update blender marker design

scripts/qt_viewer_2.py

@@ -35,6 +35,8 @@ PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ  # 4 s window
 # Minimum y-axis span so autoscale does not over-zoom on small fluctuations.
 Y_AXIS_MIN_SPAN = 20000
 CURVE_THEME_COLOR = '#00E5FF'
+NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
+NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
 
 from PyQt5.QtWidgets import (
     QMainWindow, QWidget, QHBoxLayout, QVBoxLayout,
@@ -125,6 +127,11 @@ def lowpass_filter(data, cutoff_hz, sample_rate_hz=FORCE_SAMPLE_RATE_HZ, order=2
     return filtfilt(b, a, y)
 
 
+def calibrate_normal_force(raw_value):
+    """Convert raw normal-force reading to Newtons using y = mx + c."""
+    return NORMAL_FORCE_CAL_SLOPE * raw_value + NORMAL_FORCE_CAL_OFFSET
+
+
 class TeeStream:
     """同时写入多个流"""
     def __init__(self, *streams):
@@ -167,7 +174,7 @@ QMainWindow {
 }
 
 /* ---- 图像面板 ---- */
-QLabel#arrowsLabel, QLabel#magLabel {
+QLabel#arrowsLabel {
     border: 1px solid #262626;
     border-radius: 4px;
     background-color: #0b0b0b;
@@ -401,13 +408,6 @@ class MainWindow(QMainWindow):
         self.arrows_label.setAlignment(Qt.AlignCenter)
         left_layout.addWidget(self.arrows_label)
 
-        self.mag_label = QLabel()
-        self.mag_label.setObjectName("magLabel")
-        self.mag_label.setMinimumSize(160, 160)
-        self.mag_label.setScaledContents(True)
-        self.mag_label.setAlignment(Qt.AlignCenter)
-        left_layout.addWidget(self.mag_label)
-
         h_splitter.addWidget(left)
 
         # 右侧力曲线
@@ -437,7 +437,7 @@ class MainWindow(QMainWindow):
         root_layout.addWidget(v_splitter)
 
     def _create_plots(self):
-        titles = ["法向力", "切向力 X", "切向力 Y"]
+        titles = ["法向力 (N)", "切向力 X", "切向力 Y"]
         self.plots = []
         self.curves = []
         self.dot_glows = []
@@ -496,13 +496,13 @@ class MainWindow(QMainWindow):
                 self.graph_widget.nextRow()
 
     def adjust_square_images(self):
-        """根据窗口高度调整左侧面板宽度，使两张图保持正方形"""
+        """根据窗口高度调整左侧面板宽度，使左侧图像保持正方形"""
         top_bar_h = 48
         log_h = self.log_widget.height()
         spacing = 20
         available = self.height() - top_bar_h - log_h - spacing
-        each_h = max(available // 2, 160)
-        self.h_splitter.setSizes([each_h, self.width() - each_h])
+        image_w = max(available, 160)
+        self.h_splitter.setSizes([image_w, self.width() - image_w])
 
     # ---- 帧处理 ----
 
@@ -534,13 +534,14 @@ class MainWindow(QMainWindow):
         is_touched = sensor.compute_deformation(check_motion=True, threshold=1)
         sensor.compute_contact()
 
-        fps, fn, fx, fy, flow, vnormal, vshear, depth_map = sensor.read_info(
+        fps, fn_raw, fx, fy, flow, vnormal, vshear, _ = sensor.read_info(
             sensor.info.FPS, sensor.info.FNORMAL,
             sensor.info.FSHEARX, sensor.info.FSHEARY,
             sensor.info.VRAW, sensor.info.VNORMAL,
             sensor.info.VSHEAR,
             sensor.info.DEPTH
         )
+        fn = calibrate_normal_force(fn_raw)
 
 
         print(f"FPS={fps:.2f}, 法向力={fn:.4f}, 切向力X={fx:.4f}, 切向力Y={fy:.4f}")
@@ -564,19 +565,6 @@ class MainWindow(QMainWindow):
         arrows = cv2.resize(arrows, (400, 400), interpolation=cv2.INTER_CUBIC)
         self.arrows_label.setPixmap(cv2_to_pixmap(arrows))
 
-                # 显示深度图
-        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)
-        
-        # 应用颜色映射（使用JET：蓝色=低散度，红色=高散度）
-        depth_colored = cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET)
-
-        # mag = draw_magnitude_map(flow)
-        self.mag_label.setPixmap(cv2_to_pixmap(depth_colored))
-
         # 曲线：先顺序写入 npoints 个真实样本，满后再左移滚动
         current_time = time.time() - self.start_time
         if self._plot_sample_count < self.npoints: