test if optical flow integration error: not significant for Mems

scripts/example_uart.py

@@ -0,0 +1,461 @@
+#!/usr/bin/env python3
+"""UART finger controller for Radxa / Dragon Q6A (sensor-side receiver).
+
+Combines ORY-FINGER processing (same path as ``examples/finger_pipeline.py``)
+with a line-based UART command interface. A host (or ``uart_send.py``-style
+transmitter) sends commands; this script replies and streams forces.
+
+Dependencies (beyond orisys):
+  pip install pyserial
+
+Default UART (Dragon Q6A):
+  port=/dev/ttyHS1  baud=115200  8N1
+
+Commands (one line, case-insensitive):
+  search              List cameras (/dev/video*) via orisys.capture.list_cameras
+  connect [source]    Open FingerRuntime (camera index, /dev/videoN, or video file)
+  run                 Stream FNORMAL / FSHEARX / FSHEARY until stop (or EOF)
+  stop                Stop force streaming; keep source connected
+  quit | exit         Close runtime and serial, then exit
+
+Replies:
+  camera,<index>,<path>,<WxH>
+  OK search <N>
+  OK connect <source>
+  OK run
+  force,<fnormal>,<fshearx>,<fsheary>
+  OK eof              Video file ended (when --no-loop-video)
+  OK stop
+  OK quit
+  ERR <context> <message>
+
+Examples:
+  # Live camera over UART
+  python scripts/example_uart.py --port /dev/ttyHS1 --config finger
+
+  # Offline debug from a recorded file (no camera needed)
+  python scripts/example_uart.py --port /dev/ttyHS1 --video /path/to/clip.mp4
+  # then UART: connect   (uses --video)  or  connect /path/to/clip.mp4
+  # then UART: run
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import shlex
+import sys
+from pathlib import Path
+from typing import Optional, Union
+
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+try:
+    import serial
+except ImportError as exc:  # pragma: no cover
+    raise SystemExit(
+        "pyserial is required for this script.\n"
+        "  pip install pyserial\n"
+        f"Import error: {exc}"
+    ) from exc
+
+import cv2
+from orisys.capture import is_live_camera, list_cameras
+from orisys.finger import FingerRuntime
+
+Source = Union[int, str]
+
+
+def _parse_source(token: str) -> Optional[Source]:
+    """Accept camera index int, numeric string, V4L path, or filesystem path."""
+    text = str(token).strip().strip('"').strip("'")
+    if not text:
+        return None
+    if text.isdigit() or (text.startswith("-") and text[1:].isdigit()):
+        return int(text)
+    return text
+
+
+def _is_video_file(source: Source) -> bool:
+    """True when source is a filesystem video path (not a live camera)."""
+    if is_live_camera(source):
+        return False
+    if isinstance(source, int):
+        return False
+    path = Path(str(source))
+    return path.is_file() or path.suffix.lower() in {
+        ".mp4",
+        ".avi",
+        ".mkv",
+        ".mov",
+        ".m4v",
+        ".wmv",
+        ".webm",
+    }
+
+
+class UartFingerController:
+    """Serial command dispatcher around a single FingerRuntime."""
+
+    def __init__(
+        self,
+        ser: serial.Serial,
+        *,
+        config: str = "finger",
+        default_source: Source = 0,
+        max_camera_index: int = 10,
+        loop_video: bool = True,
+        show: bool = False,
+        verbose: bool = False,
+    ):
+        self.ser = ser
+        self.config = config
+        self.default_source = default_source
+        self.max_camera_index = max_camera_index
+        self.loop_video = loop_video
+        self.show = show
+        self.verbose = verbose
+
+        self.runtime: Optional[FingerRuntime] = None
+        self._connected_source: Optional[Source] = None
+        self._last_search_source: Optional[Source] = None
+        self._streaming = False
+        self._should_quit = False
+
+    def reply(self, line: str) -> None:
+        text = line.rstrip("\r\n") + "\n"
+        self.ser.write(text.encode("utf-8"))
+        self.ser.flush()
+        if self.verbose:
+            print(f"<< {text.rstrip()}", flush=True)
+
+    def close_runtime(self) -> None:
+        self._streaming = False
+        if self.runtime is not None:
+            try:
+                self.runtime.close()
+            except Exception:  # noqa: BLE001
+                pass
+            self.runtime = None
+            self._connected_source = None
+        if self.show:
+            try:
+                cv2.destroyAllWindows()
+            except Exception:  # noqa: BLE001
+                pass
+
+    def _resolve_connect_source(self, args: list[str]) -> Source:
+        if args:
+            # Join remaining tokens so unquoted paths with spaces still work.
+            joined = " ".join(args).strip()
+            parsed = _parse_source(joined)
+            if parsed is None:
+                raise ValueError("empty connect source")
+            return parsed
+        # Prefer --video default over last search so offline debug stays on file.
+        if isinstance(self.default_source, str) and not is_live_camera(self.default_source):
+            return self.default_source
+        if self._last_search_source is not None:
+            return self._last_search_source
+        return self.default_source
+
+    def cmd_search(self, _args: list[str]) -> None:
+        try:
+            cameras = list_cameras(max_index=self.max_camera_index)
+        except Exception as exc:  # noqa: BLE001
+            self.reply(f"ERR search {exc}")
+            return
+
+        self._last_search_source = None
+        for cam in cameras:
+            path = (cam.path or f"/dev/video{cam.index}").strip() or f"/dev/video{cam.index}"
+            size = f"{cam.width}x{cam.height}"
+            self.reply(f"camera,{cam.index},{path},{size}")
+            if self._last_search_source is None:
+                self._last_search_source = cam.index
+        self.reply(f"OK search {len(cameras)}")
+
+    def cmd_connect(self, args: list[str]) -> None:
+        try:
+            source = self._resolve_connect_source(args)
+        except ValueError as exc:
+            self.reply(f"ERR connect {exc}")
+            return
+
+        if isinstance(source, str) and not is_live_camera(source):
+            path = Path(source)
+            if not path.is_file():
+                self.reply(f"ERR connect file not found: {source}")
+                return
+
+        self._streaming = False
+        self.close_runtime()
+        try:
+            runtime = FingerRuntime.open(
+                config=self.config,
+                video=source,
+                verbose=self.verbose,
+            )
+            runtime.warmup(color=False)
+        except Exception as exc:  # noqa: BLE001
+            self.reply(f"ERR connect {exc}")
+            return
+
+        self.runtime = runtime
+        self._connected_source = source
+        kind = "file" if _is_video_file(source) else "camera"
+        self.reply(f"OK connect {source} ({kind})")
+
+    def _rewind_video(self) -> bool:
+        """Seek connected file source back to frame 0. Return True on success."""
+        if self.runtime is None or self._connected_source is None:
+            return False
+        if not _is_video_file(self._connected_source):
+            return False
+        cap = self.runtime.capture
+        if cap is None:
+            return False
+        try:
+            return bool(cap.set(cv2.CAP_PROP_POS_FRAMES, 0))
+        except Exception:  # noqa: BLE001
+            return False
+
+    def _poll_command_line(self, *, blocking: bool = True) -> Optional[str]:
+        """Read one command line if available; return None on timeout/empty."""
+        if not blocking and self.ser.in_waiting <= 0:
+            return None
+        raw = self.ser.readline()
+        if not raw:
+            return None
+        try:
+            line = raw.decode("utf-8", errors="replace").strip()
+        except Exception:  # noqa: BLE001
+            return None
+        return line or None
+
+    def cmd_run(self, _args: list[str]) -> None:
+        if self.runtime is None:
+            self.reply("ERR run not connected")
+            return
+
+        self._streaming = True
+        self.reply("OK run")
+        tactile = self.runtime.tactile
+        is_file = self._connected_source is not None and _is_video_file(self._connected_source)
+
+        while self._streaming and not self._should_quit:
+            ok, unrolled = self.runtime.grab_and_process(color=False)
+            if not ok:
+                if is_file and self.loop_video and self._rewind_video():
+                    if self.verbose:
+                        print("video EOF: looping", flush=True)
+                    continue
+                if is_file:
+                    self.reply("OK eof")
+                else:
+                    self.reply("ERR run grab failed")
+                self._streaming = False
+                break
+
+            tactile.compute_deformation()
+            tactile.compute_contact()
+            fnormal, fshearx, fsheary = tactile.read_info(
+                tactile.info.FNORMAL,
+                tactile.info.FSHEARX,
+                tactile.info.FSHEARY,
+            )
+            self.reply(f"force,{float(fnormal):.6f},{float(fshearx):.6f},{float(fsheary):.6f}")
+
+            if self.show:
+                try:
+                    import orisys
+
+                    arrows = orisys.util.draw_arrows(
+                        unrolled,
+                        tactile.flow,
+                        threshold=0.4,
+                        grid_spacing=10,
+                        arrow_scale=1.0,
+                        valid_mask=tactile.valid_mask,
+                    )
+                    cv2.imshow("UV Unrolled", arrows)
+                    key = cv2.waitKey(1) & 0xFF
+                    if key == ord("q"):
+                        self._should_quit = True
+                        break
+                    if key == ord("r"):
+                        tactile.reset()
+                except Exception as exc:  # noqa: BLE001
+                    if self.verbose:
+                        print(f"show error: {exc}", file=sys.stderr)
+
+            # Non-blocking command poll so force streaming is not delayed by UART timeout.
+            pending = self._poll_command_line(blocking=False)
+            if pending is not None:
+                if self.verbose:
+                    print(f">> {pending}", flush=True)
+                if not self._dispatch(pending, allow_run=False):
+                    break
+
+    def cmd_stop(self, _args: list[str]) -> None:
+        self._streaming = False
+        self.reply("OK stop")
+
+    def cmd_quit(self, _args: list[str]) -> None:
+        self._streaming = False
+        self._should_quit = True
+        self.reply("OK quit")
+
+    def _dispatch(self, line: str, *, allow_run: bool = True) -> bool:
+        """Dispatch one command line. Return False if the main loop should exit."""
+        try:
+            parts = shlex.split(line)
+        except ValueError:
+            parts = line.split()
+        if not parts:
+            return True
+        cmd = parts[0].lower()
+        args = parts[1:]
+
+        if cmd == "search":
+            self.cmd_search(args)
+        elif cmd == "connect":
+            self.cmd_connect(args)
+        elif cmd == "run":
+            if not allow_run:
+                self.reply("ERR run already running")
+            else:
+                self.cmd_run(args)
+        elif cmd == "stop":
+            self.cmd_stop(args)
+        elif cmd in ("quit", "exit"):
+            self.cmd_quit(args)
+            return False
+        else:
+            self.reply(f"ERR unknown {cmd}")
+        return not self._should_quit
+
+    def serve(self) -> None:
+        self.reply("OK ready")
+        while not self._should_quit:
+            line = self._poll_command_line()
+            if line is None:
+                continue
+            if self.verbose:
+                print(f">> {line}", flush=True)
+            if not self._dispatch(line):
+                break
+
+
+def open_serial(port: str, baud: int, timeout: float) -> serial.Serial:
