Merge pull request 'Feature/build docker manylinux pypi' (#12) from feature/build_docker_manylinux_pypi into dev
Reviewed-on: http://100.106.67.31:3000/orisys-tech/orisys-sdk/pulls/12
This commit was merged in pull request #12.
This commit is contained in:
@@ -8,7 +8,7 @@ and several runnable examples for camera and video-based workflows.
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- `src/orisys/`: installable SDK package
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- `config/`: default and lab/runtime JSON configurations
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- `examples/`: user-facing example scripts
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- `examples/`: product demos (`products/ory_box`, `ory_mini`, `ory_finger`) plus shared `gui/`, `pipeline/`, `viz/`
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- `scripts/`: maintenance, calibration, packaging, and demo scripts
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- `tools/`: non-package tooling such as patch-generation utilities
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- `tests/`: automated pytest suite
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@@ -49,18 +49,36 @@ pytest
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### 4. Run an example
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ORY-BOX:
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```bash
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python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json
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python examples/products/ory_box/basic_pipeline.py -v 0 -c ddjx01
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```
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ORY-MINI:
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```bash
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python examples/products/ory_mini/basic_pipeline.py -v 0 -c mini
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```
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ORY-FINGER:
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```bash
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python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
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```
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Compatibility wrappers remain at `examples/basic_pipeline.py` and
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`examples/finger_pipeline*.py`.
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## Configuration
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The canonical configuration files now live in the repo-level `config/` folder.
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The package loader `orisys.configs` resolves configs from:
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1. an explicit JSON file path
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2. a config file stem under `config/`
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3. a backward-compatible JSON `"name"` match, such as `"prototype"`
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2. a config file stem under `config/` (for example `ddjx01`, `mini`, `dd02`)
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3. a product alias such as `dd02` -> `dd02-ov`
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4. a backward-compatible JSON `"name"` match, such as `"prototype"`
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Examples:
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@@ -76,11 +94,24 @@ cfg = orisys.export_config("ddjx01", "./config/exported_config.json")
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- Example entry points: `examples/README.md`
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- User documentation: `docs/get_started.md`
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- Packaging helper: `build/build_nuitka.py` (compiled SDK wheel)
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- Manylinux / PyPI binary wheel (Docker Desktop): `docs/publishing.md`
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- GUI standalone folder: `build/build_gui_win.bat` → `dist/OrisysDashboard/`
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- Specialized utilities: `tools/`
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## Publishing (Linux manylinux)
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To build PyPI-compliant CPython 3.10/3.11/3.12 Linux wheels from Windows Docker Desktop:
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```powershell
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powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1
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```
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Upload candidates land in `dist/repaired/`. Full TestPyPI → PyPI steps:
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`docs/publishing.md`.
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## Notes for Collaborators
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- Generated build outputs such as `build/`, `dist/`, and `SDK/` are intentionally ignored.
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- Large or generated tooling outputs should stay under ignored output folders rather than be committed.
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- If you add new images or arrays that should be versioned, review `.gitignore` first.
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- Never commit PyPI / TestPyPI API tokens.
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@@ -0,0 +1,26 @@
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# manylinux_2_28: modern glibc baseline with binary wheels for numpy/scipy/opencv.
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# Prefer this over manylinux2014 — recent NumPy requires GCC >= 10.3 and will try
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# (and fail) to build from source on the older image.
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FROM quay.io/pypa/manylinux_2_28_x86_64:latest
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ENV PIP_DISABLE_PIP_VERSION_CHECK=1 \
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PIP_ROOT_USER_ACTION=ignore
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# Only install compile/repair tooling here. Runtime deps (numpy/scipy/opencv/numba)
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# are declared in the wheel metadata and installed by pip when users install orisys.
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# Nuitka is configured with --nofollow-import-to for those packages.
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RUN for PYBIN in \
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/opt/python/cp310-cp310/bin \
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/opt/python/cp311-cp311/bin \
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/opt/python/cp312-cp312/bin; do \
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echo "=== Installing build tooling into ${PYBIN} ===" && \
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"${PYBIN}/python" -m pip install --upgrade pip setuptools wheel && \
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"${PYBIN}/python" -m pip install \
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"nuitka>=2.0" \
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ordered-set \
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zstandard \
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auditwheel; \
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done
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WORKDIR /src
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ENTRYPOINT ["/bin/bash", "/src/build/manylinux_entrypoint.sh"]
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@@ -0,0 +1,2 @@
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powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1
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powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1 -PythonVersions 3.10,3.12
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@@ -18,7 +18,7 @@ import sys
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from pathlib import Path
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# ---------- Configuration ----------
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ENTRY_SCRIPT = Path("examples/finger_pipeline_3dview.py").resolve()
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ENTRY_SCRIPT = Path("examples/products/ory_finger/finger_pipeline_3dview.py").resolve()
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EXE_NAME = "OrisysDashboard.exe"
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DIST_NAME = "OrisysDashboard" # final folder name
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repo_root = Path(__file__).parent.parent
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@@ -0,0 +1,104 @@
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# Build PyPI-compliant manylinux wheels for CPython 3.10/3.11/3.12 using Docker Desktop.
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#
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# Usage (from repo root, PowerShell):
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# .\build\build_manylinux_docker.ps1
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# .\build\build_manylinux_docker.ps1 -PythonVersions 3.10,3.11,3.12
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# .\build\build_manylinux_docker.ps1 -PythonVersions 3.11
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# .\build\build_manylinux_docker.ps1 -SkipImageBuild
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#
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# From cmd.exe:
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# powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1
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#
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# Prerequisites:
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# - Docker Desktop running in Linux container mode
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# - Enough disk for the manylinux image (~2GB+)
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param(
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[ValidateSet("pypi-linux", "internal")]
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[string]$Target = "pypi-linux",
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[string]$PythonVersions = "3.10,3.11,3.12",
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[switch]$SkipImageBuild,
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[string]$ImageName = "orisys-manylinux"
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)
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$ErrorActionPreference = "Stop"
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function Convert-ToManylinuxTag {
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param([string]$Version)
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$v = $Version.Trim()
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switch ($v) {
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"3.10" { return "cp310-cp310" }
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"3.11" { return "cp311-cp311" }
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"3.12" { return "cp312-cp312" }
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"cp310-cp310" { return "cp310-cp310" }
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"cp311-cp311" { return "cp311-cp311" }
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"cp312-cp312" { return "cp312-cp312" }
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default {
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throw "Unsupported Python version '$Version'. Use 3.10, 3.11, and/or 3.12."
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}
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}
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}
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$RepoRoot = (Resolve-Path (Join-Path $PSScriptRoot "..")).Path
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Set-Location $RepoRoot
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$tags = @()
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foreach ($part in ($PythonVersions -split ",")) {
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if ([string]::IsNullOrWhiteSpace($part)) { continue }
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$tags += (Convert-ToManylinuxTag $part)
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}
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if ($tags.Count -eq 0) {
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throw "No Python versions specified."
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}
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$pythonTags = [string]::Join(",", $tags)
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Write-Host "=== Orisys manylinux Docker build ==="
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Write-Host "Repo: $RepoRoot"
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Write-Host "Target: $Target"
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Write-Host "Image: $ImageName"
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Write-Host "Python tags: $pythonTags"
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# Docker Desktop must be in Linux container mode for manylinux.
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$dockerInfo = docker version --format "{{.Server.Os}}" 2>$null
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if ($LASTEXITCODE -ne 0) {
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throw "Docker is not available. Start Docker Desktop and retry."
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}
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if ($dockerInfo -ne "linux") {
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throw "Docker server OS is '$dockerInfo'. Switch Docker Desktop to Linux containers."
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}
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$entrypoint = Join-Path $RepoRoot "build\manylinux_entrypoint.sh"
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# Normalize CRLF -> LF so bash in the container can execute the script.
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$raw = [System.IO.File]::ReadAllText($entrypoint)
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$normalized = $raw -replace "`r`n", "`n" -replace "`r", "`n"
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[System.IO.File]::WriteAllText($entrypoint, $normalized)
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if (-not $SkipImageBuild) {
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Write-Host "`n=== Building Docker image ==="
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docker build -f build/Dockerfile.manylinux -t $ImageName .
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if ($LASTEXITCODE -ne 0) {
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throw "docker build failed"
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}
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}
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Write-Host "`n=== Running manylinux container ==="
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# Mount the repo so artifacts land under dist/repaired and SDK/<version>/ on the host.
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docker run --rm `
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-e "ORISYS_BUILD_TARGET=$Target" `
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-e "ORISYS_PYTHON_TAGS=$pythonTags" `
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-v "${RepoRoot}:/src" `
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$ImageName
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if ($LASTEXITCODE -ne 0) {
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throw "manylinux container build failed"
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}
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Write-Host "`n=== Host artifacts ==="
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$repaired = Join-Path $RepoRoot "dist\repaired"
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if (Test-Path $repaired) {
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Get-ChildItem $repaired -Filter *.whl | ForEach-Object { Write-Host $_.FullName }
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} else {
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Write-Warning "No dist/repaired directory found."
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}
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Write-Host "`nNext steps: see docs/publishing.md (TestPyPI then PyPI)."
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+123
-22
@@ -1,36 +1,80 @@
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"""Build a Nuitka-compiled orisys wheel and publish it to SDK/{version}/.
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Pipeline:
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1. Compile src/orisys → .pyd
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1. Compile src/orisys → extension module (.pyd / .so)
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2. Stage wheel tree (compiled module + bundled files from pyproject.toml)
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3. Run bdist_wheel and move output to SDK/{version}/
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4. Smoke-test imports in a temporary venv
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3. Run bdist_wheel; on Linux, auditwheel-repair to a manylinux tag
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4. Smoke-test imports in a temporary venv (required for --target pypi-linux)
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Run from repo root: python build/build_nuitka.py
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Targets:
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internal – local/SDK delivery (default). Linux still repairs with auditwheel.
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pypi-linux – PyPI binary wheel; requires Linux + CPython 3.10/3.11/3.12 + compliant tag.
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Run from repo root:
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python build/build_nuitka.py
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python build/build_nuitka.py --target pypi-linux
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"""
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from __future__ import annotations
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import argparse
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import os
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import shutil
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import subprocess
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import sys
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from pathlib import Path
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from nuitka_compile import compile_orisys, copy_compiled_orisys, install_nuitka
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from paths import NUITKA_COMPILE_DIR, NUITKA_WHEEL_DIR, REPO_ROOT, repo_path
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from paths import NUITKA_COMPILE_DIR, NUITKA_WHEEL_DIR, REPO_ROOT, repaired_wheel_dir, repo_path
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from pyproject_utils import bundle_items, extras_require, get_version, install_requires
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from verify import verify_built_wheel
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from wheel_build import publish_wheel_to_sdk, run_bdist_wheel, write_wheel_setup
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from wheel_build import (
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is_compliant_manylinux_wheel,
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publish_wheel_to_sdk,
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repair_linux_wheel,
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run_bdist_wheel,
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write_wheel_setup,
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)
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from wheel_layout import copy_bundle_items, copy_orisys_blend, package_data_from_bundle
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VALID_TARGETS = ("internal", "pypi-linux")
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# ABI tags that manylinux images ship under /opt/python/cpXYY-cpXYY.
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PYPI_LINUX_PYTHON_VERSIONS = ((3, 10), (3, 11), (3, 12))
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def _reset_dir(path) -> None:
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def _reset_dir(path: Path) -> None:
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"""Remove and recreate a build output directory."""
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if path.exists():
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shutil.rmtree(path)
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path.mkdir(parents=True)
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def build() -> None:
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def _validate_pypi_linux_environment() -> None:
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if sys.platform != "linux":
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raise SystemExit(
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"[ERROR] --target pypi-linux must run inside a Linux manylinux container "
|
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"(for example quay.io/pypa/manylinux_2_28_x86_64 via Docker Desktop)."
