detect motion by capturing reference image

example1_basic_pipeline.py

@@ -14,15 +14,16 @@ os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
 import cv2
 import orisys
 import numpy as np
+import time
 def main():
     
     # 步骤1：创建传感器对象 (必要步骤)，config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor("s1.mp4", config_name="prototype", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
+    # sensor = orisys.Sensor("s1.mp4", config_name="prototype", cal_path= "./config/cal.npy", 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, config_name="prototype", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
+    sensor = orisys.Sensor(0, config_name="./config/lens_test.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
 
@@ -32,14 +33,14 @@ def main():
         # 步骤 2.1: 获取并拼接图像 (必要步骤)
         sensor.get_img() 
         print("img_size_raw:", sensor.img_size_raw)
-        if sensor.detect_motion():
+        if sensor.detect_motion(threshold=2):
             print("motion detected")
-            break
-        # 步骤 2.2: 计算形变场 (必要步骤)
-        sensor.compute_deformation()
-        # 步骤 2.3: 计算触碰点 
-        sensor.compute_contact()
-        
+            # 步骤 2.2: 计算形变场 (必要步骤)
+            sensor.compute_deformation()
+            # 步骤 2.3: 计算触碰点 
+            sensor.compute_contact()
+
+    
         #步骤 2.4: 读取信息
         fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
             sensor.info.FPS,
@@ -79,7 +80,7 @@ def main():
 
         #步骤 3.4: 打印资料
         print(f"fps: {fps}")
-        
+            
         #步骤 3.5: 键盘控制
         key = cv2.waitKey(1) & 0xFF
         if key == ord("q"):
@@ -88,8 +89,8 @@ def main():
         if key == ord("r"):
             # 重置光流追踪器（当追踪漂移时使用）
             sensor.reset()
-            print("光流追踪器已重置")
-    
+            print("传感器已重置")
+        
     # =========================================================================
     # 4. 清理资源
     # =========================================================================