+    try:
+        return serial.Serial(
+            port=port,
+            baudrate=baud,
+            bytesize=serial.EIGHTBITS,
+            parity=serial.PARITY_NONE,
+            stopbits=serial.STOPBITS_ONE,
+            timeout=timeout,
+        )
+    except serial.SerialException as exc:
+        print(f"Serial error: {exc}", file=sys.stderr)
+        print("Check:", file=sys.stderr)
+        print(f"  1. Device node {port} exists", file=sys.stderr)
+        print("  2. User has access (sudo or dialout group)", file=sys.stderr)
+        print("  3. Wiring / USB-TTL connection", file=sys.stderr)
+        raise SystemExit(1) from exc
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(
+        description="UART finger controller (search/connect/run/stop force stream)"
+    )
+    parser.add_argument("--port", default="/dev/ttyHS1", help="Serial device (default: /dev/ttyHS1)")
+    parser.add_argument("--baud", type=int, default=115200, help="Baud rate (default: 115200)")
+    parser.add_argument(
+        "--timeout",
+        type=float,
+        default=0.1,
+        help="Serial readline timeout seconds (default: 0.1)",
+    )
+    parser.add_argument("--config", "-c", default="finger", help="Orisys config name or path")
+    parser.add_argument(
+        "--camera-id",
+        type=int,
+        default=0,
+        help="Default camera index when connect has no argument (ignored if --video is set)",
+    )
+    parser.add_argument(
+        "--video",
+        default=None,
+        help="Default video file for connect (offline debug without a camera)",
+    )
+    parser.add_argument(
+        "--max-camera-index",
+        type=int,
+        default=10,
+        help="Highest index probed by search",
+    )
+    parser.add_argument(
+        "--loop-video",
+        dest="loop_video",
+        action="store_true",
+        default=True,
+        help="Loop video file on EOF during run (default: on)",
+    )
+    parser.add_argument(
+        "--no-loop-video",
+        dest="loop_video",
+        action="store_false",
+        help="Stop run with OK eof when video file ends",
+    )
+    parser.add_argument(
+        "--show",
+        action="store_true",
+        help="Show UV unrolled OpenCV window (local debug only)",
+    )
+    parser.add_argument("--verbose", action="store_true", help="Echo UART traffic and SDK logs")
+    args = parser.parse_args(argv)
+
+    if args.video:
+        video_path = Path(args.video)
+        if not video_path.is_file():
+            print(f"Video file not found: {args.video}", file=sys.stderr)
+            return 1
+        default_source: Source = str(video_path.resolve())
+    else:
+        default_source = args.camera_id
+
+    ser = open_serial(args.port, args.baud, args.timeout)
+    controller = UartFingerController(
+        ser,
+        config=args.config,
+        default_source=default_source,
+        max_camera_index=args.max_camera_index,
+        loop_video=args.loop_video,
+        show=args.show,
+        verbose=args.verbose,
+    )
+
+    print(f"UART finger controller on {args.port} @ {args.baud} bps", flush=True)
+    print(f"Default source: {default_source}", flush=True)
+    print("Commands: search | connect [source|file] | run | stop | quit", flush=True)
+
+    try:
+        controller.serve()
+    except KeyboardInterrupt:
+        print("\nInterrupted.", flush=True)
+        try:
+            controller.reply("OK quit")
+        except Exception:  # noqa: BLE001
+            pass
+    finally:
+        controller.close_runtime()
+        if ser.is_open:
+            ser.close()
+            print("Serial closed.", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

sensors/mini/force_calibration.json

@@ -0,0 +1,30 @@
+{
+  "schema_version": 1,
+  "unit": "N",
+  "channels": {
+    "normal": {
+      "method": "piecewise_linear",
+      "raw_key": "fnormal",
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [10000.0, 0.377],
+        [30000.0, 1.377],
+        [62000.0, 2.377]
+      ]
+    },
+    "shear": {
+      "method": "piecewise_linear",
+      "input": "components",
+      "signed": true,
+      "extrapolate": true,
+      "clamp_output_min": 0.0,
+      "points": [
+        [1000.0, 0.0],
+        [36000.0, 1.19],
+        [68000.0, 2.06]
+      ]
+    }
+  }
+}

tests/DIS_no_integrate.py

@@ -0,0 +1,420 @@
+#!/usr/bin/env python3
+"""Compare cumulative adaptive DIS vs fixed initial-reference DIS (no integration).
