GUI for finger v1

2026-06-18 22:18:19 +08:00
parent f19f092b64
commit 3fd9b839a9
42 changed files with 2326 additions and 1186 deletions
@@ -0,0 +1,123 @@
+"""Finger tactile acquisition loop for example dashboards."""
+
+from __future__ import annotations
+
+import time
+
+import numpy as np
+from orisys.finger import FingerRuntime
+
+from viz import FrameRecorder, build_uv_surface_mesh, resolve_viz_pose_path
+
+from .config import PipelineConfig
+from .frame import FingerFrameView
+
+
+class FingerPipeline:
+    """Owns FingerRuntime and produces FingerFrameView snapshots per tick."""
+
+    def __init__(self, config: PipelineConfig):
+        self.config = config
+        self.runtime: FingerRuntime | None = None
+        self.recorder = FrameRecorder()
+        self._start_time: float | None = None
+        self.uv_mesh = None
+        self.world_to_cam: np.ndarray | None = None
+        self.mesh_lookat: np.ndarray | None = None
+
+    @property
+    def is_open(self) -> bool:
+        return self.runtime is not None
+
+    @property
+    def tactile(self):
+        if self.runtime is None:
+            raise RuntimeError("FingerPipeline is not open")
+        return self.runtime.tactile
+
+    def open(self) -> None:
+        if self.runtime is not None:
+            return
+        self.runtime = FingerRuntime.open(
+            config=self.config.config,
+            calib=self.config.calib,
+            video=self.config.video,
+            verbose=self.config.verbose,
+        )
+        self._prepare_mesh_assets()
+        self.runtime.warmup(color=self.config.use_color)
+        self._start_time = time.time()
+
+    def _prepare_mesh_assets(self) -> None:
+        if self.runtime is None:
+            return
+        domain = self.runtime.domain
+        if domain.surface is None or getattr(domain.surface, "world_xyz", None) is None:
+            return
+        self.uv_mesh = build_uv_surface_mesh(domain.surface.world_xyz, domain.valid_mask)
+        if self.config.viz_pose.lower() != "none":
+            self.world_to_cam = np.load(resolve_viz_pose_path(self.config.viz_pose))
+            self.mesh_lookat = self.uv_mesh.rest_vertices.mean(axis=0)
+
+    def close(self) -> None:
+        if self.runtime is not None:
+            self.runtime.close()
+            self.runtime = None
+        self._start_time = None
+
+    def reset(self) -> None:
+        if self.runtime is not None:
+            self.runtime.tactile.reset()
+
+    def tick(self) -> FingerFrameView | None:
+        if self.runtime is None or self._start_time is None:
+            return None
+
+        ok, unrolled = self.runtime.grab_and_process(color=self.config.use_color)
+        if not ok:
+            return None
+
+        tactile = self.runtime.tactile
+        self.recorder.write_if_recording(tactile.frame)
+
+        tactile.compute_deformation(decompose=True, 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,
+        )
+
+        return FingerFrameView(
+            timestamp=time.time() - self._start_time,
+            fps=float(fps),
+            unrolled=unrolled,
+            flow=flow,
+            vnormal=vnormal,
+            depth_map=depth_map,
+            img=img,
+            contour=contour,
+            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 start_recording(self) -> bool:
+        if self.runtime is None:
+            return False
+        return self.recorder.start(self.runtime.tactile.frame)
+
+    def stop_recording(self) -> None:
+        self.recorder.stop()