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added mesh surface arrows

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This commit is contained in:
ykcheungab
2026-06-19 21:22:28 +08:00
parent 2e5c047d1e
commit 258948bcb7
20 changed files with 951 additions and 194 deletions
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examples/gui/dashboard.py
+68 -29
View File
@@ -6,7 +6,7 @@ import sys
import time
from pathlib import Path
from PyQt5.QtCore import Qt, QTimer
from PyQt5.QtCore import QSize, Qt, QTimer
from PyQt5.QtGui import QIcon
from PyQt5.QtWidgets import (
QApplication,
@@ -31,6 +31,7 @@ from .layout import (
top_row_splitter_sizes,
)
from .styles import STYLE
from .transport_icons import transport_icon
from .widgets import (
ArrowPanelWidget,
ForceChartWidget,
@@ -41,6 +42,15 @@ from .widgets import (
)
_PLAY_PAUSE_BUTTON_NAME = "btnPlayPause"
_PLAY_PAUSE_ICON_PX = 18
_PLAY_PAUSE_ICON_COLORS = {
"run": "#4caf84",
"starting": "#555555",
"pause": "#ff9800",
}
class FingerDashboardWindow(QMainWindow):
"""Single-window finger demo: 3D mesh | UV arrows | force charts."""
@@ -88,14 +98,14 @@ class FingerDashboardWindow(QMainWindow):
bar = QHBoxLayout()
bar.setSpacing(layout.toolbar_spacing_px)
self.btn_camera = QPushButton("摄像机")
self.btn_camera = QPushButton("Sensor")
self.btn_camera.clicked.connect(self._select_camera)
bar.addWidget(self.btn_camera)
self.camera_edit = QLineEdit("0")
self.camera_edit.setPlaceholderText("摄像头编号 或 视频路径")
self.camera_edit.setPlaceholderText("Camera ID or Video Path")
bar.addWidget(self.camera_edit, 1)
self.btn_config = QPushButton("配置")
self.btn_config = QPushButton("Config")
self.btn_config.clicked.connect(self._select_config)
bar.addWidget(self.btn_config)
self.config_edit = QLineEdit("./config/dd02-ov.json")
@@ -104,33 +114,37 @@ class FingerDashboardWindow(QMainWindow):
self.cal_edit = QLineEdit("")
bar.addWidget(self.cal_edit, 1)
self.btn_reset = QPushButton("重置")
self.btn_reset = QPushButton("Reset")
self.btn_reset.setEnabled(False)
self.btn_reset.clicked.connect(self._on_reset)
bar.addWidget(self.btn_reset)
self.btn_start = QPushButton("启动")
self.btn_start.setObjectName("btnStart")
self.btn_start.clicked.connect(self._on_start)
bar.addWidget(self.btn_start)
self.btn_stop = QPushButton("暂停")
self.btn_stop.setObjectName("btnStop")
self.btn_stop.setEnabled(False)
self.btn_stop.clicked.connect(self._on_stop)
bar.addWidget(self.btn_stop)
self.btn_play_pause = QPushButton()
self.btn_play_pause.setObjectName(_PLAY_PAUSE_BUTTON_NAME)
self.btn_play_pause.setFixedSize(36, 32)
self.btn_play_pause.setIconSize(QSize(_PLAY_PAUSE_ICON_PX, _PLAY_PAUSE_ICON_PX))
self.btn_play_pause.clicked.connect(self._on_play_pause_clicked)
self._set_play_pause_button("run")
bar.addWidget(self.btn_play_pause)
root_layout.addLayout(bar)
setup = layout.panel_setup
self._panel_widgets: dict[str, QWidget] = {}
self.mesh_viewport = MeshViewportWidget(layout=layout)
self.arrow_panel = ArrowPanelWidget(flow_threshold=layout.arrow_flow_threshold, layout=layout)
arrows_slot = layout.slot("arrows")
self.arrow_panel: ArrowPanelWidget | None = None
if arrows_slot is not None and arrows_slot.enabled:
self.arrow_panel = ArrowPanelWidget(
flow_threshold=layout.arrow_flow_threshold,
background=layout.arrow_background,
layout=layout,
)
self.force_charts = ForceChartWidget(layout=layout, lowpass_cutoff_hz=self.config.lowpass_cutoff_hz)
self.log_widget = make_log_widget(layout.log_config)
self._panel_widgets: dict[str, QWidget] = {}
self._panel_widgets["mesh"] = self.mesh_viewport
if self.arrow_panel is not None:
self._panel_widgets["arrows"] = self.arrow_panel
self._panel_widgets["charts"] = self.force_charts.widget
self._panel_widgets["log"] = self.log_widget
@@ -194,11 +208,40 @@ class FingerDashboardWindow(QMainWindow):
sys.stdout = TeeStream(*streams)
sys.stderr = sys.stdout
def _set_play_pause_button(self, state: str) -> None:
"""``run`` = green play, ``starting`` = grey disabled play, ``pause`` = orange pause."""
btn = self.btn_play_pause
if state == "run":
btn.setToolTip("Run")
btn.setEnabled(True)
elif state == "starting":
btn.setToolTip("Starting…")
btn.setEnabled(False)
elif state == "pause":
btn.setToolTip("Pause")
btn.setEnabled(True)
else:
raise ValueError(f"unknown play/pause state: {state!r}")
kind = "pause" if state == "pause" else "play"
btn.setText("")
btn.setIcon(transport_icon(kind, _PLAY_PAUSE_ICON_COLORS[state]))
btn.setProperty("playState", state)
style = btn.style()
style.unpolish(btn)
style.polish(btn)
btn.update()
def _on_play_pause_clicked(self) -> None:
if self._running:
self._on_stop()
else:
self._on_start()
def _on_start(self) -> None:
if self._running:
return
self.btn_start.setText("启动中...")
self.btn_start.setEnabled(False)
self._set_play_pause_button("starting")
QApplication.processEvents()
self.config.video = self.camera_edit.text().strip()
@@ -214,8 +257,7 @@ class FingerDashboardWindow(QMainWindow):
QTimer.singleShot(0, self._apply_panel_layout)
except Exception as exc:
self.mesh_viewport.close_renderer()
self.btn_start.setText("启动")
self.btn_start.setEnabled(True)
self._set_play_pause_button("run")
print(f"启动失败: {exc}")
return
@@ -223,8 +265,7 @@ class FingerDashboardWindow(QMainWindow):
self._frame_index = 0
self._wall_fps = 0.0
self.timer.start(self.layout.timer_interval_ms)
self.btn_start.setText("启动")
self.btn_stop.setEnabled(True)
self._set_play_pause_button("pause")
self.btn_reset.setEnabled(True)
print(
f"▶ 启动 — 摄像机={self.config.video}, 配置={self.config.config}, "
@@ -237,17 +278,14 @@ class FingerDashboardWindow(QMainWindow):
self._running = False
self.timer.stop()
self.log_handler.clear_status_line()
self.btn_stop.setText("停止中...")
self.btn_stop.setEnabled(False)
self._set_play_pause_button("starting")
QApplication.processEvents()
self.mesh_viewport.close_renderer()
self.pipeline.close()
self.btn_start.setEnabled(True)
self.btn_stop.setText("暂停")
self._set_play_pause_button("run")
self.btn_reset.setEnabled(False)
print("⏸ 已暂停")
def _on_reset(self) -> None:
if not self._running:
@@ -278,6 +316,7 @@ class FingerDashboardWindow(QMainWindow):
profile.record("mesh", mesh_ms)
arrows_ms = 0.0
if self.arrow_panel is not None:
t0 = time.perf_counter()
self.arrow_panel.update_frame(frame)
arrows_ms = (time.perf_counter() - t0) * 1000.0
examples/gui/layout.py
+47 -8
View File
@@ -19,6 +19,8 @@ MeshLighting (below) controls the 3D mesh panel sun light:
intensity — Filament sun strength (typical 30000–120000)
ambient/diffuse — Windows viewer shading weights (0–1)
MESH_BACKGROUND (below) sets the 3D mesh panel clear color (RGB 0–255).
MESH_CONTACT_ARROW (below) controls the yellow 3D contact arrow on the mesh panel:
reference_normal_force — Fn at which arrow reaches full size (log/power/linear curve)
force_strength_mode — "log" | "power" | "linear"
@@ -34,7 +36,7 @@ Performance (3D dashboard; edit DashboardLayout defaults):
chart_update_stride — update force charts every N frames
mesh_async_render — background mesh render (Linux only; Windows uses sync)
Edit TOP_ROW.slots to reorder or resize panels.
Edit TOP_ROW.slots to reorder or resize panels; set ``enabled=False`` to hide a panel (e.g. arrows).
Edit PANEL_SETUP to change top vs log proportions.
Edit LOG_CONFIG for live status line and log panel appearance.
"""
@@ -46,6 +48,8 @@ from dataclasses import dataclass
from typing import Literal
from viz.contact_arrow import ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
from viz.flow_arrow import FlowArrowStyle
from viz.render_2d import ArrowBackground, ArrowCanvasColors
PanelId = Literal["mesh", "arrows", "charts", "log"]
@@ -84,7 +88,7 @@ class PanelSetup:
TOP_ROW = PanelRow(
slots=(
PanelSlot("mesh", "3D mesh", width_px=500, height_px=500),
PanelSlot("arrows", "UV Unrolled", width_px=500, height_px=500),
PanelSlot("arrows", "UV Unrolled", width_px=500, height_px=500, enabled=False),
PanelSlot("charts", "Force charts", width_px=500, height_px=500),
),
)
@@ -99,8 +103,8 @@ PANEL_SETUP = PanelSetup(
)
# Open3D offscreen resolution for the mesh panel (independent of on-screen widget size).
MESH_RENDER_WIDTH_PX = 256
MESH_RENDER_HEIGHT_PX = 256
MESH_RENDER_WIDTH_PX = 500
MESH_RENDER_HEIGHT_PX = 500
@dataclass(frozen=True)
@@ -123,13 +127,23 @@ class MeshLighting:
MESH_LIGHTING = MeshLighting(
azimuth_deg=-45.0,
azimuth_deg=0,
elevation_deg=0,
intensity=75000.0,
ambient=0.5,
diffuse=0.5,
)
@dataclass(frozen=True)
class MeshBackground:
"""3D mesh panel clear color — edit MESH_BACKGROUND or DashboardLayout.mesh_background."""
color: tuple[int, int, int] = (0, 0, 0)
MESH_BACKGROUND = MeshBackground(color=(0, 0, 0))
# 3D mesh contact arrow — edit here for dashboard tuning (see ContactArrowStyle in viz/contact_arrow.py).
MESH_CONTACT_ARROW = ContactArrowStyle(
reference_normal_force=10000.0,
@@ -143,6 +157,26 @@ MESH_CONTACT_ARROW = ContactArrowStyle(
color=(1.0, 0.92, 0.10),
)
# 3D mesh flow line arrows — tail_color/head_color are RGB 0–255 (see FlowArrowStyle).
MESH_FLOW_ARROW = FlowArrowStyle(
threshold=2.0,
grid_spacing=20,
arrow_scale=0.5,
length_margin=1.0,
tail_color=(40, 100, 220),
head_color=(40, 100, 220),
head_fraction=0.5,
opacity=1,
line_width=15,
head_line_width=30.0,
)
# UV arrow synthetic canvas — BGR tuples (outside valid_mask, inside valid_mask).
ARROW_CANVAS_COLORS = ArrowCanvasColors(
outside_bgr=(0, 0, 0),
uv_bgr=(128, 0, 0),
)
@dataclass(frozen=True)
class LogConfig:
@@ -150,7 +184,7 @@ class LogConfig:
status_enabled: bool = True
max_lines: int = 2000
font_family: str = "Consolas"
font_family: str = "Cascadia Mono"
font_pt: int = 12
show_flow: bool = True
show_mask: bool = True
@@ -191,7 +225,7 @@ class DashboardLayout:
panel_setup: PanelSetup = PANEL_SETUP
window_title: str = "Orisys Finger Dashboard"
window_width: int = 1500
window_width: int = 1000
window_height: int = 600
root_margin_px: int = 6
@@ -203,15 +237,20 @@ class DashboardLayout:
chart_title_font_pt: int = 11
chart_axis_label_font_pt: int = 9
chart_tick_font_pt: int = 9
y_axis_min_span: float = 20000.0
y_axis_min_span: float = 10000.0
y_range_smooth_alpha: float = 0.5
curve_color: str = "#00E5FF"
# UV arrow panel: min flow magnitude to draw an arrow (display only; not dd02-ov.json contact.flow_threshold)
arrow_flow_threshold: float = 1.0
# "unrolled" = sensor texture; "white" = solid canvas (tune colors via arrow_canvas_colors)
arrow_background: ArrowBackground = "white"
arrow_canvas_colors: ArrowCanvasColors = ARROW_CANVAS_COLORS
mesh_lighting: MeshLighting = MESH_LIGHTING
mesh_background: MeshBackground = MESH_BACKGROUND
mesh_contact_arrow: ContactArrowStyle = MESH_CONTACT_ARROW
mesh_flow_arrow: FlowArrowStyle = MESH_FLOW_ARROW
log_config: LogConfig = LOG_CONFIG
examples/gui/mesh_render_worker.py
+3 -1
View File
@@ -28,7 +28,7 @@ class MeshRenderWorker(QThread):
self._renderer = None
self._pending = None
def submit(self, *, flow, scalar_map, centroid, centroid_found, fnormal) -> None:
def submit(self, *, flow, scalar_map, centroid, centroid_found, fnormal, valid_mask=None) -> None:
with QMutexLocker(self._mutex):
self._pending = {
"flow": flow,
@@ -36,6 +36,7 @@ class MeshRenderWorker(QThread):
"centroid": centroid,
"centroid_found": centroid_found,
"fnormal": fnormal,
"valid_mask": valid_mask,
}
self._wake = True
if not self.isRunning():
@@ -66,6 +67,7 @@ class MeshRenderWorker(QThread):
centroid=job["centroid"],
centroid_found=job["centroid_found"],
fnormal=job["fnormal"],
valid_mask=job["valid_mask"],
)
self.rgb_ready.emit(np.ascontiguousarray(rgb))
examples/gui/styles.py
+31 -22
View File
@@ -1,5 +1,10 @@
"""Qt stylesheet for the finger dashboard."""
UI_FONT_STACK = '"Segoe UI Variable", "Segoe UI", "Inter", "Microsoft YaHei UI", sans-serif'
LOG_FONT_STACK = '"Cascadia Mono", "JetBrains Mono", "IBM Plex Mono", "Consolas", monospace'
UI_FONT_PRIMARY = "Segoe UI"
LOG_FONT_PRIMARY = "Cascadia Mono"
STYLE = """
QMainWindow {
background-color: #000000;
@@ -17,7 +22,7 @@ QPushButton {
border: 1px solid #333333;
border-radius: 4px;
padding: 6px 16px;
font-family: "SimHei";
font-family: __UI_FONT__;
font-size: 13px;
}
QPushButton:hover {
@@ -25,33 +30,36 @@ QPushButton:hover {
color: #cccccc;
border: 1px solid #555555;
}
QPushButton#btnStart {
QPushButton#btnPlayPause {
background-color: #0d2818;
color: #4caf84;
border: 1px solid #1a4d30;
padding: 4px 8px;
font-size: 15px;
}
QPushButton#btnStart:hover {
QPushButton#btnPlayPause:hover {
background-color: #143d24;
color: #6fd4a0;
}
QPushButton#btnStart:disabled {
background-color: #0f0f0f;
color: #333333;
border: 1px solid #222222;
QPushButton#btnPlayPause:disabled {
background-color: #1a1a1a;
color: #555555;
border: 1px solid #333333;
}
QPushButton#btnStop {
background-color: #2b1010;
color: #e05555;
border: 1px solid #4d1a1a;
QPushButton#btnPlayPause[playState="pause"] {
background-color: #3d2808;
color: #ff9800;
border: 1px solid #6d4400;
}
QPushButton#btnStop:hover {
background-color: #3d1818;
color: #f07070;
QPushButton#btnPlayPause[playState="pause"]:hover {
background-color: #523208;
color: #ffb74d;
border: 1px solid #8a5a00;
}
QPushButton#btnStop:disabled {
background-color: #0f0f0f;
color: #333333;
border: 1px solid #222222;
QPushButton#btnPlayPause[playState="pause"]:disabled {
background-color: #1a1a1a;
color: #555555;
border: 1px solid #333333;
}
QLineEdit {
background-color: #0d0d0d;
@@ -59,6 +67,7 @@ QLineEdit {
border: 1px solid #333333;
border-radius: 4px;
padding: 5px 10px;
font-family: __UI_FONT__;
font-size: 13px;
}
@@ -69,11 +78,11 @@ GraphicsLayoutWidget {
QPlainTextEdit {
background-color: #0b0b0b;
color: #777777;
color: #999999;
border: 1px solid #262626;
border-radius: 4px;
font-family: "Cascadia Code", "Consolas", "Courier New", monospace;
font-size: 13px;
font-family: __LOG_FONT__;
font-size: 12px;
padding: 8px;
selection-background-color: #1a3a4a;
selection-color: #cccccc;
@@ -111,4 +120,4 @@ QSplitter::handle:vertical {
QSplitter::handle:horizontal {
width: 1px;
}
"""
""".replace("__UI_FONT__", UI_FONT_STACK).replace("__LOG_FONT__", LOG_FONT_STACK)
examples/gui/transport_icons.py
+50
View File
@@ -0,0 +1,50 @@
"""Monochrome play/pause icons for the dashboard toolbar (avoids Windows emoji glyphs)."""
