add util & example

example1_basic.py

@@ -4,16 +4,9 @@ import cv2
 import orisys
 
 def main():
-    global start_time
 
-    box = []
-    dx = 90
-    dy = -95
-    for i in range(15):
-        box.append((410+dx, 900+dy, 620+dx, 1110+dy))
     # 打开视频
     sensor1 = orisys.Sensor("./s1.mp4",isstitch=True,cuda = True,verbose = True)
-
     # 打开摄像头
     # sensor1 = Sensor(0,isstitch=True,cuda = True,verbose = True)
 
@@ -33,7 +26,6 @@ def main():
         cv2.imshow("Deformation", arrows)
 
         depth_img = cv2.applyColorMap((depth*1* 255.0).astype('uint8'), cv2.COLORMAP_HOT)
-
         cv2.imshow('depth', depth_img)
 
         key = cv2.waitKey(1)

example2_config.py

@@ -6,7 +6,7 @@ import orisys
 def main():
     global start_time
     
-    # 打开视频
+    # 打开视频, config_name 可以根据传感型号选择
     sensor1 = orisys.Sensor("./s1.mp4",isstitch=True,cuda = True,verbose = True, config_name="prototype")
     # sensor1 = Sensor(0,isstitch=True,cuda = True,verbose = True, config_name="prototype")
 

example3_manual_box.py

@@ -0,0 +1,50 @@
+import os
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+import cv2
+import orisys
+
+def main():
+    global start_time
+    
+    box = []
+    dx = 90
+    dy = -95
+    for i in range(15):
+        box.append((410+dx, 900+dy, 620+dx, 1110+dy))
+    # 打开视频，手动设置box 的坐标
+    sensor1 = orisys.Sensor("./s1.mp4",isstitch=False,cuda = True,verbose = True, override=True, box=box)
+    # sensor1 = orisys.Sensor("./uv_2.mp4",isstitch=True,cuda = True,verbose = True, override=True, box=box)
+    # 打开摄像头
+    # sensor1 = Sensor(0,isstitch=True,cuda = True,verbose = True)
+
+
+    while True:
+        sensor1.get_img() # 提取并拼接复眼图像
+        sensor1.compute_deformation() # 计算形变和分解
+        # 提取信息：
+        # 向量场: VRAW, VNORMAL, VSHEAR: 原始，法向，切向 
+        # 帧率，时间戳: FPS, TIMESTAMP
+        # 变形量总和: FNORMAL , FSHEARX, FSHEARY : 法向，切向（X)，切向（Y)
+        # 深度图: DEPTH
+        fps, fn, fx, fy, flow, depth = sensor1.read_info(sensor1.info.FPS, sensor1.info.FNORMAL, sensor1.info.FSHEARX, sensor1.info.FSHEARY, sensor1.info.VRAW, sensor1.info.DEPTH)
+        print(fps,fn,fx,fy)
+        # 显示向量场
+        arrows = orisys.util.draw_arrows(sensor1.img, flow, threshold=5, grid_spacing=40, arrow_scale=1.0)
+        cv2.imshow("Deformation", arrows)
+
+        depth_img = cv2.applyColorMap((depth*1* 255.0).astype('uint8'), cv2.COLORMAP_HOT)
+
+        cv2.imshow('depth', depth_img)
+
+        key = cv2.waitKey(1)
+        if key & 0xFF == ord("q"):
+            print("\n 停止程序")
+            break
+        if key & 0xFF == ord("r"):
+            sensor1.reset()
+    
+    sensor1.disconnect() # 断开传感器连接
+    
+
+if __name__ == '__main__':
+    main()

src/orisys/__init__.py

@@ -5,9 +5,10 @@ A Python library for processing and analyzing optical tactile sensor data,
 including image stitching, optical flow tracking, and deformation decomposition.
 """
 
-__version__ = "0.2.0"
+__version__ = "0.1.0"
 __author__ = "Orisys"
 
 from .sensor import Sensor
+from . import util
 
-__all__ = ['Sensor']
+__all__ = ['Sensor', 'util']

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)