修正示例中的三轴力单位显示

避免未标定读数被示例标成 N，并让 Finger 示例读取 SDK 的每轴单位。已通过相关测试和语法检查。

examples/basic_pipeline.py

@@ -77,13 +77,13 @@ def main() -> int:
                     break
 
                 # ------------------------------------------------------ use the results
-                # Scalars are calibrated Newtons when the bundle ships a calibration; the *_raw
+                # The *_raw pair is always the unfiltered integrator output.
-                # pair is always the unfiltered integrator output.
                 touching = "yes" if snap.centroid is not None else "no"
+                fn_unit, fx_unit, fy_unit = sensor.force_units
                 print(
                     f"FPS={snap.fps:5.1f}  "
-                    f"normal={snap.normal_force:8.4f} N (raw {snap.normal_force_raw:10.2f})  "
+                    f"normal={snap.normal_force:8.4f} {fn_unit} (raw {snap.normal_force_raw:10.2f})  "
-                    f"shear=({snap.shear_x:7.4f}, {snap.shear_y:7.4f})  "
+                    f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit})  "
                     f"contact={touching}  age={snap.age_ms:4.1f} ms",
                     end="\r",
                 )

examples/finger_pipeline.py

@@ -75,10 +75,11 @@ def main() -> int:
                 # ------------------------------------------------------ use the results
                 coverage = runtime.tactile.mask_stats.get("coverage")
                 coverage_text = f"{coverage:.2f}" if isinstance(coverage, float) else "n/a"
+                fn_unit, fx_unit, fy_unit = runtime.tactile.force_units
                 print(
                     f"FPS={snap.fps:5.1f}  "
-                    f"normal={snap.normal_force:8.4f} N  "
+                    f"normal={snap.normal_force:8.4f} {fn_unit}  "
-                    f"shear=({snap.shear_x:7.4f}, {snap.shear_y:7.4f})  "
+                    f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit})  "
                     f"mask={coverage_text}  age={snap.age_ms:4.1f} ms",
                     end="\r",
                 )

examples/mini_pipeline.py

@@ -95,9 +95,10 @@ def main():
         cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
 
         # 步骤 3.4：打印关键结果
+        fn_unit, fx_unit, fy_unit = sensor.force_units
         print(
-            f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
+            f"FPS={fps:.2f}, 法向力={fnormal:.4f} {fn_unit}, 切向力X={fshearx:.4f} {fx_unit}, "
-            f"切向力Y={fsheary:.4f}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
+            f"切向力Y={fsheary:.4f} {fy_unit}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}"
         )
             
         # 步骤 3.5：键盘控制

examples/plot_data.py

@@ -65,7 +65,11 @@ def main():
                 sensor.info.VRAW,
                 sensor.info.DEPTH,
             )
-            print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
+            fn_unit, fx_unit, fy_unit = sensor.force_units
+            print(
+                f"FPS={fps:.2f}, 法向力={fn:.4f} {fn_unit}, "
+                f"切向力X={fx:.4f} {fx_unit}, 切向力Y={fy:.4f} {fy_unit}"
+            )
 
             arrows = orisys.util.draw_arrows(sensor.img, flow, threshold=5, grid_spacing=10, arrow_scale=1.0)
             cv2.imshow("形变矢量场", arrows)

src/orisys/finger/runtime.py

@@ -101,6 +101,10 @@ class TactileProcessor:
     def valid_mask(self):
         return self._sensor.valid_mask
 
+    @property
+    def force_units(self) -> tuple[str, str, str]:
+        return self._sensor.force_units
+
     def push_frame(self, frame, *, already_gray=False, valid_mask=None):
         """Feed one processed tactile frame into the analysis pipeline."""
         mask = self._default_valid_mask if valid_mask is None else valid_mask

tests/test_finger_runtime.py

@@ -123,6 +123,7 @@ def test_tactile_processor_push_frame_uses_default_valid_mask():
 
         def __init__(self):
             self.calls = []
+            self.force_units = ("N", "raw", "raw")
             self.frame = None
             self.img = None
             self.flow = None
@@ -146,6 +147,7 @@ def test_tactile_processor_push_frame_uses_default_valid_mask():
     result = tactile.push_frame(frame, already_gray=True)
 
     assert result == "ok"
+    assert tactile.force_units == ("N", "raw", "raw")
     assert sensor.calls[0]["frame"] is frame
     assert sensor.calls[0]["already_processed"] is True
     assert sensor.calls[0]["already_gray"] is True