Signed-off-by: unknown <ykcheungab@MEE1965.ust.hk>

src/orisys/sensor.py

@@ -12,6 +12,7 @@ import time
 from scipy.interpolate import griddata
 from enum import Enum, auto
 from typing import Optional, Tuple, Union, Any
+from .getDensity import getFilteredDensity
 
 class Sensor:
     """
@@ -83,7 +84,7 @@ class Sensor:
         self.stitch_valid = False
         self.n_boxes = None
         self.stitch_calibration = []
-        self.img = self.flow = self.normal = self.shear = self.force = None
+        self.img = self.flow = self.normal = self.shear = self.force = self.depth = None
         self.fnormal=self.fshearx=self.fsheary=self.ftor=0.0
         self.imgupdate = self.vupdate = False
         self.pos_default = [(260, 56), (577, 62), (897, 69), (1214, 75), (1530, 81), (256, 391), (570, 397), (889, 403), (1208, 409), (1523, 416), (248, 724), (563, 730), (882, 738), (1201, 743), (1516, 751)]
@@ -109,6 +110,7 @@ class Sensor:
         FNORMAL = auto()
         FSHEARX = auto()
         FSHEARY = auto()
+        DEPTH = auto()
 
 
     def get_img(self):
@@ -161,9 +163,10 @@ class Sensor:
         self.normal = self.hhd.get_normal()
         self.shear = self.hhd.get_shear()
         flag, [self.fnormal,self.fshearx,self.fsheary,self.ftor] = self.hhd.get_force(flow)
-
+        self.depth = getFilteredDensity(self.flow, use_cuda=self.cuda)
         self.fps = 1/(time.time() - self.last_log_time)
         self.last_log_time = time.time()
+
         
         return self.flow
     
@@ -183,6 +186,7 @@ class Sensor:
                 - FSHEAR: Shear force magnitude (float)
                 - FPS: Current frames per second (float)
                 - TIMESTAMP: Current timestamp string (str)
+                - DEPTH: Depth image (np.ndarray)
         
         Example:
             normal, shear, fps = sensor.read_info(sensor.info.VNORMAL, sensor.info.VSHEAR, sensor.info.FPS)
@@ -215,7 +219,8 @@ class Sensor:
                 results.append(self.fps)
             elif arg == self.info.TIMESTAMP:
                 results.append(time.strftime('%H:%M:%S'))
-        
+            elif arg == self.info.DEPTH:
+                results.append(self.depth if self.depth is not None else np.array([]))
         return tuple(results) if results else ()
     
     def disconnect(self):