from __future__ import annotations
from typing import Literal
from PyQt5.QtCore import QPointF, QRectF, Qt
from PyQt5.QtGui import QColor, QIcon, QPainter, QPixmap, QPolygonF
TransportKind = Literal["play", "pause"]
_DEFAULT_ICON_PX = 18
def transport_icon(kind: TransportKind, color: str, *, size: int = _DEFAULT_ICON_PX) -> QIcon:
"""Build a flat play triangle or pause bars in ``color`` (#rrggbb)."""
pixmap = QPixmap(size, size)
pixmap.fill(Qt.transparent)
painter = QPainter(pixmap)
painter.setRenderHint(QPainter.Antialiasing, True)
painter.setBrush(QColor(color))
painter.setPen(Qt.NoPen)
if kind == "play":
w = size * 0.52
h = size * 0.60
x0 = (size - w) * 0.58
y0 = (size - h) / 2.0
painter.drawPolygon(
QPolygonF(
[
QPointF(x0, y0),
QPointF(x0, y0 + h),
QPointF(x0 + w, y0 + h / 2.0),
]
)
)
else:
bar_w = size * 0.17
bar_h = size * 0.60
gap = size * 0.14
y0 = (size - bar_h) / 2.0
x0 = (size - (2.0 * bar_w + gap)) / 2.0
radius = max(1.0, size * 0.06)
painter.drawRoundedRect(QRectF(x0, y0, bar_w, bar_h), radius, radius)
painter.drawRoundedRect(QRectF(x0 + bar_w + gap, y0, bar_w, bar_h), radius, radius)
painter.end()
return QIcon(pixmap)
examples/gui/widgets/arrow_image.py
+8 -3
View File
@@ -5,7 +5,7 @@ from __future__ import annotations
import cv2
from pipeline.frame import FingerFrameView
from viz.render_2d import render_uv_arrows
from viz.render_2d import ArrowBackground, ArrowCanvasColors, render_uv_arrows
from ..layout import DashboardLayout, LAYOUT
from .image_panel import ImagePanel
@@ -19,6 +19,8 @@ class ArrowPanelWidget(ImagePanel):
self,
*,
flow_threshold: float = 0.5,
background: ArrowBackground = "unrolled",
canvas_colors: ArrowCanvasColors | None = None,
layout: DashboardLayout = LAYOUT,
parent=None,
):
@@ -30,15 +32,18 @@ class ArrowPanelWidget(ImagePanel):
parent=parent,
)
self.flow_threshold = flow_threshold
self.background = background
self.canvas_colors = canvas_colors if canvas_colors is not None else layout.arrow_canvas_colors
def set_flow_threshold(self, threshold: float) -> None:
self.flow_threshold = threshold
def update_frame(self, frame: FingerFrameView) -> None:
arrows = render_uv_arrows(
frame.unrolled,
frame.vnormal,
frame,
flow_threshold=self.flow_threshold,
background=self.background,
canvas_colors=self.canvas_colors,
)
arrows = cv2.rotate(arrows, cv2.ROTATE_180)
self.set_source_pixmap(ndarray_to_pixmap(arrows, bgr=True))
examples/gui/widgets/force_charts.py
+6 -5
View File
@@ -7,6 +7,7 @@ from PyQt5.QtGui import QFont
from PyQt5.QtWidgets import QSizePolicy
from gui.layout import DashboardLayout, LAYOUT
from gui.styles import LOG_FONT_PRIMARY, UI_FONT_PRIMARY
from pipeline.frame import FingerFrameView
from viz.signal_filters import lowpass_filter
@@ -72,21 +73,21 @@ class ForceChartWidget:
def _create_plots(self) -> None:
pg = self._pg
layout = self._layout
titles = ["法向力", "切向力 X", "切向力 Y"]
titles = ["Normal Deformation", "X Deformation", "Y Deformation"]
self.plots = []
self.curves = []
self.dot_glows = []
self.dot_cores = []
axis_pen = pg.mkPen(color=(38, 38, 38), width=1)
label_font = QFont("SimHei", layout.chart_axis_label_font_pt)
label_font = QFont(UI_FONT_PRIMARY, layout.chart_axis_label_font_pt)
title_pt = layout.chart_title_font_pt
for i, title in enumerate(titles):
plot = self.widget.addPlot(title=None)
plot.setTitle(title, color="#999999", size=f"{title_pt}pt")
plot.titleLabel.setFont(QFont("SimHei", title_pt))
plot.setLabel("bottom", "时间", units="s")
plot.titleLabel.setFont(QFont(UI_FONT_PRIMARY, title_pt))
plot.setLabel("bottom", "Time", units="s")
plot.getAxis("bottom").label.setFont(label_font)
plot.showAxis("top", False)
plot.showAxis("right", False)
@@ -94,7 +95,7 @@ class ForceChartWidget:
plot.getAxis("bottom").setPen(axis_pen)
plot.showGrid(x=False, y=True, alpha=0.12)
tick_font = QFont("Consolas", layout.chart_tick_font_pt)
tick_font = QFont(LOG_FONT_PRIMARY, layout.chart_tick_font_pt)
tick_font.setStyleHint(QFont.Monospace)
plot.getAxis("left").setTickFont(tick_font)
plot.getAxis("bottom").setTickFont(tick_font)
examples/gui/widgets/mesh_viewport.py
+4
View File
@@ -65,7 +65,9 @@ class MeshViewportWidget(ImagePanel):
world_to_cam=pipeline.world_to_cam,
lookat=pipeline.mesh_lookat,
mesh_lighting=self._layout.mesh_lighting,
mesh_background=self._layout.mesh_background.color,
contact_arrow_style=self._layout.mesh_contact_arrow,
flow_arrow_style=self._layout.mesh_flow_arrow,
)
def _stop_worker(self) -> None:
@@ -93,6 +95,7 @@ class MeshViewportWidget(ImagePanel):
centroid=frame.centroid,
centroid_found=frame.centroid_found,
fnormal=frame.fnormal,
valid_mask=frame.valid_mask,
)
return 0.0
@@ -105,6 +108,7 @@ class MeshViewportWidget(ImagePanel):
centroid=frame.centroid,
centroid_found=frame.centroid_found,
fnormal=frame.fnormal,
valid_mask=frame.valid_mask,
)
self.set_source_pixmap(ndarray_to_pixmap(rgb, bgr=False))
return (time.perf_counter() - t0) * 1000.0
examples/pipeline/frame.py
+34
View File
@@ -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,
)
examples/pipeline/service.py
+5 -30
View File
@@ -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)
examples/viz/__init__.py
+17 -4
View File
@@ -9,15 +9,29 @@ from .mesh_camera import (
resolve_viz_pose_path,
)
from .offscreen_mesh import OffscreenFingerMeshRenderer
from .render_2d import render_contact_panel, render_depth_panel, render_uv_arrows
from .render_2d import (
ArrowBackground,
ArrowCanvasColors,
DEFAULT_ARROW_CANVAS_COLORS,
depth_colormap,
frame_to_bgr,
render_contact_panel,
render_depth_panel,
render_uv_arrows,
)
from .flow_arrow import DEFAULT_FLOW_ARROW_STYLE, FlowArrowOverlay, FlowArrowStyle
from .finger_mesh_viewer import FingerMeshViewer
from .mesh_viewer import UVMeshViewer, build_uv_surface_mesh
from .opencv_maps import depth_colormap, draw_magnitude_map, frame_to_bgr
from .recording import FrameRecorder
from .signal_filters import lowpass_filter
__all__ = [
"DEFAULT_FINGER_VIZ_POSE",
"ArrowBackground",
"ArrowCanvasColors",
"DEFAULT_ARROW_CANVAS_COLORS",
"DEFAULT_FLOW_ARROW_STYLE",
"FlowArrowOverlay",
"FlowArrowStyle",
"FingerMeshViewer",
"ForceChartWindow",
"FrameRecorder",
@@ -27,7 +41,6 @@ __all__ = [
"build_uv_surface_mesh",
"camera_look_at_from_world_to_cam",
"depth_colormap",
"draw_magnitude_map",
"frame_to_bgr",
"lowpass_filter",
"OffscreenFingerMeshRenderer",
examples/viz/finger_mesh_viewer.py
+30 -8
View File
@@ -1,14 +1,19 @@
"""Finger 3D mesh viewer with example-only contact arrow overlay."""