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)
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if sys.version_info[:2] not in PYPI_LINUX_PYTHON_VERSIONS:
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supported = ", ".join(f"{major}.{minor}" for major, minor in PYPI_LINUX_PYTHON_VERSIONS)
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raise SystemExit(
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f"[ERROR] --target pypi-linux requires CPython {supported}, got "
|
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f"{sys.version_info.major}.{sys.version_info.minor}. "
|
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"Use /opt/python/cp310-cp310 (or cp311/cp312) in the manylinux_2_28 image."
|
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)
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||||
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|
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def build(*, target: str = "internal", verify: bool | None = None) -> Path:
|
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if target not in VALID_TARGETS:
|
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raise SystemExit(f"[ERROR] Unknown target {target!r}; choose from {VALID_TARGETS}")
|
||||
|
||||
if target == "pypi-linux":
|
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_validate_pypi_linux_environment()
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|
||||
# pypi-linux always verifies; internal opts in with --verify.
|
||||
if verify is None:
|
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verify = target == "pypi-linux"
|
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|
||||
# --- 1. Compile ---
|
||||
install_nuitka()
|
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|
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@@ -38,7 +82,7 @@ def build() -> None:
|
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_reset_dir(NUITKA_COMPILE_DIR)
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_reset_dir(NUITKA_WHEEL_DIR)
|
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print("\n=== Compiling with Nuitka ===")
|
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print(f"\n=== Compiling with Nuitka (target={target}, version={version}) ===")
|
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env = os.environ.copy()
|
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src_dir = repo_path("src")
|
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env["PYTHONPATH"] = src_dir.as_posix() + os.pathsep + env.get("PYTHONPATH", "")
|
||||
@@ -71,23 +115,80 @@ def build() -> None:
|
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extras_require=extras_require(REPO_ROOT),
|
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)
|
||||
|
||||
# --- 3. Build wheel and publish to SDK/ ---
|
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# --- 3. Build wheel, repair on Linux, publish to SDK/ ---
|
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wheel_path = run_bdist_wheel(NUITKA_WHEEL_DIR)
|
||||
if wheel_path is None:
|
||||
print("\n[ERROR] Wheel not found.")
|
||||
return
|
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raise SystemExit("\n[ERROR] Wheel not found after bdist_wheel.")
|
||||
|
||||
final_wheel = publish_wheel_to_sdk(wheel_path, version)
|
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print(f"\n[SUCCESS] Wheel created and moved to: {final_wheel}")
|
||||
repair_dir = repaired_wheel_dir()
|
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final_candidate = repair_linux_wheel(wheel_path, repair_dir)
|
||||
|
||||
# # --- 4. Verify (isolated venv; does not touch the active environment) ---
|
||||
# print("\n=== Verifying finger mesh/viewer imports ===")
|
||||
# try:
|
||||
# verify_built_wheel(final_wheel)
|
||||
# except subprocess.CalledProcessError as exc:
|
||||
# print(f"\n[WARNING] Wheel verify failed: {exc}")
|
||||
# print("The wheel was built successfully; verification runs in an isolated temp venv.")
|
||||
if target == "pypi-linux" and not is_compliant_manylinux_wheel(final_candidate):
|
||||
raise SystemExit(
|
||||
f"[ERROR] Wheel is not PyPI-compliant: {final_candidate.name}. "
|
||||
"Expected a manylinux_2_17_x86_64 (or newer) platform tag."
|
||||
)
|
||||
|
||||
# Keep a durable copy under dist/repaired for upload tooling.
|
||||
dist_repaired = REPO_ROOT / "dist" / "repaired"
|
||||
dist_repaired.mkdir(parents=True, exist_ok=True)
|
||||
dist_copy = dist_repaired / final_candidate.name
|
||||
if dist_copy.resolve() != final_candidate.resolve():
|
||||
shutil.copy2(final_candidate, dist_copy)
|
||||
|
||||
final_wheel = publish_wheel_to_sdk(final_candidate, version)
|
||||
print(f"\n[SUCCESS] Wheel created and copied to: {final_wheel}")
|
||||
print(f"[SUCCESS] Upload candidate also at: {dist_copy}")
|
||||
|
||||
# --- 4. Verify (isolated venv; does not touch the active environment) ---
|
||||
if verify:
|
||||
print("\n=== Verifying wheel imports in isolated venv ===")
|
||||
try:
|
||||
verify_built_wheel(final_wheel)
|
||||
print("[SUCCESS] Wheel smoke test passed.")
|
||||
except subprocess.CalledProcessError as exc:
|
||||
if target == "pypi-linux":
|
||||
raise SystemExit(
|
||||
f"[ERROR] Wheel verify failed (required for pypi-linux): {exc}"
|
||||
) from exc
|
||||
print(f"\n[WARNING] Wheel verify failed: {exc}")
|
||||
print("The wheel was built successfully; verification runs in an isolated temp venv.")
|
||||
else:
|
||||
print("\n[INFO] Skipping wheel verify (pass --verify to enable).")
|
||||
|
||||
return final_wheel
|
||||
|
||||
|
||||
def main(argv: list[str] | None = None) -> None:
|
||||
parser = argparse.ArgumentParser(description="Build a Nuitka-compiled orisys wheel.")
|
||||
parser.add_argument(
|
||||
"--target",
|
||||
choices=VALID_TARGETS,
|
||||
default="internal",
|
||||
help="internal: SDK delivery; pypi-linux: manylinux PyPI binary wheel",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--verify",
|
||||
action="store_true",
|
||||
help="Run isolated venv smoke test (always on for --target pypi-linux)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--skip-verify",
|
||||
action="store_true",
|
||||
help="Skip smoke test when using --target internal",
|
||||
)
|
||||
args = parser.parse_args(argv)
|
||||
verify: bool | None
|
||||
if args.target == "pypi-linux":
|
||||
verify = True
|
||||
elif args.verify:
|
||||
verify = True
|
||||
elif args.skip_verify:
|
||||
verify = False
|
||||
else:
|
||||
verify = None
|
||||
build(target=args.target, verify=verify)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
build()
|
||||
main()
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
#!/usr/bin/env bash
|
||||
# Runs inside quay.io/pypa/manylinux_2_28_x86_64 with the repo mounted at /src.
|
||||
# Builds one Nuitka wheel per CPython ABI listed in ORISYS_PYTHON_TAGS.
|
||||
set -euo pipefail
|
||||
|
||||
TARGET="${ORISYS_BUILD_TARGET:-pypi-linux}"
|
||||
# Comma-separated manylinux tags, e.g. "cp310-cp310,cp311-cp311,cp312-cp312"
|
||||
PYTHON_TAGS="${ORISYS_PYTHON_TAGS:-cp310-cp310,cp311-cp311,cp312-cp312}"
|
||||
|
||||
cd /src
|
||||
|
||||
echo "=== manylinux entrypoint ==="
|
||||
echo "Target: ${TARGET}"
|
||||
echo "Python tags: ${PYTHON_TAGS}"
|
||||
uname -a
|
||||
|
||||
IFS=',' read -r -a TAG_ARRAY <<< "${PYTHON_TAGS}"
|
||||
FAILED=0
|
||||
BUILT=()
|
||||
|
||||
for tag in "${TAG_ARRAY[@]}"; do
|
||||
tag="$(echo "${tag}" | tr -d '[:space:]')"
|
||||
if [[ -z "${tag}" ]]; then
|
||||
continue
|
||||
fi
|
||||
|
||||
PYBIN="/opt/python/${tag}/bin"
|
||||
if [[ ! -x "${PYBIN}/python" ]]; then
|
||||
echo "[ERROR] Python not found for tag ${tag}: ${PYBIN}/python" >&2
|
||||
FAILED=1
|
||||
continue
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "========================================"
|
||||
echo "Building orisys wheel: ${tag}"
|
||||
echo "Python: $("${PYBIN}/python" -V)"
|
||||
echo "========================================"
|
||||
|
||||
export PATH="${PYBIN}:${PATH}"
|
||||
export PYTHONPATH="/src/src${PYTHONPATH:+:${PYTHONPATH}}"
|
||||
|
||||
"${PYBIN}/python" -m pip install -q --upgrade pip setuptools wheel auditwheel
|
||||
|
||||
if "${PYBIN}/python" build/build_nuitka.py --target "${TARGET}"; then
|
||||
BUILT+=("${tag}")
|
||||
else
|
||||
echo "[ERROR] Build failed for ${tag}" >&2
|
||||
FAILED=1
|
||||
fi
|
||||
done
|
||||
|
||||
echo ""
|
||||
echo "=== Build artifacts ==="
|
||||
ls -la /src/dist/repaired/ || true
|
||||
ls -la /src/SDK/*/ || true
|
||||
|
||||
if [[ ${#BUILT[@]} -gt 0 ]]; then
|
||||
echo "Built tags: ${BUILT[*]}"
|
||||
fi
|
||||
|
||||
if [[ "${FAILED}" -ne 0 ]]; then
|
||||
echo "[ERROR] One or more Python ABI builds failed." >&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "[SUCCESS] All requested manylinux wheels built."
|
||||
@@ -19,11 +19,18 @@ NUITKA_INCLUDE_PACKAGES = (
|
||||
)
|
||||
|
||||
NUITKA_NOFOLLOW_IMPORTS = (
|
||||
# Keep as runtime deps (shipped via wheel install_requires / extras).
|
||||
"numpy",
|
||||
"scipy",
|
||||
"cv2",
|
||||
"numba",
|
||||
"orisys_blend",
|
||||
"cupy",
|
||||
"cupyx",
|
||||
"pyopencl",
|
||||
"open3d",
|
||||
"PyQt5",
|
||||
"pyqtgraph",
|
||||
)
|
||||
|
||||
|
||||
|
||||
@@ -18,3 +18,8 @@ def repo_path(*parts: str) -> Path:
|
||||
|
||||
def sdk_dir(version: str) -> Path:
|
||||
return REPO_ROOT / "SDK" / version
|
||||
|
||||
|
||||
def repaired_wheel_dir() -> Path:
|
||||
"""Directory for auditwheel-repaired wheels under the Nuitka wheel build tree."""
|
||||
return NUITKA_WHEEL_DIR / "repaired"
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import importlib
|
||||
import ast
|
||||
import subprocess
|
||||
import sys
|
||||
from pathlib import Path
|
||||
@@ -41,17 +41,29 @@ def extras_require(repo_root: Path) -> dict[str, list[str]]:
|
||||
|
||||
def _resolve_version_attr(repo_root: Path, attr: str) -> str:
|
||||
"""Resolve a setuptools dynamic version attr (e.g. orisys.__version__)."""
|
||||
src_dir = str(repo_root / "src")
|
||||
if src_dir not in sys.path:
|
||||
sys.path.insert(0, src_dir)
|
||||
module_name, _, attr_name = attr.partition(".")
|
||||
if not attr_name:
|
||||
raise RuntimeError(f"Invalid dynamic version attr: {attr!r}")
|
||||
module = importlib.import_module(module_name)
|
||||
value = module
|
||||
for name in attr_name.split("."):
|
||||
value = getattr(value, name)
|
||||
return str(value)
|
||||
|
||||
# Avoid importing package modules here: __init__ may import heavy runtime deps
|
||||
# (e.g., cv2/numpy) that are not required just to read __version__.
|
||||
rel_module = Path(*module_name.split("."))
|
||||
module_file = repo_root / "src" / rel_module.with_suffix(".py")
|
||||
if not module_file.is_file():
|
||||
module_file = repo_root / "src" / rel_module / "__init__.py"
|
||||
if not module_file.is_file():
|
||||
raise RuntimeError(f"Cannot resolve module file for dynamic version attr: {attr!r}")
|
||||
|
||||
tree = ast.parse(module_file.read_text(encoding="utf-8"), filename=str(module_file))
|
||||
target_name = attr_name.split(".")[0]
|
||||
for node in tree.body:
|
||||
if isinstance(node, ast.Assign):
|
||||
for target in node.targets:
|
||||
if isinstance(target, ast.Name) and target.id == target_name:
|
||||
value = ast.literal_eval(node.value)
|
||||
return str(value)
|
||||
|
||||
raise RuntimeError(f"Attribute {target_name!r} not found in {module_file}")
|
||||
|
||||
|
||||
def get_version(repo_root: Path) -> str:
|
||||
|
||||
+30
-12
@@ -11,6 +11,32 @@ from pathlib import Path
|
||||
|
||||
from paths import GUI_DIST_DIR
|
||||
|
||||
# Public SDK surface that must import from a released wheel.
|
||||
_SMOKE_IMPORT_SCRIPT = """
|
||||
import orisys
|
||||
from orisys import Sensor, list_config, export_config, util, finger
|
||||
from orisys.finger import UVMeshViewer, build_uv_surface_mesh, FingerRuntime
|
||||
from orisys.finger.mesh import UVSurfaceMesh
|
||||
from orisys.finger.viewer import init_uv_mesh_viewer
|
||||
from orisys.hhd import nHHD
|
||||
from orisys.tracker import Tracker
|
||||
|
||||
assert orisys.__version__
|
||||
assert Sensor is not None
|
||||
assert callable(list_config)
|
||||
assert callable(export_config)
|
||||
assert util is not None
|
||||
assert finger is not None
|
||||
assert UVMeshViewer is not None
|
||||
assert build_uv_surface_mesh is not None
|
||||
assert FingerRuntime is not None
|
||||
assert UVSurfaceMesh is not None
|
||||
assert init_uv_mesh_viewer is not None
|
||||
assert nHHD is not None
|
||||
assert Tracker is not None
|
||||
print(f"orisys {orisys.__version__} public API imports OK")
|
||||
"""
|
||||
|
||||
|
||||
def _venv_python(venv_dir: Path) -> Path:
|
||||
if sys.platform == "win32":
|
||||
@@ -19,7 +45,7 @@ def _venv_python(venv_dir: Path) -> Path:
|
||||
|
||||
|
||||
def verify_built_wheel(wheel_path: Path) -> None:
|
||||
"""Install the wheel in a temporary venv and smoke-test finger imports."""
|
||||
"""Install the wheel in a temporary venv and smoke-test public imports."""
|
||||
wheel_path = wheel_path.resolve()
|
||||
with tempfile.TemporaryDirectory(prefix="orisys-wheel-verify-") as tmp:
|
||||
venv_dir = Path(tmp) / "venv"
|
||||
@@ -27,20 +53,12 @@ def verify_built_wheel(wheel_path: Path) -> None:
|
||||
python = _venv_python(venv_dir)
|
||||
|
||||
subprocess.check_call(
|
||||
[python, "-m", "pip", "install", "-q", str(wheel_path)],
|
||||
[python, "-m", "pip", "install", "-q", "--upgrade", "pip"],
|
||||
)
|
||||
subprocess.check_call(
|
||||
[
|
||||
python,
|
||||
"-c",
|
||||
(
|
||||
"from orisys.finger import UVMeshViewer, build_uv_surface_mesh, FingerRuntime; "
|
||||
"from orisys.finger.mesh import UVSurfaceMesh; "
|
||||
"from orisys.finger.viewer import init_uv_mesh_viewer; "
|
||||
"print('finger mesh/viewer imports OK')"
|
||||
),
|
||||
],
|
||||
[python, "-m", "pip", "install", "-q", str(wheel_path)],
|
||||
)
|
||||
subprocess.check_call([python, "-c", _SMOKE_IMPORT_SCRIPT])
|
||||
|
||||
|
||||
def verify_gui_dist(dist_dir: Path | None = None) -> None:
|
||||
|
||||
+74
-1
@@ -2,6 +2,7 @@
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import re
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
@@ -9,6 +10,11 @@ from pathlib import Path
|
||||
|
||||
from paths import sdk_dir
|
||||
|
||||
# PyPI rejects bare tags like "manylinux_x86_64"; require a glibc ABI version.
|
||||
_MANYLINUX_TAG_RE = re.compile(
|
||||
r"(?:manylinux2014|manylinux_2_(?:17|24|27|28|31|34|35))_x86_64"
|
||||
)
|
||||
|
||||
|
||||
def write_wheel_setup(
|
||||
wheel_dir: Path,
|
||||
@@ -52,11 +58,78 @@ def run_bdist_wheel(wheel_dir: Path) -> Path | None:
|
||||
return wheels[0] if wheels else None
|
||||
|
||||
|
||||
def _ensure_auditwheel() -> None:
|
||||
try:
|
||||
subprocess.check_call(
|
||||
[sys.executable, "-m", "auditwheel", "--version"],
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.DEVNULL,
|
||||
)
|
||||
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||
print("Installing auditwheel...")
|
||||
subprocess.check_call([sys.executable, "-m", "pip", "install", "auditwheel", "-q"])
|
||||
|
||||
|
||||
def is_compliant_manylinux_wheel(wheel_path: Path) -> bool:
|
||||
"""True if the wheel filename uses a PyPI-accepted manylinux x86_64 tag."""
|
||||
return bool(_MANYLINUX_TAG_RE.search(wheel_path.name))
|
||||
|
||||
|
||||
def repair_linux_wheel(wheel_path: Path, repair_dir: Path) -> Path:
|
||||
"""Run auditwheel show/repair and return a PyPI-compliant manylinux wheel.
|
||||
|
||||
Raises RuntimeError if repair fails or the result still lacks a valid tag.
|
||||
On non-Linux platforms the input wheel is returned unchanged.
|
||||
"""
|
||||
if sys.platform != "linux":
|
||||
print("Skipping auditwheel repair (not running on Linux).")
|
||||
return wheel_path
|
||||
|
||||
_ensure_auditwheel()
|
||||
repair_dir = repair_dir.resolve()
|
||||
if repair_dir.exists():
|
||||
shutil.rmtree(repair_dir)
|
||||
repair_dir.mkdir(parents=True)
|
||||
|
||||
print("\n=== auditwheel show ===")
|
||||
subprocess.check_call([sys.executable, "-m", "auditwheel", "show", str(wheel_path)])
|
||||
|
||||
print("\n=== auditwheel repair ===")
|
||||
subprocess.check_call(
|
||||
[
|
||||
sys.executable,
|
||||
"-m",
|
||||
"auditwheel",
|
||||
"repair",
|
||||
str(wheel_path),
|
||||
"--wheel-dir",
|
||||
str(repair_dir),
|
||||
]
|
||||
)
|
||||
|
||||
repaired = sorted(repair_dir.glob("*.whl"))
|
||||
if not repaired:
|
||||
raise RuntimeError(f"auditwheel repair produced no wheels in {repair_dir}")
|
||||
|
||||
compliant = [path for path in repaired if is_compliant_manylinux_wheel(path)]
|
||||
if not compliant:
|
||||
names = ", ".join(path.name for path in repaired)
|
||||
raise RuntimeError(
|
||||
"auditwheel repair did not produce a PyPI-compliant manylinux tag. "
|
||||
f"Got: {names}. Rebuild inside quay.io/pypa/manylinux_2_28_x86_64 "
|
||||
"(or manylinux2014_x86_64) instead of a generic Linux host."
|
||||
)
|
||||
|
||||
final = compliant[0]
|
||||
print(f"Repaired wheel: {final.name}")
|
||||
return final
|
||||
|
||||
|
||||
def publish_wheel_to_sdk(wheel_path: Path, version: str) -> Path:
|
||||
sdk_version_dir = sdk_dir(version)
|
||||
sdk_version_dir.mkdir(parents=True, exist_ok=True)
|
||||
dest_wheel = sdk_version_dir / wheel_path.name
|
||||
if dest_wheel.exists():
|
||||
dest_wheel.unlink()
|
||||
shutil.move(str(wheel_path), str(dest_wheel))
|
||||
shutil.copy2(str(wheel_path), str(dest_wheel))
|
||||
return dest_wheel
|
||||
|
||||
@@ -2,24 +2,24 @@
|
||||
"name": "prototype",
|
||||
"version": "1.0",
|
||||
"camera": {
|
||||
"resolution_raw": [1280, 720],
|
||||
"fps": 15,
|
||||
"resolution_raw": [1920, 1080],
|
||||
"fps": 30,
|
||||
"units": 15,
|
||||
"units_used": 9,
|
||||
"resolution_stitch": [263, 263],
|
||||
"resolution_stitch": [365, 365],
|
||||
"stitch_res_list": [365,263,123,63]
|
||||
},
|
||||
"stitcher": {
|
||||
"min_area_frac": 0.01,
|
||||
"max_area_frac": 0.04,
|
||||
"max_aspect_ratio": 25,
|
||||
"max_area_frac": 0.05,
|
||||
"max_aspect_ratio": 50,
|
||||
"index": [1,2,3,6,7,8,11,12,13],
|
||||
"margin": 10,
|
||||
"nominal_ov_pos": 67,
|
||||
"nominal_ov_pos": 100,
|
||||
"n": [3,3],
|
||||
"row_tol": 0.6,
|
||||
"box_size": [180, 180],
|
||||
"blend":"numpy",
|
||||
"box_size": [250, 250],
|
||||
"blend":"numba",
|
||||
"blend_list": ["numpy", "numba","none"]
|
||||
},
|
||||
"tracker": {
|
||||
@@ -31,16 +31,15 @@
|
||||
"dis_preset": "medium",
|
||||
"dis_mode": 3,
|
||||
"algorithm_list": ["raft", "dis"],
|
||||
"hhd_downsample": 3,
|
||||
"backend": "cpu"
|
||||
"hhd_downsample": 3
|
||||
},
|
||||
"contact": {
|
||||
"min_contour_area": 3000,
|
||||
"flow_threshold":1,
|
||||
"div_threshold":0.02,
|
||||
"flow_threshold":5,
|
||||
"div_threshold":0.05,
|
||||
"expansion_threshold": 0.01,
|
||||
"kernel_size": [5,5],
|
||||
"denoise_sigma": 10
|
||||
"denoise_sigma": 12
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
{
|
||||
"name": "dd02-ov",
|
||||
"type": "single_camera",
|
||||
"version": "1.0",
|
||||
"camera": {
|
||||
"resolution_raw": [1280, 720],
|
||||
"fps": 30,
|
||||
"resolution_stitch": [420, 450],
|
||||
"source_scale": 0.4,
|
||||
"old":[672, 728, 1,0.5],
|
||||
"work": [504, 546,1],
|
||||
"work2": [420, 450,0.8],
|
||||
"work3": [350, 375,4,0.7],
|
||||
"work4": [280, 300,4,0.4,0.2]
|
||||
},
|
||||
"tracker": {
|
||||
"adaptive": true,
|
||||
"lower_threshold": 12.0,
|
||||
"upper_threshold": 18.0,
|
||||
"loop_closure_interval": 1,
|
||||
"algorithm": "dis",
|
||||
"dis_preset": "medium",
|
||||
"dis_mode": 3,
|
||||
"algorithm_list": ["raft", "dis"],
|
||||
"hhd_downsample": 5
|
||||
},
|
||||
"contact": {
|
||||
"min_contour_area": 3000,
|
||||
"flow_threshold": 0.2,
|
||||
"div_threshold": 0.022,
|
||||
"expansion_threshold": 0.01,
|
||||
"kernel_size": [5, 5],
|
||||
"denoise_sigma": 12
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,47 @@
|
||||
{
|
||||
"name": "prototype",
|
||||
"version": "1.0",
|
||||
"camera": {
|
||||
"resolution_raw": [1280, 720],
|
||||
"fps": 30,
|
||||
"units": 15,
|
||||
"units_used": 9,
|
||||
"resolution_stitch": [263, 263],
|
||||
"stitch_res_list": [365,263,123,63]
|
||||
},
|
||||
"stitcher": {
|
||||
"min_area_frac": 0.01,
|
||||
"max_area_frac": 0.04,
|
||||
"max_aspect_ratio": 25,
|
||||
"index": [1,2,3,6,7,8,11,12,13],
|
||||
"margin": 10,
|
||||
"nominal_ov_pos": 67,
|
||||
"n": [3,3],
|
||||
"row_tol": 0.6,
|
||||
"box_size": [180, 180],
|
||||
"blend":"numpy",
|
||||
"blend_list": ["numpy", "numba","none"]
|
||||
},
|
||||
"tracker": {
|
||||
"adaptive": true,
|
||||
"lower_threshold": 12.0,
|
||||
"upper_threshold": 18.0,
|
||||
"loop_closure_interval": 1,
|
||||
"algorithm": "dis",
|
||||
"dis_preset": "medium",
|
||||
"dis_mode": 3,
|
||||
"algorithm_list": ["raft", "dis"],
|
||||
"hhd_downsample": 3
|
||||
},
|
||||
"contact": {
|
||||
"min_contour_area": 3000,
|
||||
"flow_threshold":1,
|
||||
"div_threshold":0.02,
|
||||
"expansion_threshold": 0.01,
|
||||
"kernel_size": [5,5],
|
||||
"denoise_sigma": 10
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
{
|
||||
"name": "prototype",
|
||||
"version": "1.0",
|
||||
"camera": {
|
||||
"resolution_raw": [1920, 1080],
|
||||
"fps": 30,
|
||||
"units": 15,
|
||||
"units_used": 9,
|
||||
"resolution_stitch": [365, 365],
|
||||
"stitch_res_list": [365,263,123,63]
|
||||
},
|
||||
"stitcher": {
|
||||
"min_area_frac": 0.01,
|
||||
"max_area_frac": 0.05,
|
||||
"max_aspect_ratio": 50,
|
||||
"index": [1,2,3,6,7,8,11,12,13],
|
||||
"margin": 10,
|
||||
"nominal_ov_pos": 100,
|
||||
"n": [3,3],
|
||||
"row_tol": 0.6,
|
||||
"box_size": [250, 250],
|
||||
"blend":"numba",
|
||||
"blend_list": ["numpy", "numba","none"]
|
||||
},
|
||||
"tracker": {
|
||||
"adaptive": true,
|
||||
"lower_threshold": 12.0,
|
||||
"upper_threshold": 18.0,
|
||||
"loop_closure_interval": 1,
|
||||
"algorithm": "dis",
|
||||
"dis_preset": "medium",
|
||||
"dis_mode": 3,
|
||||
"algorithm_list": ["raft", "dis"],
|
||||
"hhd_downsample": 3
|
||||
},
|
||||
"contact": {
|
||||
"min_contour_area": 3000,
|
||||
"flow_threshold":5,
|
||||
"div_threshold":0.05,
|
||||
"expansion_threshold": 0.01,
|
||||
"kernel_size": [5,5],
|
||||
"denoise_sigma": 12
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Binary file not shown.
+10
-10
@@ -238,7 +238,7 @@ flow = sensor.read_info(sensor.info.VRAW)
|
||||
|
||||
## `orisys.finger` 手指 UV pipeline
|
||||
|
||||
`examples/finger_pipeline.py` 展示了一个更适合手指/单相机场景的高层 API：
|
||||
`examples/products/ory_finger/finger_pipeline.py` 展示了一个更适合手指/单相机场景的高层 API：
|
||||
|
||||
1. 使用 `FingerRuntime.open()` 打开视频源、加载 Blender 导出的资产，并构建 UV 展开映射。
|
||||
2. 用 `grab_and_process()` 或 `read_source() + process_frame()` 获取一帧展开后的触觉图像。
|
||||
@@ -262,7 +262,7 @@ flow = sensor.read_info(sensor.info.VRAW)
|
||||
#### 输入参数
|
||||
|
||||
* **export_dir** (`str`，可选): 手指导出资产目录，默认值来自 `orisys.finger.DEFAULT_FINGER_EXPORT_DIR`。目录下通常需要包含 `mesh.npz`、`camera_intrinsics.npz`、`world_to_cam.npy`。
|
||||
* **config** (`str`，可选): Orisys 配置文件路径，默认 `./config/dd02-ov.json`。
|
||||
* **config** (`str`，可选): Orisys 配置文件名称或路径，默认 `dd02`（兼容解析到 `dd02-ov`）。
|
||||
* **map_cache** (`str`，可选): UV 展开缓存文件路径，默认值来自 `orisys.finger.DEFAULT_FINGER_MAP_CACHE`。
|
||||
* **source_scale** (`float`，可选): 输入相机分辨率缩放比例；未提供时根据配置自动推断。
|
||||
* **calib** (`str | None`，可选): 外部相机标定文件路径；未提供时优先使用导出资产中的内参。
|
||||
@@ -282,7 +282,7 @@ flow = sensor.read_info(sensor.info.VRAW)
|
||||
from orisys.finger import FingerRuntime
|
||||
|
||||
runtime = FingerRuntime.open(
|
||||
config="./config/dd02-ov.json",
|
||||
config="dd02",
|
||||
video=0,
|
||||
verbose=True,
|
||||
)
|
||||
@@ -312,7 +312,7 @@ runtime = FingerRuntime.open(
|
||||
|
||||
#### 描述
|
||||
|
||||
对一帧原始输入执行源图预处理、UV 展开，并把展开后的结果送入内部 `TactileProcessor`。这是 `examples/finger_pipeline.py` 中 profile 模式使用的方法。
|
||||
对一帧原始输入执行源图预处理、UV 展开，并把展开后的结果送入内部 `TactileProcessor`。这是 `examples/products/ory_finger/finger_pipeline.py` 中 profile 模式使用的方法。
|
||||
|
||||
#### 输入参数
|
||||
|
||||
@@ -327,7 +327,7 @@ runtime = FingerRuntime.open(
|
||||
|
||||
#### 描述
|
||||
|
||||
先读取一帧视频源，再调用 `process_frame()` 完成 UV 展开并推入内部触觉处理器。非 profile 模式下，`examples/finger_pipeline.py` 使用该方法作为主循环入口。
|
||||
先读取一帧视频源，再调用 `process_frame()` 完成 UV 展开并推入内部触觉处理器。非 profile 模式下，`examples/products/ory_finger/finger_pipeline.py` 使用该方法作为主循环入口。
|
||||
|
||||
#### 输入参数
|
||||
|
||||
@@ -357,7 +357,7 @@ runtime = FingerRuntime.open(
|
||||
|
||||
#### 描述
|
||||
|
||||
先执行一次采集与 UV 展开，然后调用 `runtime.tactile.warmup()` 预热内部光流/HHD 相关缓存。`examples/finger_pipeline.py` 在进入主循环前会先执行一次 warmup。
|
||||
先执行一次采集与 UV 展开，然后调用 `runtime.tactile.warmup()` 预热内部光流/HHD 相关缓存。`examples/products/ory_finger/finger_pipeline.py` 在进入主循环前会先执行一次 warmup。
|
||||
|
||||
#### 输入参数
|
||||
|
||||
@@ -386,7 +386,7 @@ runtime = FingerRuntime.open(
|
||||
* **raw_sensor**: 底层 `Sensor` 对象。
|
||||
* **info**: 与 `Sensor.info` 相同的枚举入口。
|
||||
* **img / flow / vnormal / vshear / depth_map**: 当前帧处理结果。
|
||||
* **mask_stats**: 有效 UV 区域统计信息；`examples/finger_pipeline.py` 会读取 `mask_stats["coverage"]` 输出当前掩码覆盖率。
|
||||
* **mask_stats**: 有效 UV 区域统计信息；`examples/products/ory_finger/finger_pipeline.py` 会读取 `mask_stats["coverage"]` 输出当前掩码覆盖率。
|
||||
* **valid_mask**: 当前有效区域掩码。
|
||||
|
||||
#### 说明
|
||||
@@ -395,7 +395,7 @@ runtime = FingerRuntime.open(
|
||||
|
||||
### 10. 最小手指 pipeline 示例
|
||||
|
||||
下面的流程与 `examples/finger_pipeline.py` 一致：
|
||||
下面的流程与 `examples/products/ory_finger/finger_pipeline.py` 一致：
|
||||
|
||||
```python
|
||||
import time
|
||||
@@ -404,7 +404,7 @@ import orisys
|
||||
from orisys.finger import FingerRuntime
|
||||
|
||||
runtime = FingerRuntime.open(
|
||||
config="./config/dd02-ov.json",
|
||||
config="dd02",
|
||||
video=0,
|
||||
verbose=True,
|
||||
)
|
||||
@@ -462,7 +462,7 @@ finally:
|
||||
|
||||
### 11. 关于 profile 模式
|
||||
|
||||
`examples/finger_pipeline.py` 中的 `--profile` / `--profile-every` 是示例脚本参数，不属于 `orisys` SDK 核心 API。本质上它只是把主循环拆成：
|
||||
`examples/products/ory_finger/finger_pipeline.py` 中的 `--profile` / `--profile-every` 是示例脚本参数，不属于 `orisys` SDK 核心 API。本质上它只是把主循环拆成：
|
||||
|
||||
1. `runtime.read_source()`
|
||||
2. `runtime.process_frame(...)`
|
||||
|
||||
Binary file not shown.
Binary file not shown.