+
+Reproduces drift on static scenes where adaptive flow integrates incremental
+displacement: final_flow = queue[-1] + prev_fine_flow (see orisys.tracker).
+
+Usage:
+  python tests/DIS_no_integrate.py --source /path/to/static_clip.mp4 --frames 500
+  python tests/DIS_no_integrate.py --source 0 --frames 300 --plot drift.png
+  python tests/DIS_no_integrate.py --config box --source 0 --no-show
+
+Modes compared on identical grayscale frames:
+  cumulative    Tracker(adaptive=True)  — production default
+  non_adaptive  Tracker(adaptive=False) — single ref, warm-started DIS
+  fixed_ref     DIS calc(ref0, frame, None) — initial frame only, no queue
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Optional
+
+import cv2
+import numpy as np
+
+REPO_ROOT = Path(__file__).resolve().parents[1]
+SRC_ROOT = REPO_ROOT / "src"
+for path in (REPO_ROOT, SRC_ROOT):
+    if str(path) not in sys.path:
+        sys.path.insert(0, str(path))
+
+from orisys.tracker import Tracker  # noqa: E402
+
+
+DEFAULT_CONFIG = "box"
+
+
+def parse_source(value: str):
+    text = str(value).strip()
+    for prefix in ("camera:", "cam:", "webcam:"):
+        if text.lower().startswith(prefix):
+            text = text[len(prefix) :].strip()
+            break
+    try:
+        return int(text)
+    except ValueError:
+        return text
+
+
+def load_tracker_config(config_ref: str) -> dict:
+    """Load tracker section from an Orisys config stem or JSON path."""
+    path = Path(config_ref)
+    if path.suffix.lower() == ".json" and path.is_file():
+        import json
+
+        data = json.loads(path.read_text(encoding="utf-8"))
+    else:
+        import orisys
+
+        data = orisys.configs.load_config(config_ref)
+    tracker = dict(data.get("tracker", {}))
+    tracker.setdefault("algorithm", "dis")
+    tracker.setdefault("dis_preset", "medium")
+    tracker.setdefault("dis_mode", 3)
+    tracker.setdefault("lower_threshold", 12.0)
+    tracker.setdefault("upper_threshold", 18.0)
+    tracker.setdefault("loop_closure_interval", 1)
+    return tracker
+
+
+def dis_preset_from_name(name: str) -> int:
+    preset = (name or "medium").lower()
+    if preset == "ultrafast":
+        return cv2.DISOPTICAL_FLOW_PRESET_ULTRAFAST
+    if preset == "fast":
+        return cv2.DISOPTICAL_FLOW_PRESET_FAST
+    return cv2.DISOPTICAL_FLOW_PRESET_MEDIUM
+
+
+def flow_magnitude_stats(flow: np.ndarray) -> tuple[float, float]:
+    """Return (mean magnitude, max magnitude) for HxWx2 flow."""
+    if flow is None:
+        return float("nan"), float("nan")
+    mag = np.linalg.norm(flow.astype(np.float32), axis=-1)
+    return float(mag.mean()), float(mag.max())
+
+
+@dataclass
+class FrameMetrics:
+    mean_mag: float
+    max_mag: float
+    queue_len: int = 0
+
+
+@dataclass
+class ModeSeries:
+    name: str
+    mean_mags: list[float] = field(default_factory=list)
+    max_mags: list[float] = field(default_factory=list)
+    queue_lens: list[int] = field(default_factory=list)
+
+    def append(self, metrics: FrameMetrics) -> None:
+        self.mean_mags.append(metrics.mean_mag)
+        self.max_mags.append(metrics.max_mag)
+        self.queue_lens.append(metrics.queue_len)
+
+    def slope(self) -> float:
+        if len(self.mean_mags) < 2:
+            return float("nan")
+        x = np.arange(len(self.mean_mags), dtype=np.float64)
+        y = np.asarray(self.mean_mags, dtype=np.float64)
+        if not np.all(np.isfinite(y)):
+            y = np.nan_to_num(y, nan=0.0)
+        return float(np.polyfit(x, y, 1)[0])
+
+
+class FixedRefDIS:
+    """DIS from a fixed initial reference frame; no integration or queue."""