"""Finger 3D mesh viewer with example-only contact and flow arrow overlays."""
from __future__ import annotations
from dataclasses import replace
import numpy as np
from orisys.finger.viewer import UVMeshViewer
from .contact_arrow import ContactArrowOverlay, ContactArrowStyle, DEFAULT_CONTACT_ARROW_STYLE
from .flow_arrow import DEFAULT_FLOW_ARROW_STYLE, FlowArrowOverlay, FlowArrowStyle
class FingerMeshViewer(UVMeshViewer):
"""UV mesh viewer with a force-scaled contact normal arrow."""
"""UV mesh viewer with force-scaled contact arrow and flow tube arrows."""
def __init__(
self,
@@ -24,6 +29,8 @@ class FingerMeshViewer(UVMeshViewer):
contact_arrow_style: ContactArrowStyle | None = None,
normal_force_scale: float | None = None,
show_contact_arrow: bool = True,
flow_arrow_style: FlowArrowStyle | None = None,
show_flow_arrows: bool = True,
):
super().__init__(
mesh,
@@ -41,16 +48,24 @@ class FingerMeshViewer(UVMeshViewer):
normal_force_scale=normal_force_scale,
enabled=show_contact_arrow,
)
style = flow_arrow_style or DEFAULT_FLOW_ARROW_STYLE
if not show_flow_arrows:
style = replace(style, enabled=False)
self._flow_arrow = FlowArrowOverlay(mesh, style=style)
def _extra_geometries(self):
geoms = []
if self._contact_arrow.arrow_mesh is not None:
geoms.append(self._contact_arrow.arrow_mesh)
if self._flow_arrow.enabled and self._flow_arrow.arrow_mesh is not None:
geoms.append(self._flow_arrow.arrow_mesh)
return geoms
def _extra_geometries_for_init(self):
if self._contact_arrow.arrow_mesh is None:
return []
return [self._contact_arrow.arrow_mesh]
return self._extra_geometries()
def _extra_geometries_for_update(self):
if self._contact_arrow.arrow_mesh is None:
return []
return [self._contact_arrow.arrow_mesh]
return self._extra_geometries()
def update(
self,
@@ -60,9 +75,16 @@ class FingerMeshViewer(UVMeshViewer):
centroid=None,
centroid_found: bool = False,
fnormal: float = 0.0,
valid_mask: np.ndarray | None = None,
):
arrow = self._contact_arrow.compute(centroid, centroid_found, fnormal)
if arrow is not None and self._contact_arrow.arrow_mesh is not None:
arrow_vertices, _, arrow_colors = arrow
self._contact_arrow.apply(arrow_vertices, arrow_colors)
flow_result = self._flow_arrow.compute(flow, valid_mask=valid_mask)
if flow_result is not None and self._flow_arrow.arrow_mesh is not None:
flow_vertices, flow_triangles, flow_colors = flow_result
self._flow_arrow.apply(flow_vertices, flow_triangles, flow_colors)
return super().update(flow=flow, scalar_map=scalar_map)
examples/viz/flow_arrow.py
+431
View File
@@ -0,0 +1,431 @@
"""Optical-flow arrow tubes on the finger UV surface mesh (TriangleMesh cylinders)."""
from __future__ import annotations
from dataclasses import dataclass
from typing import Literal
import cv2
import numpy as np
from orisys.finger.mesh import DEFAULT_SURFACE_COLOR, UVSurfaceMesh
from .contact_arrow import _rotation_matrix_z_to
# Grey mesh tone used to approximate opacity on backends without true alpha.
_MESH_GREY_RGB = np.asarray(DEFAULT_SURFACE_COLOR, dtype=np.float64)
# Maps style.line_width to tube radius as a fraction of mesh extent.
LINE_WIDTH_TO_SPAN_FRACTION = 0.0003
# Slight tail extension into the head segment to avoid visible gaps.
_TAIL_HEAD_OVERLAP_FRACTION = 0.03
SegmentRole = Literal["tail", "head"]
_CYLINDER_TEMPLATE_VERTICES: np.ndarray | None = None
_CYLINDER_TEMPLATE_TRIANGLES: np.ndarray | None = None
_CONE_TEMPLATE_VERTICES: np.ndarray | None = None
_CONE_TEMPLATE_TRIANGLES: np.ndarray | None = None
_CONE_APEX_AT_LOW_Z: bool | None = None
@dataclass(frozen=True)
class FlowArrowStyle:
"""Visual tuning for 3D mesh flow arrows (dashboard: edit MESH_FLOW_ARROW in layout.py).
``line_width`` / ``head_line_width`` scale tail and head tube radius relative to mesh extent.
``tail_color`` / ``head_color`` are RGB in 0–255 (same convention as OpenCV BGR tuples, but RGB order).
"""
enabled: bool = True
threshold: float = 1.0
grid_spacing: int = 20
arrow_scale: float = 0.5
length_margin: float = 1.0
tail_color: tuple[int, int, int] = (38, 235, 89)
head_color: tuple[int, int, int] = (13, 115, 31)
head_fraction: float = 0.25
opacity: float = 0.65
line_width: float = 2.0
head_line_width: float = 3.0
edge_margin: int = 8
DEFAULT_FLOW_ARROW_STYLE = FlowArrowStyle()
def _mesh_span(vertices: np.ndarray) -> float:
extent = np.ptp(vertices, axis=0)
return float(max(np.max(extent), 1e-6))
def segment_radius(mesh_span: float, line_width: float) -> float:
"""World-space tube radius from mesh extent and a width knob."""
return mesh_span * max(float(line_width), 0.1) * LINE_WIDTH_TO_SPAN_FRACTION
def segment_radius_for_role(mesh_span: float, style: FlowArrowStyle, role: SegmentRole) -> float:
width = style.line_width if role == "tail" else style.head_line_width
return segment_radius(mesh_span, width)
def _prepare_uv_mask(valid_mask, shape: tuple[int, int]) -> np.ndarray | None:
if valid_mask is None:
return None
h, w = shape
mask = np.asarray(valid_mask, dtype=bool)
if mask.shape != (h, w):
mask_u8 = mask.astype(np.uint8)
if mask_u8.ndim > 2:
mask_u8 = mask_u8[:, :, 0]
mask = cv2.resize(mask_u8, (w, h), interpolation=cv2.INTER_NEAREST).astype(bool)
return mask
def _style_rgb01(style: FlowArrowStyle, role: SegmentRole) -> np.ndarray:
rgb = np.asarray(style.tail_color if role == "tail" else style.head_color, dtype=np.float64).reshape(3)
return np.clip(rgb / 255.0, 0.0, 1.0)
def effective_segment_color(
style: FlowArrowStyle,
role: SegmentRole,
*,
use_alpha_blend: bool = True,
) -> np.ndarray:
"""Return RGB in 0–1 for a tail or head segment."""
