import os
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
import cv2
from orisys import Sensor
import numpy as np


def main():
    global start_time
    
    # 打开视频
    sensor1 = Sensor("./s1.mp4",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)
        # 深度图: DEPTH
        fps, fn, fx, fy, flow, depth = sensor1.read_info(sensor1.info.FPS, sensor1.info.FNORMAL, sensor1.info.FSHEARX, sensor1.info.FSHEARY, sensor1.info.VRAW, sensor1.info.DEPTH)
        print(fps,fn,fx,fy)
        # 显示向量场
        arrows  = sensor1.draw_arrows(sensor1.info.VRAW, threshold=5, grid_spacing=40, arrow_scale=1.0) 
        cv2.imshow("Deformation", arrows)

        depth_img = cv2.applyColorMap((depth*1* 255.0).astype('uint8'), cv2.COLORMAP_HOT)

        cv2.imshow('depth', depth_img)

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


if __name__ == '__main__':
    main()