import os
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
import cv2
import orisys

def main():
    global start_time
    
    # 打开视频, config_name 可以根据传感型号选择
    sensor1 = orisys.Sensor("./s1.mp4",isstitch=True,cuda = True,verbose = True, config_name="prototype",cal_path="./config/cal.npy")
    # sensor1 = Sensor(0,isstitch=True,cuda = True,verbose = True, config_name="prototype")

    # 打开摄像头
    # sensor1 = Sensor(0,isstitch=True,cuda = True,verbose = True)
    while True:
        sensor1.get_img() # 提取并拼接复眼图像
        sensor1.compute_deformation() # 计算形变和分解
        # 提取信息：
        # 向量场: VRAW, VNORMAL, VSHEAR: 原始，法向，切向 
        # 帧率，时间戳: FPS, TIMESTAMP
        # 变形量总和: FNORMAL , FSHEARX, FSHEARY : 法向，切向（X)，切向（Y)
        fps, fn, fx, fy, flow = sensor1.read_info(sensor1.info.FPS, sensor1.info.FNORMAL, sensor1.info.FSHEARX, sensor1.info.FSHEARY, sensor1.info.VRAW)

        # 显示向量场
        arrows = orisys.util.draw_arrows(sensor1.img, flow, threshold=5, grid_spacing=40, arrow_scale=1.0)
        cv2.imshow("Deformation", arrows)

        key = cv2.waitKey(1)
        if key & 0xFF == ord("q"):
            print("\n 停止程序")
            break
        if key & 0xFF == ord("r"):
            sensor1.reset()
    
    sensor1.disconnect() # 断开传感器连接
    

if __name__ == '__main__':
    main()