rgb = _style_rgb01(style, role)
if not use_alpha_blend:
return rgb
opacity = float(np.clip(style.opacity, 0.0, 1.0))
return np.clip(opacity * rgb + (1.0 - opacity) * _MESH_GREY_RGB, 0.0, 1.0)
def _sample_flow_segments(
world_xyz: np.ndarray,
flow: np.ndarray,
*,
style: FlowArrowStyle = DEFAULT_FLOW_ARROW_STYLE,
valid_mask: np.ndarray | None = None,
) -> tuple[np.ndarray, np.ndarray, list[SegmentRole]]:
"""Return segment start/end world points and role per segment (tail then head)."""
empty = np.empty((0, 3), dtype=np.float64)
if flow is None or np.asarray(flow).size == 0:
return empty, empty, []
flow = np.asarray(flow, dtype=np.float64)
world_xyz = np.asarray(world_xyz, dtype=np.float64)
h, w = flow.shape[:2]
if world_xyz.shape[:2] != (h, w):
return empty, empty, []
grid_spacing = max(int(style.grid_spacing), 1)
edge_margin = int(style.edge_margin)
margin = float(style.length_margin)
arrow_scale = max(float(style.arrow_scale), 1e-9)
head_fraction = float(np.clip(style.head_fraction, 0.05, 0.95))
tail_fraction = 1.0 - head_fraction
rr = np.arange(grid_spacing // 2, h, grid_spacing)
cc = np.arange(grid_spacing // 2, w, grid_spacing)
rr, cc = np.meshgrid(rr, cc, indexing="ij")
rr, cc = rr.reshape(-1), cc.reshape(-1)
disp = 2.0 * flow[rr, cc, :]
mag = np.linalg.norm(disp, axis=1)
dx = disp[:, 0] / arrow_scale
dy = disp[:, 1] / arrow_scale
length = np.sqrt(dx * dx + dy * dy)
scale = np.where(
length > grid_spacing * margin,
grid_spacing / np.maximum(length, 1e-9),
1.0,
) * margin
dx, dy = dx * scale, dy * scale
end_x = np.clip(np.round(cc + dx).astype(np.int32), 0, w - 1)
end_y = np.clip(np.round(rr + dy).astype(np.int32), 0, h - 1)
valid = (
(cc >= edge_margin)
& (cc < w - edge_margin)
& (rr >= edge_margin)
& (rr < h - edge_margin)
& (mag >= float(style.threshold))
)
mask = _prepare_uv_mask(valid_mask, (h, w))
if mask is not None:
valid &= mask[rr, cc]
valid &= mask[end_y, end_x]
if not np.any(valid):
return empty, empty, []
starts = world_xyz[rr[valid], cc[valid]]
ends = world_xyz[end_y[valid], end_x[valid]]
finite = np.all(np.isfinite(starts), axis=1) & np.all(np.isfinite(ends), axis=1)
if not np.any(finite):
return empty, empty, []
starts = starts[finite]
ends = ends[finite]
non_zero = np.linalg.norm(ends - starts, axis=1) > 1e-9
if not np.any(non_zero):
return empty, empty, []
starts = starts[non_zero]
ends = ends[non_zero]
junctions = starts + tail_fraction * (ends - starts)
seg_starts = np.vstack((starts, junctions))
seg_ends = np.vstack((junctions, ends))
n = len(starts)
roles: list[SegmentRole] = ["tail"] * n + ["head"] * n
return seg_starts, seg_ends, roles
def build_flow_arrow_lines(
world_xyz: np.ndarray,
flow: np.ndarray,
*,
style: FlowArrowStyle = DEFAULT_FLOW_ARROW_STYLE,
valid_mask: np.ndarray | None = None,
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
"""Build line indices for flow arrows (used by tests and debugging)."""
empty_pts = np.empty((0, 3), dtype=np.float64)
empty_lines = np.empty((0, 2), dtype=np.int32)
empty_colors = np.empty((0, 3), dtype=np.float64)
seg_starts, seg_ends, roles = _sample_flow_segments(
world_xyz, flow, style=style, valid_mask=valid_mask
)
if len(seg_starts) == 0:
return empty_pts, empty_lines, empty_colors
points = np.empty((len(seg_starts) * 2, 3), dtype=np.float64)
points[0::2] = seg_starts
points[1::2] = seg_ends
lines = np.column_stack(
(np.arange(0, len(points), 2, dtype=np.int32), np.arange(1, len(points), 2, dtype=np.int32))
)
line_colors = np.vstack(
[effective_segment_color(style, role, use_alpha_blend=True) for role in roles]
)
return points, lines, line_colors
def _cylinder_template(o3d):
global _CYLINDER_TEMPLATE_VERTICES, _CYLINDER_TEMPLATE_TRIANGLES
if _CYLINDER_TEMPLATE_VERTICES is None:
cyl = o3d.geometry.TriangleMesh.create_cylinder(
radius=1.0,
height=1.0,
resolution=8,
split=1,
)
_CYLINDER_TEMPLATE_VERTICES = np.asarray(cyl.vertices, dtype=np.float64)
_CYLINDER_TEMPLATE_TRIANGLES = np.asarray(cyl.triangles, dtype=np.int32)
return _CYLINDER_TEMPLATE_VERTICES, _CYLINDER_TEMPLATE_TRIANGLES
def _cone_apex_at_low_z(vertices: np.ndarray) -> bool:
"""True when the cone tip is on the low-z side of the Open3D template."""
radii = np.linalg.norm(vertices[:, :2], axis=1)
apex_z = float(vertices[np.argmin(radii), 2])
z_mid = 0.5 * (float(vertices[:, 2].min()) + float(vertices[:, 2].max()))
return apex_z < z_mid
def _cone_template(o3d):
global _CONE_TEMPLATE_VERTICES, _CONE_TEMPLATE_TRIANGLES, _CONE_APEX_AT_LOW_Z
if _CONE_TEMPLATE_VERTICES is None:
cone = o3d.geometry.TriangleMesh.create_cone(
radius=1.0,
height=1.0,
resolution=8,
split=1,
)
_CONE_TEMPLATE_VERTICES = np.asarray(cone.vertices, dtype=np.float64)
_CONE_TEMPLATE_TRIANGLES = np.asarray(cone.triangles, dtype=np.int32)
_CONE_APEX_AT_LOW_Z = _cone_apex_at_low_z(_CONE_TEMPLATE_VERTICES)
return _CONE_TEMPLATE_VERTICES, _CONE_TEMPLATE_TRIANGLES
def _transform_axis_segment(
template_vertices: np.ndarray,
start: np.ndarray,
end: np.ndarray,
radius: float,
*,
apex_at_end: bool = False,
) -> np.ndarray:
"""Place a +Z template from ``start`` to ``end`` (axis anchored, not midpoint-centered).
Open3D cylinders are centered on the origin; cone apex side is detected from the template.
``apex_at_end=True`` maps the template apex to ``end`` (flow tip); base to ``start``.
"""
direction = np.asarray(end, dtype=np.float64) - np.asarray(start, dtype=np.float64)
length = float(np.linalg.norm(direction))
if length <= 1e-9 or radius <= 0.0:
return np.empty((0, 3), dtype=np.float64)
dir_hat = direction / length
rotation = _rotation_matrix_z_to(dir_hat)
scaled = np.asarray(template_vertices, dtype=np.float64).copy()
z_min = float(scaled[:, 2].min())
z_max = float(scaled[:, 2].max())
z_span = z_max - z_min
if z_span <= 1e-9:
return np.empty((0, 3), dtype=np.float64)
if apex_at_end:
t = (z_max - scaled[:, 2]) / z_span * length
else:
t = (scaled[:, 2] - z_min) / z_span * length
radial = np.column_stack((scaled[:, 0] * radius, scaled[:, 1] * radius, t))
return radial @ rotation.T + np.asarray(start, dtype=np.float64)
def _transform_cylinder_segment(
template_vertices: np.ndarray,
start: np.ndarray,
end: np.ndarray,
radius: float,
) -> np.ndarray:
return _transform_axis_segment(template_vertices, start, end, radius)
def build_flow_arrow_mesh(
world_xyz: np.ndarray,
flow: np.ndarray,
mesh_span: float,
*,
style: FlowArrowStyle = DEFAULT_FLOW_ARROW_STYLE,
valid_mask: np.ndarray | None = None,
o3d=None,
) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
"""Build merged mesh flow arrows: cylinder tail + cone head per arrow."""