+17
-14
@@ -112,13 +112,16 @@ print(orisys.__version__)
|
||||
|
||||
# 使用方法
|
||||
## 运行示例程序
|
||||
套件里面包含了多个例子，建议都在仓库根目录运行（即 `config/`、`examples/`、`assets/` 同级目录）。常见入口分为两类：
|
||||
套件里面包含了多个例子，建议都在仓库根目录运行（即 `config/`、`examples/`、`assets/` 同级目录）。按产品入口如下：
|
||||
|
||||
1. `examples/basic_pipeline.py`：复眼/拼接传感器基础 OpenCV 示例
|
||||
2. `examples/finger_pipeline.py`：手指传感器2维显示最小流程示例
|
||||
3. `examples/finger_pipeline_3dview.py`：手指传感器 Qt 3D 可视化界面
|
||||
1. `examples/products/ory_box/basic_pipeline.py`：ORY-BOX 复眼/拼接传感器基础 OpenCV 示例（默认配置 `ddjx01`）
|
||||
2. `examples/products/ory_mini/basic_pipeline.py`：ORY-MINI 基础 OpenCV 示例（默认配置 `mini`）
|
||||
3. `examples/products/ory_finger/finger_pipeline.py`：ORY-FINGER 2D UV 最小流程（默认配置 `dd02`）
|
||||
4. `examples/products/ory_finger/finger_pipeline_3dview.py`：ORY-FINGER Qt 3D 可视化界面（默认配置 `dd02`）
|
||||
|
||||
下面先介绍最基础的 `basic_pipeline.py` 运行方式。
|
||||
`dd02` 是当前 ORY-FINGER 的稳定别名，实际会解析到 `dd02-ov`。旧路径 `examples/basic_pipeline.py` / `examples/finger_pipeline*.py` 仍可作为兼容入口。
|
||||
|
||||
下面先介绍最基础的 ORY-BOX 运行方式。
|
||||
|
||||
### Windows:
|
||||
1. 检查是否有其他正在连接的USB摄像头设备：打开powershell, 运行命令`Get-PnpDevice -PresentOnly | Where-Object { $_.Class -match '^Camera' }`，如果没有的话不会有输出。
|
||||
@@ -126,7 +129,7 @@ print(orisys.__version__)
|
||||
3. 如果第一步没有输出，传感器的ID就是“0”，如果第一步有一个设备，传感器的ID就是“1”，如此类推。
|
||||
4. 在确定了传感器的ID（下方例子假设为“0”）后，打开Anaconda Prompt, 切换到工作路径，然后在命令行中输入：
|
||||
``` bash
|
||||
python examples/basic_pipeline.py -v 0
|
||||
python examples/products/ory_box/basic_pipeline.py -v 0 -c ddjx01
|
||||
```
|
||||
5. 程序会运行，并自动打开可视化窗口和打印资料，在窗口上按键盘”q”键可以停止运行，按”r”键可以重设数据
|
||||
|
||||
@@ -136,22 +139,22 @@ print(orisys.__version__)
|
||||
3. 根据新增的输出，例如”/dev/video0”，确定传感器的ID为“0”, 如果是”/dev/video3”的话ID为“3” ，如此类推。
|
||||
4. 在确定了传感器的ID（下方例子假设为“0”）后，打开终端, 激活相应的python环境，切换到工作路径，然后在命令行中输入：
|
||||
``` bash
|
||||
python examples/basic_pipeline.py -v 0
|
||||
python examples/products/ory_box/basic_pipeline.py -v 0 -c ddjx01
|
||||
```
|
||||
5. 程序会运行，并自动打开可视化窗口和打印资料，在窗口上按键盘”q”键可以停止运行，按”r”键可以重设数据
|
||||
|
||||
### 手指传感器 UV 示例
|
||||
### ORY-FINGER UV 示例
|
||||
|
||||
如果您使用的是手指/单相机 UV 展开流程，可运行：
|
||||
如果您使用的是 ORY-FINGER（当前配置别名 `dd02`），可运行：
|
||||
|
||||
``` bash
|
||||
python examples/finger_pipeline.py --camera_id 0 --config ./config/dd02-ov.json
|
||||
python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
|
||||
```
|
||||
|
||||
如果输入来自视频文件，也可以改用：
|
||||
|
||||
``` bash
|
||||
python examples/finger_pipeline.py --video ./data/sample.mp4 --config ./config/dd02-ov.json
|
||||
python examples/products/ory_finger/finger_pipeline.py --video ./data/sample.mp4 --config dd02
|
||||
```
|
||||
|
||||
该示例会：
|
||||
@@ -168,10 +171,10 @@ python examples/finger_pipeline.py --video ./data/sample.mp4 --config ./config/d
|
||||
例如：
|
||||
|
||||
``` bash
|
||||
python examples/finger_pipeline.py --camera_id 0 --config ./config/dd02-ov.json
|
||||
python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
|
||||
```
|
||||
|
||||
### 手指 3D 可视化界面
|
||||
### ORY-FINGER 3D 可视化界面
|
||||
|
||||
如果要使用 GUI ,安装GUI依赖：
|
||||
``` bash
|
||||
@@ -180,7 +183,7 @@ pip install pyqt5 pyqtgraph
|
||||
```
|
||||
然后运行：
|
||||
``` bash
|
||||
python examples/finger_pipeline_3dview.py --video 0 --config ./config/dd02-ov.json
|
||||
python examples/products/ory_finger/finger_pipeline_3dview.py --video 0 --config dd02
|
||||
```
|
||||
|
||||
该界面会提供：
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,167 @@
|
||||
# Publishing Orisys to PyPI
|
||||
|
||||
This document covers the **Linux manylinux binary wheel** path (Nuitka-compiled
|
||||
`orisys` for CPython 3.10 / 3.11 / 3.12). Windows wheels are still built on
|
||||
Windows hosts; they cannot be produced inside the manylinux container.
|
||||
|
||||
## Why Docker?
|
||||
|
||||
PyPI rejects wheels tagged `manylinux_x86_64` (missing glibc ABI version). A
|
||||
compliant tag looks like:
|
||||
|
||||
```text
|
||||
orisys-0.4.2-cp310-cp310-manylinux_2_28_x86_64.whl
|
||||
orisys-0.4.2-cp311-cp311-manylinux_2_28_x86_64.whl
|
||||
orisys-0.4.2-cp312-cp312-manylinux_2_28_x86_64.whl
|
||||
```
|
||||
|
||||
Those tags are produced by building inside the official manylinux image and
|
||||
running `auditwheel repair`. On Windows, use **Docker Desktop in Linux container
|
||||
mode**.
|
||||
|
||||
> Note: we use `manylinux_2_28_x86_64` (not 2014). Recent NumPy/SciPy no longer
|
||||
> provide manylinux2014 wheels and fail to build from source on that older GCC.
|
||||
|
||||
## Prerequisites
|
||||
|
||||
1. Docker Desktop installed and running (**Linux containers**, not Windows containers).
|
||||
2. Repository checked out locally (this tree is bind-mounted into the container).
|
||||
3. Version bumped in `src/orisys/__init__.py` (`__version__`) before every upload.
|
||||
PyPI never allows re-uploading the same filename/version.
|
||||
4. PyPI / TestPyPI project-scoped API tokens (never commit tokens or `.pypirc` with secrets).
|
||||
|
||||
Quick Docker check:
|
||||
|
||||
```powershell
|
||||
docker version --format "{{.Server.Os}}"
|
||||
# expect: linux
|
||||
docker run --rm hello-world
|
||||
```
|
||||
|
||||
## Build manylinux wheels (3.10 / 3.11 / 3.12)
|
||||
|
||||
From the repository root. Prefer PowerShell, or from **cmd.exe**:
|
||||
|
||||
```bat
|
||||
powershell -ExecutionPolicy Bypass -File .\build\build_manylinux_docker.ps1
|
||||
```
|
||||
|
||||
PowerShell:
|
||||
|
||||
```powershell
|
||||
.\build\build_manylinux_docker.ps1
|
||||
```
|
||||
|
||||
Default builds **all three** ABIs. To build a subset:
|
||||
|
||||
```powershell
|
||||
.\build\build_manylinux_docker.ps1 -PythonVersions 3.10,3.12
|
||||
.\build\build_manylinux_docker.ps1 -PythonVersions 3.11
|
||||
```
|
||||
|
||||
What this does:
|
||||
|
||||
1. Builds `orisys-manylinux` from [`build/Dockerfile.manylinux`](../build/Dockerfile.manylinux)
|
||||
(`quay.io/pypa/manylinux_2_28_x86_64` with Nuitka/auditwheel in cp310/cp311/cp312).
|
||||
2. Runs [`build/manylinux_entrypoint.sh`](../build/manylinux_entrypoint.sh), which loops:
|
||||
|
||||
```bash
|
||||
/opt/python/cp310-cp310/bin/python build/build_nuitka.py --target pypi-linux
|
||||
/opt/python/cp311-cp311/bin/python build/build_nuitka.py --target pypi-linux
|
||||
/opt/python/cp312-cp312/bin/python build/build_nuitka.py --target pypi-linux
|
||||
```
|
||||
|
||||
3. For each ABI: Nuitka compile → wheel → `auditwheel repair` → isolated smoke test.
|
||||
4. Artifacts land in:
|
||||
|
||||
- `dist/repaired/orisys-*-manylinux_2_28_x86_64.whl` (upload candidates)
|
||||
- `SDK/<version>/` (same compliant wheels)
|
||||
|
||||
Expect roughly **3×** the wall time of a single-ABI build.
|
||||
|
||||
Rebuild without refreshing the image:
|
||||
|
||||
```powershell
|
||||
.\build\build_manylinux_docker.ps1 -SkipImageBuild
|
||||
```
|
||||
|
||||
Equivalent manual `docker` invocation:
|
||||
|
||||
```powershell
|
||||
docker build -f build/Dockerfile.manylinux -t orisys-manylinux .
|
||||
docker run --rm `
|
||||
-e ORISYS_BUILD_TARGET=pypi-linux `
|
||||
-e ORISYS_PYTHON_TAGS=cp310-cp310,cp311-cp311,cp312-cp312 `
|
||||
-v "${PWD}:/src" `
|
||||
orisys-manylinux
|
||||
```
|
||||
|
||||
### Acceptance checks before upload
|
||||
|
||||
- Each filename contains `cp310` / `cp311` / `cp312` and `manylinux_2_28_x86_64`
|
||||
(or another accepted manylinux tag such as `manylinux_2_17_x86_64`).
|
||||
- Isolated smoke test printed `public API imports OK` for every ABI.
|
||||
- Do **not** upload any wheel still tagged `linux_x86_64` or bare `manylinux_x86_64`.
|
||||
|
||||
Optional re-verify on a Linux machine:
|
||||
|
||||
```bash
|
||||
python build/verify.py dist/repaired/orisys-*-cp310-cp310-manylinux_*.whl
|
||||
```
|
||||
|
||||
## Promote: TestPyPI then PyPI
|
||||
|
||||
Install upload tooling in a clean environment:
|
||||
|
||||
```powershell
|
||||
python -m pip install --upgrade twine
|
||||
```
|
||||
|
||||
### 1. Upload to TestPyPI
|
||||
|
||||
```powershell
|
||||
$env:TWINE_USERNAME = "__token__"
|
||||
$env:TWINE_PASSWORD = "<TestPyPI API token>"
|
||||
|
||||
python -m twine check dist/repaired/*.whl
|
||||
python -m twine upload --repository testpypi dist/repaired/*.whl
|
||||
```
|
||||
|
||||
Install from TestPyPI in a fresh venv (pull runtime deps from real PyPI), testing
|
||||
each Python you care about:
|
||||
|
||||
```powershell
|
||||
py -3.10 -m venv .venv-testpypi310
|
||||
.\.venv-testpypi310\Scripts\Activate.ps1
|
||||
python -m pip install --index-url https://test.pypi.org/simple/ `
|
||||
--extra-index-url https://pypi.org/simple `
|
||||
"orisys==<version>"
|
||||
python -c "import orisys; print(orisys.__version__)"
|
||||
```
|
||||
|
||||
### 2. Upload the same artifacts to PyPI
|
||||
|
||||
Only after TestPyPI install/import succeeds:
|
||||
|
||||
```powershell
|
||||
$env:TWINE_USERNAME = "__token__"
|
||||
$env:TWINE_PASSWORD = "<PyPI API token>"
|
||||
|
||||
python -m twine upload dist/repaired/*.whl
|
||||
```
|
||||
|
||||
Prefer CI **Trusted Publishing** (OIDC) for production uploads so long-lived tokens
|
||||
are not stored on developer machines.
|
||||
|
||||
## Related local targets
|
||||
|
||||
| Command | Purpose |
|
||||
|---------|---------|
|
||||
| `python build/build_nuitka.py` | Internal SDK wheel on the current host (Windows `.pyd` or Linux `.so`) |
|
||||
| `python build/build_nuitka.py --target pypi-linux` | Linux-only; requires manylinux + CPython 3.10–3.12 |
|
||||
| `.\build\build_nuitka_win.bat` | Windows wheels for py310/py311/py312 conda envs |
|
||||
| `.\build\build_manylinux_docker.ps1` | Linux manylinux wheels for 3.10/3.11/3.12 via Docker |
|
||||
| `python -m build` | Pure-Python / sdist path from `pyproject.toml` (no Nuitka) |
|
||||
|
||||
Windows binary wheels and Linux manylinux wheels must be built on their respective
|
||||
platforms. Never rename a platform tag to bypass PyPI validation.
|
||||
+52
-38
@@ -1,54 +1,66 @@
|
||||
# Examples
|
||||
|
||||
Top-level demo scripts under `examples/`. Run them from the repository root.
|
||||
Product-facing demos live under `examples/products/`. Shared helpers stay in
|
||||
`pipeline/`, `viz/`, and `gui/`. Run commands from the repository root.
|
||||
|
||||
## Top-Level Files
|
||||
## Product Entry Points
|
||||
|
||||
- `README.md` — this overview of the root-level example entry points
|
||||
- `basic_pipeline.py` — basic single-sensor OpenCV demo for the compound-eye pipeline
|
||||
- `plot_data.py` — single-sensor demo with OpenCV views plus PyQtGraph force charts
|
||||
- `two_sensor_pipeline.py` — two-sensor multiprocessing demo for parallel acquisition / display
|
||||
- `finger_pipeline.py` — minimal finger UV-unroll pipeline with optional profiling
|
||||
- `finger_pipeline_3dview.py` — main finger dashboard entry point with the unified Qt UI
|
||||
| Product | Entry | Default config |
|
||||
|---------|-------|----------------|
|
||||
| ORY-BOX | `products/ory_box/basic_pipeline.py` | `ddjx01` |
|
||||
| ORY-MINI | `products/ory_mini/basic_pipeline.py` | `mini` |
|
||||
| ORY-FINGER (2D) | `products/ory_finger/finger_pipeline.py` | `dd02` |
|
||||
| ORY-FINGER (3D Qt) | `products/ory_finger/finger_pipeline_3dview.py` | `dd02` |
|
||||
|
||||
`dd02` is the stable ORY-FINGER alias and currently resolves to `dd02-ov`.
