add private variable and copy when return by readinfo

example_contact.py

@@ -7,10 +7,10 @@ import time
 def main():
     
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True,config_name="./config/prototype.json")
+    # sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, 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=False, verbose=True,config_name="./config/prototype.json")
+    sensor = orisys.Sensor(0, isstitch=True, cuda=True, verbose=True,config_name="prototype")
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
 
@@ -20,32 +20,33 @@ def main():
         
         # 步骤 2.2: 计算形变场
         sensor.compute_deformation()
+        # 计算触碰点
+        # sensor.compute_contact(min_magnitude=0.1,expansion_threshold=0.01,denoise_sigma=15)
+        sensor.compute_contact()
         
-        fps, flow, vnormal = sensor.read_info(
+        #计算后读取信息
+        fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
             sensor.info.FPS,
             sensor.info.VRAW,
-            sensor.info.VNORMAL
+            sensor.info.VNORMAL,
+            sensor.info.IMG,
+            sensor.info.CONTOUR,
+            sensor.info.CENTROID,
+            sensor.info.DEPTH
         )
      
         arrows = orisys.util.draw_arrows(
-            sensor.img.copy(),  # 使用 copy() 避免修改原图
+            img,  # 使用 copy() 避免修改原图
             vnormal,
             threshold=5,
             grid_spacing=10,
             arrow_scale=1.0
         )
         cv2.imshow("形变场 Deformation", arrows)
-
-        # 计算触碰点
-        # sensor.compute_contact(min_magnitude=0.1,expansion_threshold=0.01,denoise_sigma=15)
-        sensor.compute_contact()
         
         # 在图像上触碰点和区域
-        image_with_foe = orisys.util.draw_contact(sensor.img.copy(), sensor.contour, sensor.centroid)
+        image_with_foe = orisys.util.draw_contact(img, contour, centroid)
         cv2.imshow("Contact Centroid", image_with_foe)
-
-        # 计算触碰区域
-        depth_map = sensor.depth_map
         
         # 归一化散度值到0-255范围（使用绝对值，然后归一化）
         div_abs = depth_map