empty_v = np.empty((0, 3), dtype=np.float64)
empty_t = np.empty((0, 3), dtype=np.int32)
empty_c = np.empty((0, 3), dtype=np.float64)
seg_starts, seg_ends, roles = _sample_flow_segments(
world_xyz, flow, style=style, valid_mask=valid_mask
)
if len(seg_starts) == 0:
return empty_v, empty_t, empty_c
if o3d is None:
import open3d as o3d
cyl_vertices, cyl_triangles = _cylinder_template(o3d)
cone_vertices, cone_triangles = _cone_template(o3d)
vertices_parts: list[np.ndarray] = []
triangles_parts: list[np.ndarray] = []
colors_parts: list[np.ndarray] = []
vertex_offset = 0
for start, end, role in zip(seg_starts, seg_ends, roles):
seg_start = np.asarray(start, dtype=np.float64)
seg_end = np.asarray(end, dtype=np.float64)
axis = seg_end - seg_start
seg_len = float(np.linalg.norm(axis))
if seg_len <= 1e-9:
continue
radius = segment_radius_for_role(mesh_span, style, role)
if role == "tail":
template_vertices, template_triangles = cyl_vertices, cyl_triangles
apex_at_end = False
overlap = _TAIL_HEAD_OVERLAP_FRACTION * seg_len
seg_end = seg_end + (axis / seg_len) * overlap
else:
template_vertices, template_triangles = cone_vertices, cone_triangles
apex_at_end = not bool(_CONE_APEX_AT_LOW_Z)
tail_radius = segment_radius_for_role(mesh_span, style, "tail")
radius = max(radius, tail_radius)
verts = _transform_axis_segment(
template_vertices,
seg_start,
seg_end,
radius,
apex_at_end=apex_at_end,
)
if verts.size == 0:
continue
color = effective_segment_color(style, role, use_alpha_blend=True)
vertices_parts.append(verts)
triangles_parts.append(template_triangles + vertex_offset)
colors_parts.append(np.tile(color, (len(verts), 1)))
vertex_offset += len(verts)
if not vertices_parts:
return empty_v, empty_t, empty_c
return (
np.vstack(vertices_parts),
np.vstack(triangles_parts),
np.vstack(colors_parts),
)
def create_flow_mesh_geometry(o3d):
"""Create a persistent Open3D mesh for the flow arrow overlay."""
mesh = o3d.geometry.TriangleMesh()
mesh.vertices = o3d.utility.Vector3dVector(np.empty((0, 3), dtype=np.float64))
mesh.triangles = o3d.utility.Vector3iVector(np.empty((0, 3), dtype=np.int32))
mesh.vertex_colors = o3d.utility.Vector3dVector(np.empty((0, 3), dtype=np.float64))
mesh.compute_vertex_normals()
return mesh
class FlowArrowOverlay:
"""Example-layer flow arrows as cylinder tail + cone head meshes on the UV surface."""
def __init__(
self,
mesh: UVSurfaceMesh,
*,
style: FlowArrowStyle | None = None,
):
import open3d as o3d
self.mesh = mesh
self.style = style or DEFAULT_FLOW_ARROW_STYLE
self._mesh_span = _mesh_span(mesh.rest_vertices)
_cylinder_template(o3d)
_cone_template(o3d)
self.arrow_mesh = create_flow_mesh_geometry(o3d) if self.style.enabled else None
@property
def enabled(self) -> bool:
return self.style.enabled
def compute(
self,
flow,
valid_mask: np.ndarray | None = None,
) -> tuple[np.ndarray, np.ndarray, np.ndarray] | None:
if not self.style.enabled or self.arrow_mesh is None:
return None
return build_flow_arrow_mesh(
self.mesh.world_xyz,
flow,
self._mesh_span,
style=self.style,
valid_mask=valid_mask,
)
def apply(self, arrow_vertices: np.ndarray, arrow_triangles: np.ndarray, arrow_colors: np.ndarray) -> None:
"""Update the persistent flow mesh geometry in place."""
import open3d as o3d
self.arrow_mesh.vertices = o3d.utility.Vector3dVector(arrow_vertices.astype(np.float64))
self.arrow_mesh.triangles = o3d.utility.Vector3iVector(arrow_triangles.astype(np.int32))
self.arrow_mesh.vertex_colors = o3d.utility.Vector3dVector(arrow_colors.astype(np.float64))
self.arrow_mesh.compute_vertex_normals()
examples/viz/force_charts.py
+3 -3
View File
@@ -42,13 +42,13 @@ class ForceChartWindow:
for channel in range(3):
self.data[:, 0, channel] = np.linspace(-npoints, 0, npoints) / sample_rate_hz
p1 = self.win.addPlot(title="法向力")
p1 = self.win.addPlot(title="Normal Deformation")
p1.setLabel("bottom", "时间", units="s")
self.win.nextRow()
p2 = self.win.addPlot(title="切向力 X")
p2 = self.win.addPlot(title="X Deformation")
p2.setLabel("bottom", "时间", units="s")
self.win.nextRow()
p3 = self.win.addPlot(title="切向力 Y")
p3 = self.win.addPlot(title="Y Deformation")
p3.setLabel("bottom", "时间", units="s")
self._plots = (p1, p2, p3)
examples/viz/offscreen_mesh.py
+75 -6
View File
@@ -10,6 +10,7 @@ from orisys.finger.mesh import UVSurfaceMesh
from orisys.finger.viewer import flow_magnitude_vertex_colors, scalar_map_vertex_colors
from .contact_arrow import ContactArrowOverlay
from .flow_arrow import FlowArrowOverlay
from .mesh_camera import (
apply_filament_sun_light,
apply_shade_factors,
@@ -64,6 +65,16 @@ def _vertex_colors(mesh, *, color_mode, threshold, value_min, value_max, flow=No
)
def _background_rgba01(color: tuple[int, int, int]) -> list[float]:
r, g, b = (int(color[0]), int(color[1]), int(color[2]))
return [r / 255.0, g / 255.0, b / 255.0, 1.0]
def _background_rgb01(color: tuple[int, int, int]) -> np.ndarray:
return np.asarray(_background_rgba01(color)[:3], dtype=np.float64)
class _FilamentOffscreenBackend:
"""Filament OffscreenRenderer (Linux headless / platforms with EGL)."""
