update foe to contact for easy understanding

src/orisys/sensor.py

@@ -52,7 +52,7 @@ class Sensor:
     # =========================================================================
     
     def __init__(self, vid_src, isstitch=False, verbose=True, cuda=True, 
-                 config_name="prototype", cal_path=None, override=False, box=None):
+                 config_name="prototype", cal_path=None, override=False, box=None,mirror=True):
         """
         Initialize Sensor with video source and configuration.
         
@@ -83,6 +83,7 @@ class Sensor:
         self.verbose = verbose
         self.config_name = config_name
         self.cal_path = cal_path
+        self.mirror = mirror
 
         # State variables
         self.stitch_valid = False
@@ -183,6 +184,8 @@ class Sensor:
         if log_timing:
             timings['total'] = (time.perf_counter() - t_start) * 1000
             self._print_timings("get_img", timings)
+        if self.mirror:
+            self.img = cv2.flip(self.img, 1)
             
         return self.img
 
@@ -241,13 +244,16 @@ class Sensor:
 
         return self.flow
 
-    def get_foe(self, multiple_foe=False, min_contour_area=3000, min_magnitude=1.0, expansion_threshold=0.01, downsample_factor=1, kernel_size=(5,5), denoise_sigma=15):
+    def get_contact(self, multiple_foe=False, min_contour_area=3000, min_magnitude=1.0, expansion_threshold=0.01, downsample_factor=1, kernel_size=(5,5), denoise_sigma=15):
         
         if multiple_foe:
             return compute_multiple_foe(self.vnormal, min_contour_area=min_contour_area, min_magnitude=min_magnitude, expansion_threshold=expansion_threshold, downsample_factor=downsample_factor, kernel_size=kernel_size, denoise_sigma=denoise_sigma)
         else:
             return compute_foe(self.vnormal, min_magnitude=min_magnitude, expansion_threshold=expansion_threshold, downsample_factor=downsample_factor, kernel_size=kernel_size, denoise_sigma=denoise_sigma)
 
+    def get_depth(self, denoise_sigma=15):
+        return getFilteredDensity(self.vnormal, use_cuda=self.cuda)
+        self.depth = getFilteredDensity(self.vnormal, use_cuda=self.cuda)   
     def update(self):
         """
         Convenience method: get_img + compute_deformation in one call.