remove depth and fix normal -> vnormal

example_foe.py

@@ -25,19 +25,16 @@ def main():
         # 步骤 2.2: 计算形变场
         sensor.compute_deformation()
         
-        fps, flow,vnormal, depth = sensor.read_info(
+        fps, flow,vnormal = sensor.read_info(
             sensor.info.FPS,
             sensor.info.VRAW,
-            sensor.info.VNORMAL,
-            sensor.info.DEPTH
+            sensor.info.VNORMAL
         )
 
         # depth = get_depth_improved(vnormal, fps)
         
         # print(f"FPS: {fps:5.1f}, 深度: {np.min(depth):8.2f}, {np.mean(depth):8.2f}, {np.max(depth):8.2f}")
 
-        
-        
      
         arrows = orisys.util.draw_arrows(
             sensor.img.copy(),  # 使用 copy() 避免修改原图
@@ -60,17 +57,11 @@ def main():
 
         # 计算扩张焦点
         # foe_result = orisys.util.compute_foe(vnormal,min_magnitude=1,expansion_threshold=0.01,downsample_factor=1)
-        foe_result = sensor.get_foe(multiple_foe=False, min_magnitude=1, expansion_threshold=0.01, downsample_factor=1)
+        foe_result = sensor.get_foe(multiple_foe=False, min_magnitude=1, expansion_threshold=0.01, downsample_factor=1,denoise_sigma=10)
         # 在图像上绘制焦点和区域
         image_with_foe = orisys.util.draw_foe(sensor.img.copy(), foe_result)
         cv2.imshow("Focus of Expansion", image_with_foe)
         
-        # 计算多个扩张焦点
-        # foe_result = orisys.util.compute_multiple_foe(vnormal, min_contour_area=3000,min_magnitude=1,expansion_threshold=0.001,downsample_factor=10)
-
-        # # 在图像上绘制多个焦点和区域
-        # image_with_foe = orisys.util.draw_multiple_foe(sensor.img.copy(), foe_result)
-        # cv2.imshow("Multiple FOE", image_with_foe)
 
         # =====================================================================
         # 4. 键盘控制