@@ -81,7 +92,9 @@ class _FilamentOffscreenBackend:
lookat: np.ndarray,
show_contact_arrow: bool,
mesh_lighting=None,
mesh_background: tuple[int, int, int] = (0, 0, 0),
contact_arrow_style=None,
flow_arrow_style=None,
):
import open3d as o3d
@@ -96,6 +109,7 @@ class _FilamentOffscreenBackend:
self.world_to_cam = world_to_cam
self.lookat = lookat
self.mesh_lighting = mesh_lighting
self.mesh_background = mesh_background
self._shade_factors = (
precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
if mesh_lighting is not None
@@ -106,8 +120,9 @@ class _FilamentOffscreenBackend:
enabled=show_contact_arrow,
style=contact_arrow_style,
)
self._flow_arrow = FlowArrowOverlay(mesh, style=flow_arrow_style)
self._renderer = o3d.visualization.rendering.OffscreenRenderer(self.width, self.height)
self._renderer.scene.set_background([0.05, 0.05, 0.08, 1.0])
self._renderer.scene.set_background(_background_rgba01(self.mesh_background))
if mesh_lighting is not None:
apply_filament_sun_light(
self._renderer,
@@ -117,6 +132,7 @@ class _FilamentOffscreenBackend:
self._material = _make_lit_material(o3d)
self._mesh_added = False
self._arrow_added = False
self._flow_arrow_added = False
self._apply_camera()
def _apply_camera(self) -> None:
@@ -138,7 +154,7 @@ class _FilamentOffscreenBackend:
self.width = width
self.height = height
self._renderer = self._o3d.visualization.rendering.OffscreenRenderer(self.width, self.height)
self._renderer.scene.set_background([0.05, 0.05, 0.08, 1.0])
self._renderer.scene.set_background(_background_rgba01(self.mesh_background))
if self.mesh_lighting is not None:
apply_filament_sun_light(
self._renderer,
@@ -148,9 +164,19 @@ class _FilamentOffscreenBackend:
self._material = _make_lit_material(self._o3d)
self._mesh_added = False
self._arrow_added = False
self._flow_arrow_added = False
self._apply_camera()
def render(self, *, flow=None, scalar_map=None, centroid=None, centroid_found=False, fnormal=0.0):
def render(
self,
*,
flow=None,
scalar_map=None,
centroid=None,
centroid_found=False,
fnormal=0.0,
valid_mask=None,
):
o3d = self._o3d
colors = _vertex_colors(
self.mesh,
@@ -185,6 +211,21 @@ class _FilamentOffscreenBackend:
self._renderer.scene.remove_geometry("contact_arrow")
self._arrow_added = False
flow_result = self._flow_arrow.compute(flow, valid_mask=valid_mask)
if flow_result is not None and self._flow_arrow.arrow_mesh is not None:
flow_vertices, flow_triangles, flow_colors = flow_result
if len(flow_vertices) > 0:
flow_mesh = _mesh_to_o3d(o3d, flow_vertices, flow_triangles, flow_colors)
if not self._flow_arrow_added:
self._renderer.scene.add_geometry("flow_arrows", flow_mesh, self._material)
self._flow_arrow_added = True
else:
self._renderer.scene.remove_geometry("flow_arrows")
self._renderer.scene.add_geometry("flow_arrows", flow_mesh, self._material)
elif self._flow_arrow_added:
self._renderer.scene.remove_geometry("flow_arrows")
self._flow_arrow_added = False
return _numpy_o3d_image_to_rgb(self._renderer.render_to_image())
def close(self) -> None:
@@ -208,7 +249,9 @@ class _HiddenVisualizerBackend:
lookat: np.ndarray,
show_contact_arrow: bool,
mesh_lighting=None,
mesh_background: tuple[int, int, int] = (0, 0, 0),
contact_arrow_style=None,
flow_arrow_style=None,
):
import open3d as o3d
@@ -223,6 +266,7 @@ class _HiddenVisualizerBackend:
self.world_to_cam = world_to_cam
self.lookat = lookat
self.mesh_lighting = mesh_lighting
self.mesh_background = mesh_background
self._shade_factors = (
precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
if mesh_lighting is not None
@@ -233,6 +277,7 @@ class _HiddenVisualizerBackend:
enabled=show_contact_arrow,
style=contact_arrow_style,
)
self._flow_arrow = FlowArrowOverlay(mesh, style=flow_arrow_style)
self.vis = None
self.tri_mesh = None
self._create_window()
@@ -268,9 +313,12 @@ class _HiddenVisualizerBackend:
if self._contact_arrow.arrow_mesh is not None:
self.vis.add_geometry(self._contact_arrow.arrow_mesh)
if self._flow_arrow.enabled and self._flow_arrow.arrow_mesh is not None:
self.vis.add_geometry(self._flow_arrow.arrow_mesh)
render_option = self.vis.get_render_option()
render_option.mesh_show_back_face = True
render_option.background_color = np.array([0.05, 0.05, 0.08])
render_option.background_color = _background_rgb01(self.mesh_background)
if hasattr(render_option, "light_on"):
render_option.light_on = False
@@ -298,7 +346,16 @@ class _HiddenVisualizerBackend:
self.height = height
self._create_window()
def render(self, *, flow=None, scalar_map=None, centroid=None, centroid_found=False, fnormal=0.0):
def render(
self,
*,
flow=None,
scalar_map=None,
centroid=None,
centroid_found=False,
fnormal=0.0,
valid_mask=None,
):
o3d = self._o3d
colors = _vertex_colors(
self.mesh,
@@ -320,6 +377,12 @@ class _HiddenVisualizerBackend:
self._contact_arrow.apply(arrow_vertices, arrow_colors)
self.vis.update_geometry(self._contact_arrow.arrow_mesh)
flow_result = self._flow_arrow.compute(flow, valid_mask=valid_mask)
if flow_result is not None and self._flow_arrow.arrow_mesh is not None:
flow_vertices, flow_triangles, flow_colors = flow_result
self._flow_arrow.apply(flow_vertices, flow_triangles, flow_colors)
self.vis.update_geometry(self._flow_arrow.arrow_mesh)
self.vis.poll_events()
self.vis.update_renderer()
return _numpy_o3d_image_to_rgb(self.vis.capture_screen_float_buffer(do_render=False))
@@ -340,7 +403,7 @@ def _create_backend(mesh: UVSurfaceMesh, **kwargs):
return _HiddenVisualizerBackend(mesh, **kwargs)
class OffscreenFingerMeshRenderer:
"""Render finger UV mesh + contact arrow to an RGB image for Qt embedding."""
"""Render finger UV mesh + contact/flow arrows to an RGB image for Qt embedding."""
def __init__(
self,
@@ -356,7 +419,9 @@ class OffscreenFingerMeshRenderer:
lookat: np.ndarray | None = None,
show_contact_arrow: bool = True,
mesh_lighting=None,
mesh_background: tuple[int, int, int] = (0, 0, 0),
contact_arrow_style=None,
flow_arrow_style=None,
):
lookat = lookat if lookat is not None else mesh.rest_vertices.mean(axis=0)
self._backend = _create_backend(
@@ -371,7 +436,9 @@ class OffscreenFingerMeshRenderer:
lookat=lookat,
show_contact_arrow=show_contact_arrow,
mesh_lighting=mesh_lighting,
mesh_background=mesh_background,
contact_arrow_style=contact_arrow_style,
flow_arrow_style=flow_arrow_style,
)
@property
@@ -393,6 +460,7 @@ class OffscreenFingerMeshRenderer:
centroid=None,
centroid_found: bool = False,
fnormal: float = 0.0,
valid_mask=None,
) -> np.ndarray:
return self._backend.render(
flow=flow,
@@ -400,6 +468,7 @@ class OffscreenFingerMeshRenderer:
centroid=centroid,
centroid_found=centroid_found,
fnormal=fnormal,
valid_mask=valid_mask,
)
def close(self) -> None:
examples/viz/opencv_maps.py
-57
View File
@@ -1,57 +0,0 @@
"""OpenCV visualization helpers for example scripts."""
from __future__ import annotations
import cv2
import numpy as np
def depth_colormap(depth_map, colormap=cv2.COLORMAP_JET) -> np.ndarray:
"""Normalize a scalar map to uint8 and apply an OpenCV colormap."""
values = np.asarray(depth_map)
if values.size == 0:
return np.zeros((1, 1, 3), dtype=np.uint8)
if values.max() > values.min():
normalized = ((values - values.min()) / (values.max() - values.min()) * 255).astype(np.uint8)
else:
normalized = np.zeros_like(values, dtype=np.uint8)
return cv2.applyColorMap(normalized, colormap)
def draw_magnitude_map(
vfield,
threshold=3.0,
colormap=cv2.COLORMAP_JET,
output_size=(400, 400),
) -> np.ndarray:
"""Render a smoothed optical-flow magnitude map as a BGR pseudo-color image."""
magnitude = np.sqrt(vfield[:, :, 0] ** 2 + vfield[:, :, 1] ** 2)
downsample_factor = 10
h, w = magnitude.shape
magnitude_downsampled = magnitude[::downsample_factor, ::downsample_factor]
magnitude_smoothed = cv2.resize(magnitude_downsampled, (w, h), interpolation=cv2.INTER_CUBIC)
magnitude_thresholded = magnitude_smoothed.copy()
magnitude_thresholded[magnitude_smoothed < threshold] = 0
mag_min, mag_max = magnitude_thresholded.min(), magnitude_thresholded.max()
if mag_max > mag_min:
magnitude_norm = ((magnitude_thresholded - mag_min) / (mag_max - mag_min) * 255).astype(np.uint8)
else:
magnitude_norm = np.zeros_like(magnitude_thresholded, dtype=np.uint8)
magnitude_colored = cv2.applyColorMap(magnitude_norm, colormap)
out_w, out_h = output_size
return cv2.resize(magnitude_colored, (out_w, out_h), interpolation=cv2.INTER_CUBIC)
def frame_to_bgr(frame: np.ndarray) -> np.ndarray:
"""Convert a grayscale or single-channel frame to BGR for display/recording."""
