included low pass filter in package and add to plot_data example

2026-08-17 22:11:17 +08:00
parent 9a69f01278
commit 2e09c9360e
50 changed files with 1055 additions and 1873 deletions
@@ -1,20 +1,110 @@
 #!/usr/bin/env python3
-"""Compatibility wrapper for ORY-FINGER 2D pipeline.
+"""
+ORY-FINGER：Minimum UV-unroll finger tactile pipeline.

-Prefer:
-  python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
+Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
+Runtime:  camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
+
+Recommended entry:
+  python examples/finger_pipeline.py --camera_id 0 --config finger
+
+Current product config: ``finger`` (``dd02`` still resolves to ``dd02-ov``).
 """

-from __future__ import annotations
-
+import argparse
+import os
 import sys
-from pathlib import Path

-_EXAMPLES_DIR = Path(__file__).resolve().parent
-if str(_EXAMPLES_DIR) not in sys.path:
-    sys.path.insert(0, str(_EXAMPLES_DIR))
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")

-from products.ory_finger.finger_pipeline import main
+import cv2
+import orisys
+from orisys.finger import FingerRuntime
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
+    parser.add_argument("--camera_id", type=int, default=0)
+    parser.add_argument("--video", help="Video file path (overrides camera)")
+    parser.add_argument("--config", "-c", default="finger", help="Orisys SDK config name or path")
+    parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
+    parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
+    args = parser.parse_args()
+
+    try:
+        video = args.camera_id
+        if args.video:
+            video = args.video
+        runtime = FingerRuntime.open(
+            config=args.config,
+            video=video,
+            verbose=args.verbose,
+        )
+    except RuntimeError as exc:
+        print(str(exc), file=sys.stderr)
+        sys.exit(1)
+
+    if args.verbose:
+        geometry = runtime.geometry
+        print(
+            f"UV geometry: native={geometry.native_width}x{geometry.native_height}, "
+            f"source={geometry.source_width}x{geometry.source_height} "
+            f"output={geometry.out_width}x{geometry.out_height} "
+        )
+
+    runtime.warmup(color=False)
+    tactile = runtime.tactile
+
+    print("Press 'q' to quit, 'r' to reset tracker.")
+    try:
+        while True:
+            ok, unrolled = runtime.grab_and_process(color=False)
+            if not ok:
+                break
+
+            tactile.compute_deformation(check_motion=True, threshold=0)
+            tactile.compute_contact()
+
+            fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
+                tactile.info.FPS,
+                tactile.info.VRAW,
+                tactile.info.VNORMAL,
+                tactile.info.IMG,
+                tactile.info.CONTOUR,
+                tactile.info.CENTROID,
+                tactile.info.DEPTH,
+                tactile.info.FNORMAL,
+                tactile.info.FSHEARX,
+                tactile.info.FSHEARY,
+            )
+
+            status = (
+                f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
+                f"mask={tactile.mask_stats['coverage']:.2f}"
+            )
+
+            if args.show:
+                arrows = orisys.util.draw_arrows(
+                    unrolled,
+                    flow,
+                    threshold=0.4,
+                    grid_spacing=10,
+                    arrow_scale=1.0,
+                )
+                cv2.imshow("UV Unrolled", arrows)
+
+            print(status, end="\r")
+
+            key = cv2.waitKey(1) & 0xFF
+            if key == ord("q"):
+                print("\nExiting.")
+                break
+            if key == ord("r"):
+                tactile.reset()
+                print("\nTracker reset.")
+    finally:
+        runtime.close()
+        cv2.destroyAllWindows()


 if __name__ == "__main__":