+
+    def __init__(self, config_tracker: dict):
+        preset = dis_preset_from_name(config_tracker.get("dis_preset", "medium"))
+        self._dis = cv2.DISOpticalFlow_create(preset)
+        self._dis.setFinestScale(int(config_tracker.get("dis_mode", 3)))
+        self._ref: Optional[np.ndarray] = None
+
+    def reset(self) -> None:
+        self._ref = None
+
+    def track(self, gray: np.ndarray) -> np.ndarray:
+        if self._ref is None:
+            self._ref = gray.copy()
+            h, w = gray.shape[:2]
+            return np.zeros((h, w, 2), dtype=np.float32)
+        return self._dis.calc(self._ref, gray, None)
+
+
+def make_tracker(config_tracker: dict, *, adaptive: bool) -> Tracker:
+    cfg = dict(config_tracker)
+    return Tracker(
+        adaptive=adaptive,
+        cuda=False,
+        verbose=False,
+        config_tracker=cfg,
+    )
+
+
+def read_gray_frame(cap: cv2.VideoCapture, static_image: Optional[np.ndarray]) -> tuple[bool, Optional[np.ndarray]]:
+    if static_image is not None:
+        return True, static_image.copy()
+    ok, frame = cap.read()
+    if not ok or frame is None:
+        return False, None
+    if frame.ndim == 3:
+        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+    return True, frame
+
+
+def run_comparison(
+    source,
+    *,
+    config_tracker: dict,
+    max_frames: int,
+    reset_every: Optional[int],
+    show: bool,
+) -> dict[str, ModeSeries]:
+    path = Path(str(source)) if isinstance(source, str) else None
+    static_image: Optional[np.ndarray] = None
+    if isinstance(source, str) and path is not None and path.is_file():
+        img = cv2.imread(str(path), cv2.IMREAD_GRAYSCALE)
+        if img is not None:
+            static_image = img
+
+    cap = None if static_image is not None else cv2.VideoCapture(source)
+    if cap is not None and not cap.isOpened():
+        raise RuntimeError(f"Cannot open source: {source}")
+
+    cumulative = make_tracker(config_tracker, adaptive=True)
+    non_adaptive = make_tracker(config_tracker, adaptive=False)
+    fixed_ref = FixedRefDIS(config_tracker)
+
+    series = {
+        "cumulative": ModeSeries("cumulative"),
+        "non_adaptive": ModeSeries("non_adaptive"),
+        "fixed_ref": ModeSeries("fixed_ref"),
+    }
+
+    window = "DIS compare (cumulative | non_adaptive | fixed_ref)"
+    if show:
+        cv2.namedWindow(window, cv2.WINDOW_NORMAL)
+
+    try:
+        for frame_idx in range(max_frames):
+            ok, gray = read_gray_frame(cap, static_image)
+            if not ok or gray is None:
+                break
+
+            if reset_every and reset_every > 0 and frame_idx > 0 and frame_idx % reset_every == 0:
+                cumulative.reset()
+
+            flow_c = cumulative.track(gray.copy())
+            flow_n = non_adaptive.track(gray.copy())
+            flow_f = fixed_ref.track(gray)
+
+            mean_c, max_c = flow_magnitude_stats(flow_c)
+            mean_n, max_n = flow_magnitude_stats(flow_n)
+            mean_f, max_f = flow_magnitude_stats(flow_f)
+
+            series["cumulative"].append(
+                FrameMetrics(mean_c, max_c, queue_len=cumulative.getFrameQueueLength())
+            )
+            series["non_adaptive"].append(FrameMetrics(mean_n, max_n, queue_len=1))
+            series["fixed_ref"].append(FrameMetrics(mean_f, max_f, queue_len=1))
+
+            if show and frame_idx % 2 == 0:
+                h, w = gray.shape[:2]
+                panels = []
