test

example1_basic_pipeline.py

@@ -19,10 +19,10 @@ 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", isstitch=True, cuda=True, verbose=True,config_name="prototype")
+    sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True,config_name="prototype")
     
     # 方式2: 从摄像头读取（取消注释使用） 
-    sensor = orisys.Sensor(0, cuda=True, verbose=True, config_name="prototype")
+    # sensor = orisys.Sensor(0, cuda=True, verbose=True, config_name="prototype")
     sensor.export_config(path="./config/exported_config.json") # 导出配置文件供查看和修改
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")

example2_async_pipeline.py

@@ -37,7 +37,8 @@ def main():
     # =========================================================================
     # 1. 初始化传感器
     # =========================================================================
-    sensor = orisys.Sensor(0, cuda=True, verbose=True, config_name="prototype")
+    # sensor = orisys.Sensor(0, cuda=True, verbose=True, config_name="prototype")
+    sensor = orisys.Sensor("./s1.mp4", isstitch=True, cuda=True, verbose=True,config_name="prototype")
     
     # =========================================================================
     # 2. 启用异步流水线

example3_two_sensor_pipeline.py

@@ -43,14 +43,16 @@ def main():
             'isstitch': True,
             'cuda': True,
             'cal_path': './config/cal.npy',
-            'config_name': "prototype"
+            'config_name': "prototype",
+            'compute_contact': True
         },
         {
             'vid_src': './s1.mp4',
             'isstitch': True,
             'cuda': True,
             'cal_path': './config/cal.npy',
-            'config_name': "prototype"
+            'config_name': "prototype",
+            'compute_contact': True
         },
     ]
     
@@ -63,7 +65,7 @@ def main():
     #   - 持续采集和处理数据
     #   - 通过队列将结果传回主进程
     # compute_contact=True 启用接触点检测（深度图、质心、轮廓）
-    with orisys.MultiSensor(configs, compute_contact=True) as multi:
+    with orisys.MultiSensor(configs) as multi:
         print("\n多传感器已启动，按 'q' 退出")
         
         # =====================================================================

src/orisys/MultiSensor.py

@@ -9,7 +9,7 @@ independent CUDA contexts.
 import os
 
 
-def _sensor_worker(sensor_id, config, data_queue, stop_event, compute_contact=False):
+def _sensor_worker(sensor_id, config, data_queue, stop_event):
     """
     Worker function that runs in a separate PROCESS for each sensor.
     Each process has its own Python interpreter and CUDA context.
@@ -28,6 +28,7 @@ def _sensor_worker(sensor_id, config, data_queue, stop_event, compute_contact=Fa
         config_name=config.get('config_name', 'prototype'),
         cal_path=config.get('cal_path', None)
     )
+    compute_contact = config.get('compute_contact', False)
     
     frame_count = 0
     
@@ -156,7 +157,7 @@ class MultiSensor:
         multi.stop()
     """
     
-    def __init__(self, sensor_configs, compute_contact=False):
+    def __init__(self, sensor_configs):
         """
         Initialize MultiSensor manager.
         
@@ -181,7 +182,6 @@ class MultiSensor:
         self.sensor_configs = sensor_configs
         self.num_sensors = len(sensor_configs)
         self._mp = mp
-        self.compute_contact = compute_contact
         
         self.processes = []
         self.data_queues = []
@@ -202,7 +202,7 @@ class MultiSensor:
         for i, config in enumerate(self.sensor_configs):
             process = self._mp.Process(
                 target=_sensor_worker,
-                args=(i, config, self.data_queues[i], self.stop_events[i], self.compute_contact),
+                args=(i, config, self.data_queues[i], self.stop_events[i]),
                 daemon=True
             )
             process.start()

src/orisys/configs/__init__.py

@@ -56,6 +56,17 @@ def load_config(config_name_or_path):
     with open(package_config_path, 'r', encoding='utf-8') as f:
         return json.load(f)
 
+def list_configs():
+    """
+    List all available JSON configuration files in the configs directory.
+    
+    Returns:
+        List of configuration names (without .json extension), sorted alphabetically.
+        Returns an empty list if no JSON files are found.
+    """
+    config_files = sorted(CONFIG_DIR.glob("*.json"))
+    return [f.stem for f in config_files]
+
 def _format_json_value(value, indent_level=0, indent_str="    "):
     """
     Recursively format JSON value with arrays/lists on single line.

src/orisys/sensor.py

@@ -296,21 +296,21 @@ class Sensor:
     #     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.
+    # def update(self):
+    #     """
+    #     Convenience method: get_img + compute_deformation in one call.
         
-        Returns:
-            dict: All sensor data
-        """
-        self.get_img()
-        self.compute_deformation()
-        return {
-            'img': self.__img, 'flow': self.__flow,
-            'normal': self.__vnormal, 'shear': self.__vshear, 'depth': self.__depth_map,
-            'fps': self._fps, 'fnormal': self.__fnormal,
-            'fshearx': self.__fshearx, 'fsheary': self.__fsheary, 'ftor': self.__ftor,
-        }
+    #     Returns:
+    #         dict: All sensor data
+    #     """
+    #     self.get_img()
+    #     self.compute_deformation()
+    #     return {
+    #         'img': self.__img, 'flow': self.__flow,
+    #         'normal': self.__vnormal, 'shear': self.__vshear, 'depth': self.__depth_map,
+    #         'fps': self._fps, 'fnormal': self.__fnormal,
+    #         'fshearx': self.__fshearx, 'fsheary': self.__fsheary, 'ftor': self.__ftor,
+    #     }
 
     def read_info(self, *args) -> Tuple:
         """
@@ -478,15 +478,18 @@ class Sensor:
             self.cal_path = "./config/cal.npy"
         
         if os.path.exists(self.cal_path):
+            if self.verbose:
                 print("Loading calibration from", self.cal_path)
             self.stitch_calibration = np.load(self.cal_path, allow_pickle=True)
             self.__stitcher.stitch_calibration = self.stitch_calibration
             return self.__stitcher.stitch_rt_optimized()
         else:
+            if self.verbose:
                 print("Creating new calibration...")
             img, self.stitch_calibration = self.__stitcher.stitch_cal()
             os.makedirs("./config", exist_ok=True)
             np.save(self.cal_path, self.stitch_calibration)
+            if self.verbose:
                 print("Calibration saved to", self.cal_path)
             return img
 
@@ -508,8 +511,6 @@ class Sensor:
 
         if self.verbose:
             print(f"Config: {self.config_name}")
-            print(f"  Resolution: {self._config_resolution_raw} → {self._config_resolution_stitch}")
-            print(f"  FPS: {self._config_fps}, Units: {self._config_units}")
         return True
 
     def _open_video_source(self, override, box):