added mesh surface arrows

examples/pipeline/service.py

@@ -87,35 +87,6 @@ class FingerPipeline:
         if self.runtime is not None:
             self.runtime.tactile.reset()
 
-    def _read_frame_view(self, tactile, unrolled) -> FingerFrameView:
-        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,
-        )
-        return FingerFrameView(
-            timestamp=time.time() - self._start_time,
-            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"]),
-            raw_frame=tactile.frame,
-        )
-
     def tick(self) -> FingerFrameView | None:
         frame, _timings = self.tick_timed()
         return frame
@@ -165,7 +136,11 @@ class FingerPipeline:
             self.profiler.record("contact", timings.contact_ms)
 
         t0 = time.perf_counter()
-        view = self._read_frame_view(tactile, unrolled)
+        view = FingerFrameView.from_tactile(
+            tactile,
+            unrolled,
+            timestamp=time.time() - self._start_time,
+        )
         timings.read_info_ms = (time.perf_counter() - t0) * 1000.0
         if profile:
             self.profiler.record("read_info", timings.read_info_ms)