|
||||
|
||||
Compatibility wrappers still exist at the `examples/` root
|
||||
(`basic_pipeline.py`, `finger_pipeline.py`, `finger_pipeline_3dview.py`) and
|
||||
forward to the product entries above.
|
||||
|
||||
## Typical Usage
|
||||
|
||||
For the Qt dashboard:
|
||||
ORY-BOX:
|
||||
|
||||
```bash
|
||||
python examples/products/ory_box/basic_pipeline.py -v 0 -c ddjx01
|
||||
```
|
||||
|
||||
ORY-MINI:
|
||||
|
||||
```bash
|
||||
python examples/products/ory_mini/basic_pipeline.py -v 0 -c mini
|
||||
```
|
||||
|
||||
ORY-FINGER 2D:
|
||||
|
||||
```bash
|
||||
python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
|
||||
```
|
||||
|
||||
ORY-FINGER video file:
|
||||
|
||||
```bash
|
||||
python examples/products/ory_finger/finger_pipeline.py --video ./data/sample.mp4 --config dd02
|
||||
```
|
||||
|
||||
ORY-FINGER 3D Qt dashboard:
|
||||
|
||||
```bash
|
||||
pip install -e ".[gui]"
|
||||
python examples/finger_pipeline_3dview.py --video 0 --config ./config/dd02-ov.json
|
||||
python examples/products/ory_finger/finger_pipeline_3dview.py --video 0 --config dd02
|
||||
```
|
||||
|
||||
For the minimal finger pipeline:
|
||||
## Other Root Examples
|
||||
|
||||
```bash
|
||||
python examples/finger_pipeline.py --camera_id 0 --config ./config/dd02-ov.json
|
||||
```
|
||||
|
||||
For the minimal finger pipeline with profiling:
|
||||
|
||||
```bash
|
||||
python examples/finger_pipeline.py --camera_id 0 --config ./config/dd02-ov.json --profile --profile-every 30
|
||||
```
|
||||
|
||||
For a video-file finger run:
|
||||
|
||||
```bash
|
||||
python examples/finger_pipeline.py --video ./data/sample.mp4 --config ./config/dd02-ov.json
|
||||
```
|
||||
|
||||
For the basic compound-eye pipeline:
|
||||
|
||||
```bash
|
||||
python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json
|
||||
```
|
||||
- `plot_data.py` — single-sensor OpenCV views plus PyQtGraph force charts
|
||||
- `two_sensor_pipeline.py` — two-sensor multiprocessing demo
|
||||
|
||||
## Requirements
|
||||
|
||||
- SDK installed from the repository root, for example `pip install -e .`
|
||||
- camera index or test video path
|
||||
- matching config files under `./config/`
|
||||
- matching config names under `./config/` (or packaged `orisys/configs/`)
|
||||
|
||||
Qt / PyQtGraph examples additionally require:
|
||||
|
||||
@@ -58,8 +70,10 @@ pip install -e ".[gui]"
|
||||
|
||||
## Notes
|
||||
|
||||
- `finger_pipeline_3dview.py` is the main interactive demo. It uses `gui/app_paths.py` so the same entry point works in editable and packaged runs.
|
||||
- Dashboard controls: click **启动** to start acquisition; use **Record CSV / Stop CSV** and the CSV save-directory browser to log contact/force data; `Q` quits, `R` resets, `S` starts video recording, `E` stops video recording, and `Esc` toggles fullscreen.
|
||||
- `finger_pipeline.py` is the leanest finger example if you want to validate UV unroll + force/contact processing without the full dashboard.
|
||||
- `finger_pipeline.py` uses `orisys.finger.FingerRuntime` as the high-level entry point, then runs tactile analysis through `runtime.tactile`.
|
||||
- In `--profile` mode, the example splits the loop into capture, UV unroll, deformation, contact, and display stages so you can measure each step separately.
|
||||
- `products/ory_finger/finger_pipeline_3dview.py` is the main interactive finger demo.
|
||||
It uses `gui/app_paths.py` so the same entry works in editable and packaged runs.
|
||||
- Dashboard controls: click **启动** to start acquisition; use **Record CSV / Stop CSV**
|
||||
and the CSV save-directory browser to log contact/force data; `Q` quits, `R` resets,
|
||||
`S` starts video recording, `E` stops video recording, and `Esc` toggles fullscreen.
|
||||
- `products/ory_finger/finger_pipeline.py` is the leanest finger example if you want to
|
||||
validate UV unroll + force/contact processing without the full dashboard.
|
||||
|
||||
+13
-107
@@ -1,115 +1,21 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Compatibility wrapper for ORY-BOX.
|
||||
|
||||
Prefer:
|
||||
python examples/products/ory_box/basic_pipeline.py -v 0 -c ddjx01
|
||||
"""
|
||||
示例 1：单传感器基础流程
|
||||
|
||||
本示例演示 Orisys SDK 的标准处理流程：
|
||||
1. 初始化传感器（摄像头或视频文件）
|
||||
2. 获取图像并计算形变
|
||||
3. 按需计算接触区域
|
||||
4. 读取并可视化结果
|
||||
from __future__ import annotations
|
||||
|
||||
SDK version: 0.3.1
|
||||
"""
|
||||
import os
|
||||
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
|
||||
import cv2
|
||||
import orisys
|
||||
import numpy as np
|
||||
import argparse
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
|
||||
parser.add_argument("--config","-c", type=str, default="./config/ddjx01.json", help="配置文件名称或路径")
|
||||
parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
|
||||
args = parser.parse_args()
|
||||
_EXAMPLES_DIR = Path(__file__).resolve().parent
|
||||
if str(_EXAMPLES_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(_EXAMPLES_DIR))
|
||||
|
||||
# 步骤 1：创建传感器对象（必需）
|
||||
# config_name 可以是内置配置名称，也可以是自定义配置文件路径
|
||||
# cal_path 为标定文件路径；每台设备建议使用独立的标定文件
|
||||
|
||||
# 输入既可以是摄像头编号，也可以是视频文件路径
|
||||
try:
|
||||
input = int(args.video)
|
||||
is_camera = True
|
||||
sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
|
||||
except:
|
||||
is_camera = False
|
||||
sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose)
|
||||
|
||||
print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
|
||||
|
||||
while True:
|
||||
# 步骤 2：数据处理
|
||||
# 步骤 2.1：获取并拼接图像（必需）
|
||||
sensor.get_img()
|
||||
# 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动
|
||||
is_contact_now = sensor.compute_deformation(check_motion=True, threshold=0)
|
||||
# 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域
|
||||
# if is_contact_now:
|
||||
sensor.compute_contact()
|
||||
|
||||
|
||||
# 步骤 2.4：读取结果
|
||||
fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info(
|
||||
sensor.info.FPS,
|
||||
sensor.info.VRAW,
|
||||
sensor.info.VNORMAL,
|
||||
sensor.info.IMG,
|
||||
sensor.info.CONTOUR,
|
||||
sensor.info.CENTROID,
|
||||
sensor.info.DEPTH,
|
||||
sensor.info.FNORMAL,
|
||||
sensor.info.FSHEARX,
|
||||
sensor.info.FSHEARY
|
||||
)
|
||||
|
||||
# 步骤 3：可视化显示
|
||||
# 步骤 3.1：显示形变矢量场
|
||||
arrows = orisys.util.draw_arrows(
|
||||
img,
|
||||
flow,
|
||||
threshold=2,
|
||||
grid_spacing=20,
|
||||
arrow_scale=1.0
|
||||
)
|
||||
cv2.imshow("形变矢量场", arrows)
|
||||
|
||||
# 步骤 3.2：显示接触区域和质心
|
||||
image_with_foe = orisys.util.draw_contact(img, contour, centroid)
|
||||
cv2.imshow("接触区域与质心", image_with_foe)
|
||||
|
||||
# 步骤 3.3：显示深度图
|
||||
# 将深度值归一化到 0-255 范围
|
||||
div_abs = depth_map
|
||||
if div_abs.max() > div_abs.min():
|
||||
div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
|
||||
else:
|
||||
div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
|
||||
|
||||
# 应用伪彩色映射
|
||||
cv2.imshow("深度图", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
|
||||
|
||||
# 步骤 3.4：打印关键结果
|
||||
print(
|
||||
f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
|
||||
f"切向力Y={fsheary:.4f}, 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
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
print("\n正在退出示例程序...")
|
||||
break
|
||||
if key == ord("r"):
|
||||
# 当光流追踪出现漂移时，可手动重置追踪器
|
||||
sensor.reset()
|
||||
print("追踪器已重置。")
|
||||
|
||||
# =========================================================================
|
||||
# 4. 释放资源
|
||||
# =========================================================================
|
||||
sensor.disconnect() # 释放视频源及相关资源
|
||||
from products.ory_box.basic_pipeline import main
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+10
-98
@@ -1,108 +1,20 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Minimum UV-unroll finger tactile pipeline.
|
||||
"""Compatibility wrapper for ORY-FINGER 2D pipeline.
|
||||
|
||||
Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
|
||||
Runtime: camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
|
||||
|
||||
For the full demo (UV debug panels, dashboard, benchmarks) see:
|
||||
tools/3d_patch_generation_blender/unroll_realtime.py
|
||||
Prefer:
|
||||
python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
|
||||
_EXAMPLES_DIR = Path(__file__).resolve().parent
|
||||
if str(_EXAMPLES_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(_EXAMPLES_DIR))
|
||||
|
||||
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="./config/dd02-ov.json", help="Orisys SDK config")
|
||||
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()
|
||||
from products.ory_finger.finger_pipeline import main
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,75 +1,20 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
UV-unroll finger tactile pipeline with unified Qt dashboard.
|
||||
"""Compatibility wrapper for ORY-FINGER 3D Qt dashboard.
|
||||
|
||||
Where to customize the GUI:
|
||||
Layout (sizes, proportions) -> examples/gui/layout.py <-- edit here
|
||||
Colors / QSS -> examples/gui/styles.py
|
||||
Widget rendering logic -> examples/gui/widgets/
|
||||
Window behavior -> examples/gui/dashboard.py
|
||||
Prefer:
|
||||
python examples/products/ory_finger/finger_pipeline_3dview.py --video 0 --config dd02
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
from __future__ import annotations
|
||||
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
|
||||
_EXAMPLES_DIR = Path(__file__).resolve().parent
|
||||
if str(_EXAMPLES_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(_EXAMPLES_DIR))
|
||||
|
||||
from gui.app_paths import configure_frozen_runtime, default_config_path, ensure_examples_import_path
|
||||
|
||||
configure_frozen_runtime()
|
||||
ensure_examples_import_path()
|
||||
|
||||
from gui import run_dashboard
|
||||
from pipeline import PipelineConfig
|
||||
from viz import DEFAULT_FINGER_VIZ_POSE
|
||||
|
||||
|
||||
def _parse_args():
|
||||
parser = argparse.ArgumentParser(
|
||||
description="UV-unroll finger tactile pipeline with unified Qt dashboard"
|
||||
)
|
||||
parser.add_argument("--video", "-v", default="0", help="Camera index or video file path")
|
||||
parser.add_argument("--config", "-c", default=default_config_path(), help="Orisys SDK config")
|
||||
parser.add_argument("--cal", default="", help="Optional calibration file path")
|
||||
parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
|
||||
parser.add_argument(
|
||||
"--mesh-map",
|
||||
choices=["flow", "depth"],
|
||||
default="depth",
|
||||
help="Color the 3D mesh from flow magnitude or contact depth.",
|
||||
)
|
||||
parser.add_argument("--threshold", type=float, default=None, help="Mesh/arrow threshold")
|
||||
parser.add_argument("--no-3d", action="store_true", help="Disable 3D mesh view")
|
||||
parser.add_argument(
|
||||
"--viz-pose",
|
||||
default=DEFAULT_FINGER_VIZ_POSE,
|
||||
help="world_to_cam.npy for the default view; pass 'none' to skip",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--cutoff",
|
||||
type=float,
|
||||
default=5.0,
|
||||
help="Low-pass cutoff for force curves (Hz)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--profile",
|
||||
action="store_true",
|
||||
help="Print per-stage timing to the log panel / console",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--profile-every",
|
||||
type=int,
|
||||
default=30,
|
||||
help="When --profile is set, print rolling averages every N frames",
|
||||
)
|
||||
return parser.parse_args()
|
||||
|
||||
|
||||
def main():
|
||||
args = _parse_args()
|
||||
config = PipelineConfig.from_args(args)
|
||||
sys.exit(run_dashboard(config))
|
||||
from products.ory_finger.finger_pipeline_3dview import main
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -27,7 +27,8 @@ def resource_path(*parts: str) -> Path:
|
||||
|
||||
|
||||
def default_config_path() -> str:
|
||||
return str(resource_path("config", "dd02-ov.json"))
|
||||
"""Default ORY-FINGER config name (resolves to dd02-ov via alias)."""