if frame is None:
raise ValueError("frame is None")
if len(frame.shape) == 2:
return cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
if len(frame.shape) == 3 and frame.shape[2] == 1:
return cv2.cvtColor(frame.squeeze(2), cv2.COLOR_GRAY2BGR)
return frame
examples/viz/recording.py
+1 -1
View File
@@ -7,7 +7,7 @@ from pathlib import Path
import cv2
from .opencv_maps import frame_to_bgr
from .render_2d import frame_to_bgr
class FrameRecorder:
examples/viz/render_2d.py
+82 -6
View File
@@ -2,9 +2,51 @@
from __future__ import annotations
from dataclasses import dataclass
from typing import TYPE_CHECKING, Literal
import cv2
import numpy as np
import orisys
from .opencv_maps import depth_colormap
if TYPE_CHECKING:
from pipeline.frame import FingerFrameView
ArrowBackground = Literal["unrolled", "white"]
@dataclass(frozen=True)
class ArrowCanvasColors:
"""BGR fill colors for synthetic UV arrow background (``background='white'``)."""
outside_bgr: tuple[int, int, int] = (0, 0, 0)
uv_bgr: tuple[int, int, int] = (255, 255, 255)
DEFAULT_ARROW_CANVAS_COLORS = ArrowCanvasColors()
def depth_colormap(depth_map, colormap=cv2.COLORMAP_JET) -> np.ndarray:
"""Normalize a scalar map to uint8 and apply an OpenCV colormap."""
values = np.asarray(depth_map)
if values.size == 0:
return np.zeros((1, 1, 3), dtype=np.uint8)
if values.max() > values.min():
normalized = ((values - values.min()) / (values.max() - values.min()) * 255).astype(np.uint8)
else:
normalized = np.zeros_like(values, dtype=np.uint8)
return cv2.applyColorMap(normalized, colormap)
def frame_to_bgr(frame: np.ndarray) -> np.ndarray:
"""Convert a grayscale or single-channel frame to BGR for display/recording."""
if frame is None:
raise ValueError("frame is None")
if len(frame.shape) == 2:
return cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
if len(frame.shape) == 3 and frame.shape[2] == 1:
return cv2.cvtColor(frame.squeeze(2), cv2.COLOR_GRAY2BGR)
return frame
def render_depth_panel(depth_map):
@@ -12,21 +54,55 @@ def render_depth_panel(depth_map):
return depth_colormap(depth_map)
def _as_bgr(color: tuple[int, int, int]) -> tuple[int, int, int]:
return tuple(int(np.clip(c, 0, 255)) for c in color[:3])
def _arrow_background(
frame: FingerFrameView,
background: ArrowBackground,
*,
canvas_colors: ArrowCanvasColors = DEFAULT_ARROW_CANVAS_COLORS,
) -> np.ndarray:
"""Return the BGR canvas for UV arrow drawing."""
if background == "unrolled":
return frame.unrolled
h, w = frame.unrolled.shape[:2]
outside = np.array(_as_bgr(canvas_colors.outside_bgr), dtype=np.uint8)
uv = np.array(_as_bgr(canvas_colors.uv_bgr), dtype=np.uint8)
canvas = np.broadcast_to(outside, (h, w, 3)).copy()
mask = frame.valid_mask
if mask is None:
return canvas
mask = np.asarray(mask, dtype=bool)
if mask.shape != (h, w):
mask_u8 = mask.astype(np.uint8)
if mask_u8.ndim > 2:
mask_u8 = mask_u8[:, :, 0]
mask = cv2.resize(mask_u8, (w, h), interpolation=cv2.INTER_NEAREST).astype(bool)
canvas[mask] = uv
return canvas
def render_uv_arrows(
unrolled,
vnormal,
frame: FingerFrameView,
*,
flow_threshold: float = 0.4,
grid_spacing: int = 20,
arrow_scale: float = 1.0,
background: ArrowBackground = "unrolled",
canvas_colors: ArrowCanvasColors = DEFAULT_ARROW_CANVAS_COLORS,
):
"""Return a BGR image with UV unrolled flow arrows."""
"""Return a BGR UV arrow panel from a FingerFrameView (uses frame.valid_mask)."""
return orisys.util.draw_arrows(
unrolled,
vnormal,
_arrow_background(frame, background, canvas_colors=canvas_colors),
frame.flow,
threshold=flow_threshold,
grid_spacing=grid_spacing,
arrow_scale=arrow_scale,
valid_mask=frame.valid_mask,
below_threshold_color = (128, 0, 0),
colormap = cv2.COLORMAP_JET
)
examples/viz/signal_filters.py
+1 -1
View File
@@ -5,7 +5,7 @@ from __future__ import annotations
import numpy as np
from scipy.signal import butter, filtfilt
def lowpass_filter(data, cutoff_hz, sample_rate_hz=30, order=2) -> np.ndarray:
def lowpass_filter(data, cutoff_hz=5, sample_rate_hz=30, order=2) -> np.ndarray:
"""Zero-phase Butterworth low-pass filter for uniformly sampled 1-D data."""
y = np.asarray(data, dtype=np.float64)
if cutoff_hz == 0:
src/orisys/util.py
+50 -5
View File
@@ -1,16 +1,50 @@
import cv2
import numpy as np
def draw_arrows(frame, optical_flow, fps=True, threshold=5, grid_spacing=40, arrow_scale=1.0, margin = 0.8, colormap=cv2.COLORMAP_JET, below_threshold_color=(0, 0, 255), edge_margin=15):
def _prepare_draw_mask(valid_mask, shape):
"""Resize a boolean mask to (height, width) for arrow culling."""
if valid_mask is None:
return None
h, w = shape[:2]
mask = np.asarray(valid_mask, dtype=bool)
if mask.shape != (h, w):
mask_u8 = mask.astype(np.uint8)
if mask_u8.ndim > 2:
mask_u8 = mask_u8[:, :, 0]
mask = cv2.resize(mask_u8, (w, h), interpolation=cv2.INTER_NEAREST).astype(bool)
return mask
def draw_arrows(
frame,
optical_flow,
fps=True,
threshold=5,
grid_spacing=40,
arrow_scale=1.0,
margin=0.8,
colormap=cv2.COLORMAP_JET,
below_threshold_color=(0, 0, 255),
edge_margin=15,
valid_mask=None,
):
"""
Draw colored optical flow arrows on the image by magnitude (JET colormap).
Frame and optical_flow must have the same height/width; arrows are drawn in pixel coordinates.
Parameters
----------
valid_mask : array-like, optional
Boolean (H, W) mask. Grid points outside the mask are skipped (no arrows or dots).
"""
image = frame.copy()
if len(image.shape) == 2 or image.shape[2] == 1:
image = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR)
h, w = image.shape[:2]
mask = _prepare_draw_mask(valid_mask, (h, w))
# Arrow grid in pixel coordinates (assume frame and flow same size)
rr = np.arange(grid_spacing // 2, h, grid_spacing)
cc = np.arange(grid_spacing // 2, w, grid_spacing)
@@ -30,11 +64,23 @@ def draw_arrows(frame, optical_flow, fps=True, threshold=5, grid_spacing=40, arr
end_y = (rr + dy).astype(np.int32)
valid = (
(cc >= edge_margin) & (cc < w - edge_margin) & (rr >= edge_margin) & (rr < h - edge_margin)
& (end_x >= 0) & (end_x < w) & (end_y >= 0) & (end_y < h)
(cc >= edge_margin)
& (cc < w - edge_margin)
& (rr >= edge_margin)
& (rr < h - edge_margin)
& (end_x >= 0)
& (end_x < w)
& (end_y >= 0)
& (end_y < h)
)
if mask is not None:
valid &= mask[rr, cc]
valid &= mask[end_y, end_x]
mag_range = mag.max() - mag.min()
norm_mag = ((mag - mag.min()) / mag_range * 255).astype(np.uint8) if mag_range > 0 else np.zeros_like(mag, dtype=np.uint8)
norm_mag = (
((mag - mag.min()) / mag_range * 255).astype(np.uint8) if mag_range > 0 else np.zeros_like(mag, dtype=np.uint8)
)
norm_mag[mag < threshold] = 0
colors = cv2.applyColorMap(norm_mag.reshape(-1, 1), colormap)
@@ -44,7 +90,6 @@ def draw_arrows(frame, optical_flow, fps=True, threshold=5, grid_spacing=40, arr
if mag[i] < threshold:
cv2.circle(image, pt1, radius=1, color=below_threshold_color, thickness=-1)
else:
# thickness = max(1, int(2 * mag[i] / mag.max())) if mag.max() > 0 else 2
thickness = 1
cv2.arrowedLine(image, pt1, pt2, color, thickness=thickness, tipLength=0.2)
return image