add util & example

src/orisys/sensor.py

@@ -10,7 +10,6 @@ from enum import Enum, auto
 from typing import Optional, Tuple, Union, Any
 from .getDensity import getFilteredDensity
 from . import configs
-from .util import draw_arrows, draw_magnitude_map, draw_fps
 
 class Sensor:
     """
@@ -56,7 +55,7 @@ class Sensor:
         self.hhd = None
         
         # Setup video capture
-        self.__open_video_source()
+        self.__open_video_source(override, box)
 
         # Logging state
         self.last_log_time = time.time()
@@ -80,7 +79,7 @@ class Sensor:
         FSHEARY = auto()
         DEPTH = auto()
 
-    def __open_video_source(self):
+    def __open_video_source(self, override, box):
 
         # Setup video capture
         self.cap = cv2.VideoCapture(self.vid_src)
@@ -101,12 +100,19 @@ class Sensor:
         else:
             raise Exception("Failed to open video source.")
 
-        # Initialize stitching calibration
-        self.__find_stitch_boxes(frame, show=False)
-        self.__get_tiles(frame)
-        self.stitch_cal()
-        if self.verbose:
-            print("Sensor initialized and calibrated.")
+        if override:
+            if box is not None:
+
+                self.isstitch = False
+                self.__stitcher.isstitch = False
+                self.__stitcher.boxes = box
+            else:
+                print("Override is True but no box provided.")
+        else:
+            # Initialize and calibrate
+            self.__find_stitch_boxes(frame, show=False)
+            self.__get_tiles(frame)
+            self.stitch_cal()
         
     def get_config(self):
         """
@@ -349,11 +355,3 @@ class Sensor:
         # print("Image stitched with shape:", img_stitched_height.shape)
         return img_stitched_height
 
-    # def draw_arrows(self, optical_flow, fps=True, threshold=5, grid_spacing=40, arrow_scale=1.0):
-    #     return draw_arrows(self.img, optical_flow, fps, threshold, grid_spacing, arrow_scale)
-
-    # def draw_magnitude_map(self, flow_field, threshold=3.0, colormap=cv2.COLORMAP_JET):
-    #     return draw_magnitude_map(self.img, flow_field, threshold, colormap)
-
-    # def draw_fps(self, fps):
-    #     return draw_fps(self.img, fps)