|
||||
return "dd02"
|
||||
|
||||
|
||||
def configure_frozen_runtime() -> None:
|
||||
|
||||
@@ -137,7 +137,7 @@ class SettingsPanelWidget(QWidget):
|
||||
root.addWidget(self._caption("Config"))
|
||||
config_row = QHBoxLayout()
|
||||
config_row.setSpacing(6)
|
||||
self.config_edit = QLineEdit("./config/dd02-ov.json")
|
||||
self.config_edit = QLineEdit("dd02")
|
||||
config_row.addWidget(self.config_edit, 1)
|
||||
self.btn_browse_config = QPushButton("…")
|
||||
self.btn_browse_config.setFixedWidth(32)
|
||||
|
||||
@@ -17,7 +17,7 @@ def mesh_threshold(mesh_map: str, threshold: float | None) -> float:
|
||||
@dataclass
|
||||
class PipelineConfig:
|
||||
video: str = "0"
|
||||
config: str = "./config/dd02-ov.json"
|
||||
config: str = "dd02"
|
||||
calib: str | None = None
|
||||
export_dir: str = DEFAULT_FINGER_EXPORT_DIR
|
||||
csv_save_dir: str = "./outputs/csv"
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
"""Product-facing example entry points for ORY-BOX / ORY-MINI / ORY-FINGER."""
|
||||
@@ -0,0 +1,115 @@
|
||||
"""
|
||||
ORY-BOX：单传感器基础流程
|
||||
|
||||
本示例演示 Orisys SDK 的标准处理流程：
|
||||
1. 初始化传感器（摄像头或视频文件）
|
||||
2. 获取图像并计算形变
|
||||
3. 按需计算接触区域
|
||||
4. 读取并可视化结果
|
||||
|
||||
SDK version: 0.4.2
|
||||
"""
|
||||
import os
|
||||
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
|
||||
import cv2
|
||||
import orisys
|
||||
import numpy as np
|
||||
import argparse
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
|
||||
parser.add_argument("--config","-c", type=str, default="ddjx01", help="配置文件名称或路径")
|
||||
parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
|
||||
args = parser.parse_args()
|
||||
|
||||
# 步骤 1：创建传感器对象（必需）
|
||||
# config_name 可以是内置配置名称，也可以是自定义配置文件路径
|
||||
# cal_path 为标定文件路径；每台设备建议使用独立的标定文件
|
||||
|
||||
# 输入既可以是摄像头编号，也可以是视频文件路径
|
||||
try:
|
||||
input = int(args.video)
|
||||
is_camera = True
|
||||
sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
|
||||
except:
|
||||
is_camera = False
|
||||
sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose)
|
||||
|
||||
print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
|
||||
|
||||
while True:
|
||||
# 步骤 2：数据处理
|
||||
# 步骤 2.1：获取并拼接图像（必需）
|
||||
sensor.get_img()
|
||||
# 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动
|
||||
is_contact_now = sensor.compute_deformation(check_motion=True, threshold=0)
|
||||
# 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域
|
||||
# if is_contact_now:
|
||||
sensor.compute_contact()
|
||||
|
||||
|
||||
# 步骤 2.4：读取结果
|
||||
fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info(
|
||||
sensor.info.FPS,
|
||||
sensor.info.VRAW,
|
||||
sensor.info.VNORMAL,
|
||||
sensor.info.IMG,
|
||||
sensor.info.CONTOUR,
|
||||
sensor.info.CENTROID,
|
||||
sensor.info.DEPTH,
|
||||
sensor.info.FNORMAL,
|
||||
sensor.info.FSHEARX,
|
||||
sensor.info.FSHEARY
|
||||
)
|
||||
|
||||
# 步骤 3：可视化显示
|
||||
# 步骤 3.1：显示形变矢量场
|
||||
arrows = orisys.util.draw_arrows(
|
||||
img,
|
||||
flow,
|
||||
threshold=2,
|
||||
grid_spacing=20,
|
||||
arrow_scale=1.0
|
||||
)
|
||||
cv2.imshow("arrow", arrows)
|
||||
|
||||
# 步骤 3.2：显示接触区域和质心
|
||||
image_with_foe = orisys.util.draw_contact(img, contour, centroid)
|
||||
cv2.imshow("contact", image_with_foe)
|
||||
|
||||
# 步骤 3.3：显示深度图
|
||||
# 将深度值归一化到 0-255 范围
|
||||
div_abs = depth_map
|
||||
if div_abs.max() > div_abs.min():
|
||||
div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
|
||||
else:
|
||||
div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
|
||||
|
||||
# 应用伪彩色映射
|
||||
cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
|
||||
|
||||
# 步骤 3.4：打印关键结果
|
||||
print(
|
||||
f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
|
||||
f"切向力Y={fsheary:.4f}, 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
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
print("\n正在退出示例程序...")
|
||||
break
|
||||
if key == ord("r"):
|
||||
# 当光流追踪出现漂移时，可手动重置追踪器
|
||||
sensor.reset()
|
||||
print("追踪器已重置。")
|
||||
|
||||
# =========================================================================
|
||||
# 4. 释放资源
|
||||
# =========================================================================
|
||||
sensor.disconnect() # 释放视频源及相关资源
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -0,0 +1,111 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
ORY-FINGER：Minimum UV-unroll finger tactile pipeline.
|
||||
|
||||
Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
|
||||
Runtime: camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
|
||||
|
||||
Recommended entry:
|
||||
python examples/products/ory_finger/finger_pipeline.py --camera_id 0 --config dd02
|
||||
|
||||
Current config alias: ``dd02`` resolves to ``dd02-ov`` for compatibility.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
|
||||
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
|
||||
|
||||
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="dd02", 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__":
|
||||
main()
|
||||
@@ -0,0 +1,85 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
ORY-FINGER：UV-unroll finger tactile pipeline with unified Qt dashboard.
|
||||
|
||||
Where to customize the GUI:
|
||||
Layout (sizes, proportions) -> examples/gui/viewer3d/layout.py
|
||||
Colors / QSS -> examples/gui/viewer3d/styles.py
|
||||
Widget rendering logic -> examples/gui/viewer3d/widgets/
|
||||
Window behavior -> examples/gui/viewer3d/dashboard.py
|
||||
|
||||
Recommended entry:
|
||||
python examples/products/ory_finger/finger_pipeline_3dview.py --video 0 --config dd02
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
|
||||
|
||||
# Make shared packages importable when launched as a file path.
|
||||
_EXAMPLES_DIR = Path(__file__).resolve().parents[2]
|
||||
if str(_EXAMPLES_DIR) not in sys.path:
|
||||
sys.path.insert(0, str(_EXAMPLES_DIR))
|
||||
|
||||
from gui.app_paths import configure_frozen_runtime, default_config_path, ensure_examples_import_path
|
||||
|
||||
configure_frozen_runtime()
|
||||
ensure_examples_import_path()
|
||||
|
||||
from gui import run_dashboard
|
||||
from pipeline import PipelineConfig
|
||||
from viz import DEFAULT_FINGER_VIZ_POSE
|
||||
|
||||
|
||||
def _parse_args():
|
||||
parser = argparse.ArgumentParser(
|
||||
description="UV-unroll finger tactile pipeline with unified Qt dashboard"
|
||||
)
|
||||
parser.add_argument("--video", "-v", default="0", help="Camera index or video file path")
|
||||
parser.add_argument("--config", "-c", default=default_config_path(), help="Orisys SDK config")
|
||||
parser.add_argument("--cal", default="", help="Optional calibration file path")
|
||||
parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
|
||||
parser.add_argument(
|
||||
"--mesh-map",
|
||||
choices=["flow", "depth"],
|
||||
default="depth",
|
||||
help="Color the 3D mesh from flow magnitude or contact depth.",
|
||||
)
|
||||
parser.add_argument("--threshold", type=float, default=None, help="Mesh/arrow threshold")
|
||||
parser.add_argument("--no-3d", action="store_true", help="Disable 3D mesh view")
|
||||
parser.add_argument(
|
||||
"--viz-pose",
|
||||
default=DEFAULT_FINGER_VIZ_POSE,
|
||||
help="world_to_cam.npy for the default view; pass 'none' to skip",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--cutoff",
|
||||
type=float,
|
||||
default=5.0,
|
||||
help="Low-pass cutoff for force curves (Hz)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--profile",
|
||||
action="store_true",
|
||||
help="Print per-stage timing to the log panel / console",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--profile-every",
|
||||
type=int,
|
||||
default=30,
|
||||
help="When --profile is set, print rolling averages every N frames",
|
||||
)
|
||||
return parser.parse_args()
|
||||
|
||||
|
||||
def main():
|
||||
args = _parse_args()
|
||||
config = PipelineConfig.from_args(args)
|
||||
sys.exit(run_dashboard(config))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,115 @@
|
||||
"""
|
||||
ORY-MINI：单传感器基础流程
|
||||
|
||||
本示例演示 Orisys SDK 的标准处理流程：
|
||||
1. 初始化传感器（摄像头或视频文件）
|
||||
2. 获取图像并计算形变
|
||||
3. 按需计算接触区域
|
||||
4. 读取并可视化结果
|
||||
|
||||
SDK version: 0.4.2
|
||||
"""
|
||||
import os
|
||||
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
|
||||
import cv2
|
||||
import orisys
|
||||
import numpy as np
|
||||
import argparse
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("--video","-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
|
||||
parser.add_argument("--config","-c", type=str, default="mini", help="配置文件名称或路径")
|
||||
parser.add_argument("--verbose","-verbose", type=bool, default=True, help="是否输出详细日志")
|
||||
args = parser.parse_args()
|
||||
|
||||
# 步骤 1：创建传感器对象（必需）
|
||||
# config_name 可以是内置配置名称，也可以是自定义配置文件路径
|
||||
# cal_path 为标定文件路径；每台设备建议使用独立的标定文件
|
||||
|
||||
# 输入既可以是摄像头编号，也可以是视频文件路径
|
||||
try:
|
||||
input = int(args.video)
|
||||
is_camera = True
|
||||
sensor = orisys.Sensor(input, config_name=args.config, verbose=args.verbose)
|
||||
except:
|
||||
is_camera = False
|
||||
sensor = orisys.Sensor(args.video, config_name=args.config, verbose=args.verbose)
|
||||
|
||||
print("\n按键说明：'q' 退出程序，'r' 重置追踪器。")
|
||||
|
||||
while True:
|
||||
# 步骤 2：数据处理
|
||||
# 步骤 2.1：获取并拼接图像（必需）
|
||||
sensor.get_img()
|
||||
# 步骤 2.2：计算形变场（必需）；返回值表示当前帧是否检测到接触/运动
|
||||
is_contact_now = sensor.compute_deformation(check_motion=True, threshold=0)
|
||||
# 步骤 2.3：仅在当前帧检测到接触/运动时计算接触区域
|
||||
# if is_contact_now:
|
||||
sensor.compute_contact()
|
||||
|
||||
|
||||
# 步骤 2.4：读取结果
|
||||
fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info(
|
||||
sensor.info.FPS,
|
||||
sensor.info.VRAW,
|
||||
sensor.info.VNORMAL,
|
||||
sensor.info.IMG,
|
||||
sensor.info.CONTOUR,
|
||||
sensor.info.CENTROID,
|
||||
sensor.info.DEPTH,
|
||||
sensor.info.FNORMAL,
|
||||
sensor.info.FSHEARX,
|
||||
sensor.info.FSHEARY
|
||||
)
|
||||
|
||||
# 步骤 3：可视化显示
|
||||
# 步骤 3.1：显示形变矢量场
|
||||
arrows = orisys.util.draw_arrows(
|
||||
img,
|
||||
flow,
|
||||
threshold=2,
|
||||
grid_spacing=20,
|
||||
arrow_scale=1.0
|
||||
)
|
||||
cv2.imshow("arrows", arrows)
|
||||
|
||||
# 步骤 3.2：显示接触区域和质心
|
||||
image_with_foe = orisys.util.draw_contact(img, contour, centroid)
|
||||
cv2.imshow("contact", image_with_foe)
|
||||
|
||||
# 步骤 3.3：显示深度图
|
||||
# 将深度值归一化到 0-255 范围
|
||||
div_abs = depth_map
|
||||
if div_abs.max() > div_abs.min():
|
||||
div_normalized = ((div_abs - div_abs.min()) / (div_abs.max() - div_abs.min()) * 255).astype(np.uint8)
|
||||
else:
|
||||
div_normalized = np.zeros_like(div_abs, dtype=np.uint8)
|
||||
|
||||
# 应用伪彩色映射
|
||||
cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET))
|
||||
|
||||
# 步骤 3.4：打印关键结果
|
||||
print(
|
||||
f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, "
|
||||
f"切向力Y={fsheary:.4f}, 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
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
print("\n正在退出示例程序...")
