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subject: add packet validity flags and a record-channel sink fan-out

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This commit is contained in:
ykcheungab
2026-09-13 12:34:19 +08:00
parent 85d700bc06
commit f16d2b3d84
4 changed files with 176 additions and 21 deletions
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shared/src/orisys_app_shared/acquisition/arrows.py
+38 -7
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@@ -19,6 +19,9 @@ FLOW_RAMP_FALLBACK = "#12315D,#6E4AD0,#FA02F3,#FF8A6B,#D8FF00"
FLOW_IDLE_HEX = "#8A93A6"
"""Brand-neutral tint for the grid dots below the flow threshold."""
#: BGR grey used for depth samples that carry no value.
NO_DEPTH_BGR = (0x8A, 0x8A, 0x8A)
_LUT_STEPS = 256
_RAMP_MIN_STOPS = 2
_RAMP_MAX_STOPS = 8
@@ -138,8 +141,20 @@ def draw_arrow_display(
def depth_map_to_bgr(
depth: Optional[np.ndarray],
colormap: Optional[np.ndarray] = None,
*,
value_range: Optional[tuple[float, float]] = None,
invalid_mask: Optional[np.ndarray] = None,
) -> Optional[np.ndarray]:
"""Convert a float depth/divergence map to a colormap BGR image."""
"""Convert a float depth/divergence map to a colormap BGR image.
``value_range`` pins the colour scale. Per-frame re-normalisation (the old
behaviour) makes the colours drift from frame to frame, so two frames can
look identical while representing different depths — pass the same range
across a session when frames are meant to be comparable.
``invalid_mask`` marks samples that carry no depth. They are painted with a
neutral grey so "no data" can never be mistaken for "zero depth".
"""
if depth is None:
return None
arr = np.asarray(depth, dtype=np.float64)
@@ -148,12 +163,28 @@ def depth_map_to_bgr(
finite = np.isfinite(arr)
if not np.any(finite):
return None
lo = float(np.nanmin(arr[finite]))
hi = float(np.nanmax(arr[finite]))
if hi > lo:
normalized = ((arr - lo) / (hi - lo) * 255.0).astype(np.uint8)
if value_range is not None and value_range[1] > value_range[0]:
lo, hi = float(value_range[0]), float(value_range[1])
else:
normalized = np.zeros(arr.shape, dtype=np.uint8)
return cv2.applyColorMap(
lo = float(np.nanmin(arr[finite]))
hi = float(np.nanmax(arr[finite]))
if hi > lo:
scaled = (arr - lo) / (hi - lo)
else:
scaled = np.zeros(arr.shape, dtype=np.float64)
scaled = np.clip(scaled, 0.0, 1.0)
normalized = (scaled * 255.0).astype(np.uint8)
image = cv2.applyColorMap(
normalized, cv2.COLORMAP_JET if colormap is None else colormap
)
missing = ~finite
if invalid_mask is not None:
mask = np.asarray(invalid_mask, dtype=bool)
if mask.shape[:2] == image.shape[:2]:
missing = missing | ~mask
if np.any(missing):
#: Neutral grey — deliberately outside the JET ramp so it reads as
#: "undefined" rather than as a depth value.
image[missing] = NO_DEPTH_BGR
return image
shared/src/orisys_app_shared/acquisition/finger_worker.py
+17 -3
View File
@@ -13,6 +13,7 @@ from orisys_app_shared.acquisition.constants import (
FORCE_SAMPLE_RATE_HZ,
LOWPASS_CUTOFF_HZ,
)
from orisys_app_shared.acquisition.sinks import RecordSinkMixin
from orisys_app_shared.acquisition.sdk_worker import (
CAMERA_DISCONNECT_TIMEOUT_S,
HANDOVER_TIMEOUT_S,
@@ -53,7 +54,7 @@ def resolve_finger_export_dir(config_ref: str | Path) -> Path | None:
return candidate.resolve()
class FingerAcquisitionWorker:
class FingerAcquisitionWorker(RecordSinkMixin):
"""Background loop: FingerRuntime grab/unroll + deformation + force readout."""
def __init__(
@@ -62,6 +63,7 @@ class FingerAcquisitionWorker:
on_error: Optional[Callable[[str], None]] = None,
on_status: Optional[Callable[[str], None]] = None,
):
self._init_sinks()
self._on_error = on_error
self._on_status = on_status
self._thread: Optional[threading.Thread] = None
@@ -276,6 +278,9 @@ class FingerAcquisitionWorker:
saw_frame = False
last_frame_mono = 0.0
none_streak_start: Optional[float] = None
# Per-session monotonic frame index: the join key shared by the video,
# the CSV and the calibration records.
frame_id = 0
while not self._stop.is_set() and session == self._session_id and runtime is not None:
try:
@@ -309,12 +314,13 @@ class FingerAcquisitionWorker:
none_streak_start = None
tactile = runtime.tactile
compute_error = ""
try:
self._consume_pending_calibration(tactile)
tactile.compute_deformation(decompose=True, check_motion=False)
tactile.compute_contact()
except Exception:
pass
except Exception as exc: # noqa: BLE001 - reported on the packet
compute_error = f"compute: {type(exc).__name__}: {exc}"
t1 = time.perf_counter()
frame_times.append(t1)
cutoff = t1 - 1.0
@@ -324,6 +330,7 @@ class FingerAcquisitionWorker:
tactile,
config_ref=mode.config_ref,
)
invalid_reason = forces.get("invalid_reason") or compute_error
packet = SdkPacket(
raw_frame=_ensure_bgr(source_frame),
processed_frame=_ensure_bgr(unrolled),
@@ -339,6 +346,10 @@ class FingerAcquisitionWorker:
force_unit=forces["force_unit"],
force_calibrated=forces["force_calibrated"],
session_id=session,
frame_id=frame_id,
valid=bool(forces.get("valid", True)) and not compute_error,
invalid_reason=invalid_reason,
raw_available=bool(forces.get("raw_available", True)),
flow=forces["flow"],
depth=forces.get("depth"),
valid_mask=runtime.valid_mask,
@@ -346,6 +357,9 @@ class FingerAcquisitionWorker:
with self._lock:
self._latest = packet
self._phase = "running"
# Record channel: every packet, regardless of UI refresh rate.
self._emit(packet)
frame_id += 1
saw_frame = True
last_frame_mono = t1
except Exception as exc:
shared/src/orisys_app_shared/acquisition/sdk_worker.py
+52 -11
View File
@@ -3,6 +3,7 @@
from __future__ import annotations
import json
import logging
import threading
import time
from dataclasses import dataclass
@@ -12,10 +13,13 @@ from typing import Callable, Optional
import cv2
import numpy as np
logger = logging.getLogger(__name__)
from orisys_app_shared.acquisition.constants import (
FORCE_SAMPLE_RATE_HZ,
LOWPASS_CUTOFF_HZ,
)
from orisys_app_shared.acquisition.sinks import RecordSinkMixin
VIDEO_EOF_TIMEOUT_S = 0.5
CAMERA_DISCONNECT_TIMEOUT_S = 1.5
@@ -53,6 +57,16 @@ class SdkPacket:
force_unit: str = "raw"
force_calibrated: bool = False
session_id: int = 0
#: Monotonic per-session frame index; the join key for video, CSV and
#: calibration records.
frame_id: int = 0
#: False when the force readout failed. Invalid packets carry NaN forces and
#: must never be averaged into calibration data or written as zeros.
valid: bool = True
invalid_reason: str = ""
#: False when the sensor exposes no RAW channels; the raw fields are then
#: NaN rather than a copy of the calibrated values.
raw_available: bool = True
flow: Optional[np.ndarray] = None
depth: Optional[np.ndarray] = None
valid_mask: Optional[np.ndarray] = None
@@ -117,11 +131,22 @@ def _sensor_force_calibrated(sensor, *, config_ref: str | Path | None = None) ->
def read_forces_from_sensor(sensor, *, config_ref: str | Path | None = None):
"""Read one force sample.
A failed readout is reported as invalid with NaN values — never as zeros,
which would be indistinguishable from a genuine zero reading and would
silently poison every average built on top of it.
"""
info = sensor.info
fn = fx = fy = 0.0
fn_raw = fx_raw = fy_raw = 0.0
nan = float("nan")
fn = fx = fy = nan
fn_raw = fx_raw = fy_raw = nan
flow = None
depth = None
valid = True
error = ""
#: Whether the sensor exposes RAW channels at all. When it does not, the raw
#: fields stay NaN instead of being filled with the calibrated values.
read_raw = all(
hasattr(info, name)
for name in ("FNORMAL_RAW", "FSHEARX_RAW", "FSHEARY_RAW")
@@ -173,22 +198,22 @@ def read_forces_from_sensor(sensor, *, config_ref: str | Path | None = None):
fn, fx, fy, flow, depth = sensor.read_info(
info.FNORMAL, info.FSHEARX, info.FSHEARY, info.VRAW, info.DEPTH
)
fn_raw, fx_raw, fy_raw = fn, fx, fy
elif has_flow:
fn, fx, fy, flow = sensor.read_info(
info.FNORMAL, info.FSHEARX, info.FSHEARY, info.VRAW
)
fn_raw, fx_raw, fy_raw = fn, fx, fy
elif has_depth:
fn, fx, fy, depth = sensor.read_info(
info.FNORMAL, info.FSHEARX, info.FSHEARY, info.DEPTH
)
fn_raw, fx_raw, fy_raw = fn, fx, fy
else:
fn, fx, fy = sensor.read_info(info.FNORMAL, info.FSHEARX, info.FSHEARY)
fn_raw, fx_raw, fy_raw = fn, fx, fy
except Exception:
pass
except Exception as exc: # noqa: BLE001 - reported, not swallowed
valid = False
error = f"{type(exc).__name__}: {exc}" if str(exc) else type(exc).__name__
fn = fx = fy = nan
fn_raw = fx_raw = fy_raw = nan
flow = None
if depth is not None:
arr = np.asarray(depth)
if arr.size == 0:
@@ -205,6 +230,9 @@ def read_forces_from_sensor(sensor, *, config_ref: str | Path | None = None):
"force_unit": "N" if calibrated else "raw",
"flow": flow,
"depth": depth,
"valid": valid,
"invalid_reason": error,
"raw_available": read_raw,
}
@@ -212,7 +240,7 @@ def _is_file_source(video_source: str | int) -> bool:
return isinstance(video_source, str)
class SdkAcquisitionWorker:
class SdkAcquisitionWorker(RecordSinkMixin):
"""Background loop: Sensor.get_img + deformation + force readout."""