+                for flow, label, mean_val in (
+                    (flow_c, "cumulative", mean_c),
+                    (flow_n, "non_adaptive", mean_n),
+                    (flow_f, "fixed_ref", mean_f),
+                ):
+                    vis = cv2.cvtColor(gray, cv2.COLOR_GRAY2BGR)
+                    step = max(8, min(h, w) // 40)
+                    ys, xs = np.mgrid[step // 2 : h : step, step // 2 : w : step]
+                    for y, x in zip(ys.ravel(), xs.ravel()):
+                        dx, dy = flow[y, x]
+                        x2 = int(round(x + dx * 2))
+                        y2 = int(round(y + dy * 2))
+                        cv2.arrowedLine(vis, (x, y), (x2, y2), (0, 255, 0), 1, tipLength=0.3)
+                    cv2.putText(
+                        vis,
+                        f"{label} m={mean_val:.3f}",
+                        (8, 20),
+                        cv2.FONT_HERSHEY_SIMPLEX,
+                        0.5,
+                        (0, 255, 255),
+                        1,
+                        cv2.LINE_AA,
+                    )
+                    panels.append(vis)
+                combined = np.hstack(panels)
+                cv2.imshow(window, combined)
+                key = cv2.waitKey(1) & 0xFF
+                if key == ord("q"):
+                    break
+    finally:
+        if cap is not None:
+            cap.release()
+        if show:
+            cv2.destroyAllWindows()
+
+    return series
+
+
+def print_summary(series: dict[str, ModeSeries], frames_processed: int) -> None:
+    print(f"\nProcessed {frames_processed} frame(s)\n")
+    header = f"{'mode':<14} {'initial':>10} {'final':>10} {'mean':>10} {'slope':>12} {'max_queue':>10}"
+    print(header)
+    print("-" * len(header))
+
+    for key in ("cumulative", "non_adaptive", "fixed_ref"):
+        s = series[key]
+        if not s.mean_mags:
+            print(f"{key:<14} {'(no data)':>10}")
+            continue
+        initial = s.mean_mags[0]
+        final = s.mean_mags[-1]
+        mean_all = float(np.mean(s.mean_mags))
+        slope = s.slope()
+        max_q = max(s.queue_lens) if s.queue_lens else 0
+        print(
+            f"{key:<14} {initial:10.4f} {final:10.4f} {mean_all:10.4f} {slope:12.6f} {max_q:10d}"
+        )
+
+    print("\nInterpretation on a static scene:")
+    print("  cumulative   — rising mean/slope indicates integration drift")
+    print("  fixed_ref    — should stay near a small bias if drift is removed")
+
+
+def save_plot(series: dict[str, ModeSeries], plot_path: str) -> None:
+    import matplotlib.pyplot as plt
+
+    fig, ax = plt.subplots(figsize=(10, 5))
+    for key, color in (
+        ("cumulative", "C0"),
+        ("non_adaptive", "C1"),
+        ("fixed_ref", "C2"),
+    ):
+        s = series[key]
+        if not s.mean_mags:
+            continue
+        ax.plot(s.mean_mags, label=key, color=color)
+    ax.set_xlabel("frame")
+    ax.set_ylabel("mean flow magnitude")
+    ax.set_title("DIS drift comparison (static scene expected: flat fixed_ref)")
+    ax.legend()
+    ax.grid(True, alpha=0.3)
+    fig.tight_layout()
+    path = Path(plot_path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    fig.savefig(path, dpi=120)
+    plt.close(fig)
+    print(f"Saved plot: {path.resolve()}")
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description="Compare cumulative vs fixed-reference DIS optical flow drift"
+    )
+    parser.add_argument(
+        "--source",
