GUI for finger v1

examples/pipeline/config.py

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+"""Configuration for the finger tactile example pipeline."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+from viz.mesh_camera import DEFAULT_FINGER_VIZ_POSE
+
+
+def mesh_threshold(mesh_map: str, threshold: float | None) -> float:
+    if threshold is not None:
+        return threshold
+    return 0.0 if mesh_map == "depth" else 0.4
+
+
+@dataclass
+class PipelineConfig:
+    video: str = "0"
+    config: str = "./config/dd02-ov.json"
+    calib: str | None = None
+    verbose: bool = False
+    mesh_map: str = "depth"
+    threshold: float | None = None
+    viz_pose: str = DEFAULT_FINGER_VIZ_POSE
+    enable_3d: bool = True
+    use_color: bool = True
+    lowpass_cutoff_hz: float = 5.0
+    force_sample_rate_hz: float = 30.0
+
+    @classmethod
+    def from_args(cls, args) -> "PipelineConfig":
+        return cls(
+            video=args.video,
+            config=args.config,
+            calib=getattr(args, "cal", None) or None,
+            verbose=args.verbose,
+            mesh_map=args.mesh_map,
+            threshold=args.threshold,
+            viz_pose=args.viz_pose,
+            enable_3d=not args.no_3d,
+            lowpass_cutoff_hz=getattr(args, "cutoff", 5.0),
+        )
+
+    @property
+    def flow_threshold(self) -> float:
+        return mesh_threshold(self.mesh_map, self.threshold)