|
||||
break
|
||||
if key == ord("r"):
|
||||
# 当光流追踪出现漂移时，可手动重置追踪器
|
||||
sensor.reset()
|
||||
print("追踪器已重置。")
|
||||
|
||||
# =========================================================================
|
||||
# 4. 释放资源
|
||||
# =========================================================================
|
||||
sensor.disconnect() # 释放视频源及相关资源
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -18,7 +18,7 @@
|
||||
- Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support()
|
||||
- 每个传感器进程都会占用独立的 GPU 显存
|
||||
|
||||
SDK version: 0.3.1
|
||||
SDK version: 0.4.2
|
||||
"""
|
||||
import os
|
||||
os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
|
||||
|
||||
+33
-6
@@ -4,25 +4,52 @@ build-backend = "setuptools.build_meta"
|
||||
|
||||
[project]
|
||||
name = "orisys"
|
||||
description = "Orisys - Vision Based Tactile Sensor SDK"
|
||||
description = "SDK for Orisys Technology Visuotactile Sensors"
|
||||
readme = "README.md"
|
||||
requires-python = ">=3.10"
|
||||
authors = [{ name = "Orisys" }]
|
||||
license = { text = "Proprietary" }
|
||||
authors = [{ name = "Orisys-Tech" }]
|
||||
maintainers = [
|
||||
{name = "Yijian Zhang", email = "zhangyijian@orisys-tech.cn"}
|
||||
]
|
||||
dynamic = ["version"]
|
||||
dependencies = [
|
||||
"numpy>=1.24.4",
|
||||
"opencv-python>=4.10.0.84",
|
||||
"scipy>=1.10.1",
|
||||
"open3d>=0.17.0",
|
||||
"numba>=0.59.0",
|
||||
]
|
||||
classifiers = [
|
||||
# How mature is this project? Common values are
|
||||
# 3 - Alpha
|
||||
# 4 - Beta
|
||||
# 5 - Production/Stable
|
||||
"Development Status :: 4 - Beta",
|
||||
|
||||
# Indicate who your project is intended for
|
||||
"Intended Audience :: Developers",
|
||||
"Topic :: Software Development :: Libraries :: Python Modules",
|
||||
"License :: Other/Proprietary License",
|
||||
"Operating System :: Microsoft :: Windows",
|
||||
"Operating System :: POSIX :: Linux",
|
||||
|
||||
# Specify the Python versions you support here.
|
||||
"Programming Language :: Python :: 3.10",
|
||||
"Programming Language :: Python :: 3.11",
|
||||
"Programming Language :: Python :: 3.12",
|
||||
]
|
||||
|
||||
[project.urls]
|
||||
Homepage = "https://www.orisys-tech.cn"
|
||||
Documentation = "https://github.com/Orisys-Tech/orisys-sdk"
|
||||
Issues = "https://github.com/Orisys-Tech/orisys-sdk/issues"
|
||||
|
||||
[project.optional-dependencies]
|
||||
cuda12 = ["cupy-cuda12x>=12.3.0"]
|
||||
cuda13 = ["cupy-cuda13x>=13.0.0"]
|
||||
gui = ["open3d>=0.17.0","pyqt5>=5.15", "pyqtgraph>=0.13"]
|
||||
# Backward compatibility: 'cuda' defaults to CUDA 12.x
|
||||
cuda = ["cupy-cuda12x>=12.3.0"]
|
||||
gui = ["pyqt5>=5.15", "pyqtgraph>=0.13"]
|
||||
numba = ["numba>=0.59.0"]
|
||||
|
||||
[tool.setuptools]
|
||||
package-dir = { "" = "src" }
|
||||
@@ -52,7 +79,7 @@ dev_install = true
|
||||
name = "examples"
|
||||
source = "examples"
|
||||
target = "examples"
|
||||
patterns = ["*.py", "README.md", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"]
|
||||
patterns = ["*.py", "README.md", "products/**/*.py", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"]
|
||||
preserve_tree = true
|
||||
|
||||
[[tool.orisys.bundle.items]]
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
# CuPy - Install the appropriate version based on your CUDA version:
|
||||
# For CUDA 12.x: pip install cupy-cuda12x>=12.3.0
|
||||
# For CUDA 13.x: pip install cupy-cuda13x>=13.0.0
|
||||
# Or use extras: pip install orisys[cuda12] or pip install orisys[cuda13]
|
||||
|
||||
numpy>=1.24.4
|
||||
opencv_python>=4.10.0.84
|
||||
scipy==1.13
|
||||
setuptools>=45.2.0
|
||||
av
|
||||
numba
|
||||
pyqt5
|
||||
pyqtgraph
|
||||
nuitka
|
||||
@@ -22,7 +22,7 @@ def main():
|
||||
|
||||
parser = argparse.ArgumentParser(description="Orisys finger Qt dashboard")
|
||||
parser.add_argument("--video", "-v", type=str, default="0")
|
||||
parser.add_argument("--config", "-c", type=str, default="./config/dd02-ov.json")
|
||||
parser.add_argument("--config", "-c", type=str, default="dd02")
|
||||
parser.add_argument("--cal", type=str, default="")
|
||||
parser.add_argument("--verbose", action="store_true")
|
||||
parser.add_argument("--cutoff", type=float, default=10.0)
|
||||
|
||||
+18
-5
@@ -1,6 +1,12 @@
|
||||
import json
|
||||
from pathlib import Path
|
||||
|
||||
# Product-facing names that map to on-disk config stems.
|
||||
# ORY-FINGER currently ships as dd02-ov.json; keep "dd02" as the stable alias.
|
||||
CONFIG_ALIASES = {
|
||||
"dd02": "dd02-ov",
|
||||
}
|
||||
|
||||
|
||||
def _candidate_config_dirs() -> list[Path]:
|
||||
"""
|
||||
@@ -62,9 +68,16 @@ def load_config(config_name_or_path):
|
||||
if config_path.is_absolute():
|
||||
raise FileNotFoundError(f"Config file not found at absolute path: {config_path}")
|
||||
|
||||
direct = CONFIG_DIR / f"{config_name_or_path}.json"
|
||||
if direct.exists():
|
||||
return _load_json(direct)
|
||||
requested = str(config_name_or_path)
|
||||
candidates = [requested]
|
||||
alias = CONFIG_ALIASES.get(requested)
|
||||
if alias and alias not in candidates:
|
||||
candidates.append(alias)
|
||||
|
||||
for name in candidates:
|
||||
direct = CONFIG_DIR / f"{name}.json"
|
||||
if direct.exists():
|
||||
return _load_json(direct)
|
||||
|
||||
# Backward-compatible alias resolution: support old names via JSON "name" field.
|
||||
for candidate in _config_files():
|
||||
@@ -72,7 +85,7 @@ def load_config(config_name_or_path):
|
||||
data = _load_json(candidate)
|
||||
except Exception:
|
||||
continue
|
||||
if data.get("name") == config_name_or_path:
|
||||
if data.get("name") in candidates:
|
||||
return data
|
||||
|
||||
available = [f.stem for f in _config_files()]
|
||||
@@ -80,7 +93,7 @@ def load_config(config_name_or_path):
|
||||
raise FileNotFoundError(
|
||||
f"Input config file not found with name or path: {config_name_or_path}\n"
|
||||
f" Tried as file path: {config_path} (not found)\n"
|
||||
f" Tried as config file: {direct} (not found)\n"
|
||||
f" Tried as config files: {', '.join(candidates)} (not found)\n"
|
||||
f" Available config files: {available_str}"
|
||||
)
|
||||
|
||||
|
||||
+1
-1
@@ -8,7 +8,7 @@ Flow:
|
||||
4. Feed the rectified frame into Sensor.get_img(..., already_processed=True)
|
||||
5. Compute deformation/contact and visualize
|
||||
|
||||
SDK version: 0.3.1
|
||||
SDK version: 0.4.2
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
|
||||
@@ -0,0 +1,54 @@
|
||||
from pathlib import Path
|
||||
|
||||
import pytest
|
||||
|
||||
REPO_ROOT = Path(__file__).resolve().parents[1]
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def wheel_build():
|
||||
import sys
|
||||
|
||||
build_dir = REPO_ROOT / "build"
|
||||
if str(build_dir) not in sys.path:
|
||||
sys.path.insert(0, str(build_dir))
|
||||
import wheel_build
|
||||
|
||||
return wheel_build
|
||||
|
||||
|
||||
def test_compliant_manylinux_tags(wheel_build):
|
||||
assert wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-manylinux_2_17_x86_64.whl")
|
||||
)
|
||||
assert wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-manylinux2014_x86_64.whl")
|
||||
)
|
||||
assert wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-manylinux_2_28_x86_64.whl")
|
||||
)
|
||||
|
||||
|
||||
def test_rejects_illegal_manylinux_tags(wheel_build):
|
||||
assert not wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-manylinux_x86_64.whl")
|
||||
)
|
||||
assert not wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-linux_x86_64.whl")
|
||||
)
|
||||
assert not wheel_build.is_compliant_manylinux_wheel(
|
||||
Path("orisys-0.4.2-cp310-cp310-win_amd64.whl")
|
||||
)
|
||||
|
||||
|
||||
def test_pyproject_no_private_classifier():
|
||||
import sys
|
||||
|
||||
build_dir = REPO_ROOT / "build"
|
||||
if str(build_dir) not in sys.path:
|
||||
sys.path.insert(0, str(build_dir))
|
||||
from pyproject_utils import project_metadata
|
||||
|
||||
classifiers = project_metadata(REPO_ROOT).get("classifiers", [])
|
||||
assert "Private :: Do Not Upload" not in classifiers
|
||||
assert "License :: Other/Proprietary License" in classifiers
|
||||
Reference in New Issue
Block a user