fixed new sample cannot detect boxes due to filter

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)
+    # sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True)
     
     # 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)
+    sensor = orisys.Sensor(0, isstitch=True, cuda=True, verbose=True)
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
 
@@ -36,34 +36,25 @@ def main():
         )
         cv2.imshow("形变场 Deformation", arrows)
 
-        mag_img = orisys.util.draw_magnitude_map(
-            sensor.img.copy(),
-            vnormal,
-            threshold=5,
-            colormap=cv2.COLORMAP_HOT,
-            downsample_factor = 1
-        )
-        cv2.imshow("magnitude map", mag_img)
-
         # 计算触碰点
-        contact_result = sensor.get_contact(min_magnitude=1, expansion_threshold=0.01,denoise_sigma=15)
+        sensor.compute_contact(min_magnitude=0.1,expansion_threshold=0.01,denoise_sigma=15)
         
         # 在图像上触碰点和区域
-        image_with_foe = orisys.util.draw_foe(sensor.img.copy(), contact_result)
+        image_with_foe = orisys.util.draw_contact(sensor.img.copy(), sensor.contour, sensor.centroid)
         cv2.imshow("Contact Centroid", image_with_foe)
 
         # 计算触碰区域
-        divergence = contact_result['divergence_map']
+        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 = divergence
+        div_abs = depth_map
         if div_abs.max() > div_abs.min():
             div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
         else:
             div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
         
         # 应用颜色映射（使用JET：蓝色=低散度，红色=高散度）
-        cv2.imshow("Divergence Map", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
+        cv2.imshow("Depth Map", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
 
         print(f"fps: {fps}")