def __init__(
@@ -221,6 +249,7 @@ class SdkAcquisitionWorker:
on_error: Optional[Callable[[str], None]] = None,
on_status: Optional[Callable[[str], None]] = None,
):
self._init_sinks()
self._on_error = on_error
self._on_status = on_status
self._thread: Optional[threading.Thread] = None
@@ -424,6 +453,9 @@ class SdkAcquisitionWorker:
saw_frame = False
last_frame_mono = 0.0
none_streak_start: Optional[float] = None
# Per-session monotonic frame index: the join key shared by the video,
# the CSV and the calibration records.
frame_id = 0
while not self._stop.is_set() and session == self._session_id:
try:
@@ -455,18 +487,20 @@ class SdkAcquisitionWorker:
continue
none_streak_start = None
compute_error = ""
try:
self._consume_pending_calibration(sensor)
sensor.compute_deformation(decompose=True, check_motion=False)
sensor.compute_contact()
except Exception:
pass
except Exception as exc: # noqa: BLE001 - reported on the packet
compute_error = f"compute: {type(exc).__name__}: {exc}"
t1 = time.perf_counter()
frame_times.append(t1)
cutoff = t1 - 1.0
frame_times = [t for t in frame_times if t >= cutoff]
fps = float(len(frame_times)) if frame_times else 0.0
forces = read_forces_from_sensor(sensor, config_ref=mode.config_ref)
invalid_reason = forces.get("invalid_reason") or compute_error
packet = SdkPacket(
raw_frame=_ensure_bgr(raw),
processed_frame=_ensure_bgr(processed),
@@ -482,12 +516,19 @@ class SdkAcquisitionWorker:
force_unit=forces["force_unit"],
force_calibrated=forces["force_calibrated"],
session_id=session,
frame_id=frame_id,
valid=bool(forces.get("valid", True)) and not compute_error,
invalid_reason=invalid_reason,
raw_available=bool(forces.get("raw_available", True)),
flow=forces["flow"],
depth=forces.get("depth"),
)
with self._lock:
self._latest = packet
self._phase = "running"
# Record channel: every packet, regardless of UI refresh rate.
self._emit(packet)
frame_id += 1
saw_frame = True
last_frame_mono = t1
except Exception as exc:
shared/src/orisys_app_shared/acquisition/sinks.py
+69
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@@ -0,0 +1,69 @@
"""Record-channel fan-out shared by the acquisition workers.
The workers used to expose exactly one consumer of their data — a single
``latest()`` slot polled by a Qt timer. That made recording depend on the UI
refresh rate, and it meant that hiding a panel could stop a recording.
Every worker now also publishes each :class:`~orisys_app_shared.acquisition.sdk_worker.SdkPacket`
to a list of sinks, from the acquisition thread. Sinks are simple callables and
must be cheap and Qt-free; a sink that raises is logged and dropped for that
packet rather than being allowed to kill acquisition.
"""
from __future__ import annotations
import logging
import threading
from typing import Any, Callable, Iterable
logger = logging.getLogger(__name__)
class RecordSinkMixin:
"""Mixin adding ``add_sink`` / ``remove_sink`` / ``_emit`` to a worker."""
def _init_sinks(self) -> None:
self._sinks: list[Callable[[Any], None]] = []
self._sinks_lock = threading.Lock()
self._emit_failures = 0
def add_sink(self, sink: Callable[[Any], None]) -> None:
"""Register a record-channel consumer of every packet."""
with self._sinks_lock:
if sink not in self._sinks:
self._sinks.append(sink)
def remove_sink(self, sink: Callable[[Any], None]) -> None:
with self._sinks_lock:
if sink in self._sinks:
self._sinks.remove(sink)
def sinks(self) -> tuple[Callable[[Any], None], ...]:
with self._sinks_lock:
return tuple(self._sinks)
@property
def emit_failures(self) -> int:
"""Number of sink calls that raised — surfaced so it is never silent."""
return self._emit_failures
def _emit(self, packet: Any) -> None:
"""Hand ``packet`` to every sink, from the acquisition thread."""
for sink in self.sinks():
try:
sink(packet)
except Exception: # noqa: BLE001 - one bad consumer must not stop capture
self._emit_failures += 1
logger.exception("Record sink %r failed", sink)
def emit_all(sinks: Iterable[Callable[[Any], None]], packet: Any) -> int:
"""Utility for tests: emit to a plain list of sinks, returning failures."""
failures = 0
for sink in sinks:
try:
sink(packet)
except Exception: # noqa: BLE001
failures += 1
logger.exception("Record sink %r failed", sink)
return failures