added mesh surface arrows

2026-06-19 21:22:28 +08:00
parent 2e5c047d1e
commit 258948bcb7
20 changed files with 951 additions and 194 deletions
@@ -23,4 +23,38 @@ class FingerFrameView:
    fsheary: float
    centroid_found: bool
    mask_coverage: float
+    valid_mask: np.ndarray | None = None
    raw_frame: np.ndarray | None = None
+
+    @classmethod
+    def from_tactile(cls, tactile, unrolled, *, timestamp: float) -> FingerFrameView:
+        """Build a display snapshot from tactile state (mask + fields assembled here)."""
+        fps, flow, vnormal, depth_map, centroid, fnormal, fshearx, fsheary = tactile.read_info(
+            tactile.info.FPS,
+            tactile.info.VRAW,
+            tactile.info.VNORMAL,
+            tactile.info.DEPTH,
+            tactile.info.CENTROID,
+            tactile.info.FNORMAL,
+            tactile.info.FSHEARX,
+            tactile.info.FSHEARY,
+        )
+        mask = tactile.valid_mask
+        return cls(
+            timestamp=timestamp,
+            fps=float(fps),
+            unrolled=unrolled,
+            flow=flow,
+            vnormal=vnormal,
+            depth_map=depth_map,
+            img=np.array([]),
+            contour=np.array([]),
+            centroid=centroid,
+            fnormal=float(fnormal),
+            fshearx=float(fshearx),
+            fsheary=float(fsheary),
+            centroid_found=bool(tactile.raw_sensor.centroid_found),
+            mask_coverage=float(tactile.mask_stats["coverage"]),
+            valid_mask=mask.copy() if mask is not None else None,
+            raw_frame=tactile.frame,
+        )