensor(0, isstitch=True, cuda=True, verbose=True)

src/orisys/Stitcher.py

@@ -6,11 +6,12 @@ import cv2
 
 class Stitcher:
 
-    def __init__(self,isstitch=False, n=[3,3], index=np.array([1,2,3,6,7,8,11,12,13]), config_stitcher=None):
+    def __init__(self,isstitch=False, n=[3,3], config_stitcher=None,verbose=False):
 
         # Settings
         self.isstitch = isstitch
         self.config_stitcher = config_stitcher
+        self.verbose = verbose
         # Find Boxes Related
         self.min_area_frac = config_stitcher["min_area_frac"]
         self.max_area_frac = config_stitcher["max_area_frac"]
@@ -19,16 +20,16 @@ class Stitcher:
         # stitch related
         self.stitch_valid = False
         self.boxes = self.units = None
-        self.index = index
+        self.index = config_stitcher["index"]
         self.stitch_calibration = self.tile_list = []
         self.ncol = n[0]
         self.nrow = n[1]
-        self.nominal_ov_pos=100 
-        self.margin=10
+        self.nominal_ov_pos=config_stitcher["nominal_ov_pos"] 
+        self.margin=config_stitcher["margin"]
         self.bound=self.nominal_ov_pos - self.margin
         
         # for sensor 1
-        self.pos_default = [(260, 56), (577, 62), (897, 69), (1214, 75), (1530, 81), (256, 391), (570, 397), (889, 403), (1208, 409), (1523, 416), (248, 724), (563, 730), (882, 738), (1201, 743), (1516, 751)]
+        self.pos_default = config_stitcher["pos_default"]
  
     def stitch_rt_optimized(self, change_sv=False, s_mean=28., v_mean=180.):
         tile_list = self.tile_list

src/orisys/configs/prototype.json

@@ -6,14 +6,16 @@
     "fps": 60,
     "units": 15,
     "units_used": 9, 
-      "resolution_stitch": [400, 400],
-      "index": [1,2,3,6,7,8,11,12,13],
-      "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]]
+    "resolution_stitch": [400, 400]
   },
   "stitcher": {
     "min_area_frac": 0.018,
     "max_area_frac": 0.035,
-      "max_aspect_ratio": 20
+    "max_aspect_ratio": 20,
+    "index": [1,2,3,6,7,8,11,12,13],
+    "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]],
+    "margin": 10,
+    "nominal_ov_pos": 100
   },
   "contact": {
     "min_contour_area": 3000,

src/orisys/sensor.py

@@ -132,8 +132,8 @@ class Sensor:
         
 
         # Initialize components
-        self._stitcher = Stitcher(isstitch=isstitch, index=self.config_index, config_stitcher=self.config_stitcher)
-        self.tracker = Tracker(adaptive=True, cuda=cuda)
+        self._stitcher = Stitcher(isstitch=isstitch, config_stitcher=self.config_stitcher, verbose=self.verbose)
+        self.tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose)
         self.contact3d = Contact3D(config_contact=self.config_contact, verbose=self.verbose)
         self.hhd = None
         
@@ -459,8 +459,8 @@ class Sensor:
         self.config_fps = cam["fps"]
         self.config_units = cam["units"]
         self.config_resolution_stitch = cam["resolution_stitch"]
-        self.config_index = cam["index"]
-        self.config_pos_default = cam["pos_default"]
+        # self.config_index = cam["index"]
+        # self.config_pos_default = cam["pos_default"]
 
         self.config_stitcher = self.config["stitcher"]
         self.config_contact = self.config["contact"]

src/orisys/tracker.py

@@ -12,13 +12,15 @@ class Tracker:
                  lower_threshold=12.0,
                  upper_threshold=18.0,
                  loop_closure_interval=1,
-                 dis_preset='medium'):
+                 dis_preset='medium',
+                 verbose=False):
         # Check if OpenCV is built with CUDA support
         if cuda and not cv2.cuda.getCudaEnabledDeviceCount():
             # print("Warning: CUDA requested but OpenCV not built with CUDA support or no CUDA device found. Falling back to CPU.")
             cuda = False
         
         self.cuda = cuda
+        self.verbose = verbose
         self.__loop_closure_interval = loop_closure_interval
         self.__frame_count = 0