+        default="0",
+        help="Camera index, video path, or image path (default: 0)",
+    )
+    parser.add_argument(
+        "--config",
+        "-c",
+        default=DEFAULT_CONFIG,
+        help=f"Orisys config stem or JSON path for DIS settings (default: {DEFAULT_CONFIG})",
+    )
+    parser.add_argument(
+        "--frames",
+        type=int,
+        default=300,
+        help="Maximum frames to process (default: 300)",
+    )
+    parser.add_argument(
+        "--reset-every",
+        type=int,
+        default=0,
+        help="Reset cumulative tracker every N frames (0 = disabled)",
+    )
+    parser.add_argument(
+        "--plot",
+        nargs="?",
+        const="dis_drift.png",
+        default=None,
+        help="Save matplotlib plot (optional path, default: dis_drift.png)",
+    )
+    parser.add_argument(
+        "--no-show",
+        action="store_true",
+        help="Skip OpenCV preview window",
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    args = parse_args()
+    source = parse_source(args.source)
+    config_tracker = load_tracker_config(args.config)
+
+    if config_tracker.get("algorithm", "dis") != "dis":
+        print(f"Warning: config algorithm is {config_tracker.get('algorithm')}; forcing dis for test.")
+
+    print("DIS no-integrate comparison")
+    print(f"  source: {source}")
+    print(f"  config: {args.config}")
+    print(f"  dis_preset: {config_tracker.get('dis_preset')}  dis_mode: {config_tracker.get('dis_mode')}")
+    print(f"  frames: {args.frames}  reset_every: {args.reset_every or 'off'}")
+
+    series = run_comparison(
+        source,
+        config_tracker=config_tracker,
+        max_frames=max(args.frames, 1),
+        reset_every=args.reset_every or None,
+        show=not args.no_show,
+    )
+
+    n = len(series["cumulative"].mean_mags)
+    print_summary(series, n)
+
+    if args.plot:
+        save_plot(series, args.plot)
+
+    return 0
+
+
+def test_dis_no_integrate_smoke() -> None:
+    """Optional pytest entry: synthetic static frames, no camera required."""
+    if os.getenv("ORISYS_RUN_DIS_DRIFT") != "1":
+        import pytest
+
+        pytest.skip("Set ORISYS_RUN_DIS_DRIFT=1 to run DIS drift smoke test")
+
+    gray = np.full((64, 64), 128, dtype=np.uint8)
+    # Slight per-frame noise to mimic sensor variation without true motion.
+    cap_frames = []
+    rng = np.random.default_rng(0)
+    for _ in range(60):
+        noisy = gray.astype(np.int16) + rng.integers(-2, 3, gray.shape, dtype=np.int16)
+        cap_frames.append(np.clip(noisy, 0, 255).astype(np.uint8))
+
+    config_tracker = load_tracker_config(DEFAULT_CONFIG)
+    cumulative = make_tracker(config_tracker, adaptive=True)
+    fixed_ref = FixedRefDIS(config_tracker)
+
+    cum_mags = []
+    fix_mags = []
+    for frame in cap_frames:
+        fc = cumulative.track(frame.copy())
+        ff = fixed_ref.track(frame)
+        cum_mags.append(flow_magnitude_stats(fc)[0])
+        fix_mags.append(flow_magnitude_stats(ff)[0])
+
+    assert len(cum_mags) >= 10
+    # Fixed ref should not drift more than cumulative on identical static+noise input.
+    cum_slope = float(np.polyfit(np.arange(len(cum_mags)), cum_mags, 1)[0])
+    fix_slope = float(np.polyfit(np.arange(len(fix_mags)), fix_mags, 1)[0])
+    assert abs(fix_slope) <= abs(cum_slope) + 0.05, (
+        f"fixed_ref slope {fix_slope:.4f} worse than cumulative {cum_slope:.4f}"
+    )
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())