update blender marker design

2026-06-11 10:10:52 +08:00
parent 9fe93b23e4
commit 4cff6a1625
13 changed files with 1293 additions and 47 deletions
@@ -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:
@@ -122,6 +122,66 @@ def fill_polygon_value(grid, width, height, polygon, value):
            x_end = max(0, min(width - 1, x_end))
            grid[y, x_start:x_end + 1] = value

+def unwrap_periodic_values(values):
+    """
+    Unwrap periodic UV coordinates so points straddling the 0/1 seam stay local.
+    """
+    arr = np.asarray(values, dtype=np.float64).copy()
+    if arr.size == 0:
+        return arr
+    if arr.max() - arr.min() > 0.5:
+        arr[arr < 0.5] += 1.0
+    return arr
+
+def wrap_uv_polygon_for_raster(uv_poly):
+    """
+    Return a seam-aware version of a UV polygon.
+
+    UV islands may cross the 0/1 seam. If we rasterize those raw coordinates as a
+    single polygon, Blender's repeated UVs turn into a long diagonal triangle
+    across the texture. We unwrap seam-crossing polygons first, then draw wrapped
+    copies in the texture tile(s) they overlap.
+    """
+    if len(uv_poly) < 3:
+        return []
+
+    uv_arr = np.array([(float(u), float(v)) for u, v in uv_poly], dtype=np.float64)
+    uv_arr[:, 0] = unwrap_periodic_values(uv_arr[:, 0])
+    uv_arr[:, 1] = unwrap_periodic_values(uv_arr[:, 1])
+    return [tuple(pt) for pt in uv_arr]
+
+def uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
+    """
+    Convert one UV polygon into one or more pixel polygons, duplicating seam-
+    crossing polygons into adjacent tiles so rasterization stays local.
+    """
+    unwrapped = wrap_uv_polygon_for_raster(uv_poly)
+    if len(unwrapped) < 3:
+        return []
+
+    u_vals = [u for u, _ in unwrapped]
+    v_vals = [v for _, v in unwrapped]
+    u_shift_start = int(np.floor(min(u_vals)))
+    u_shift_end = int(np.floor(max(u_vals)))
+    v_shift_start = int(np.floor(min(v_vals)))
+    v_shift_end = int(np.floor(max(v_vals)))
+
+    pixel_polys = []
+    for u_shift in range(u_shift_start, u_shift_end + 1):
+        for v_shift in range(v_shift_start, v_shift_end + 1):
+            shifted = [(u - u_shift, v - v_shift) for u, v in unwrapped]
+            shifted_u = [u for u, _ in shifted]
+            shifted_v = [v for _, v in shifted]
+            if max(shifted_u) < 0.0 or min(shifted_u) > 1.0:
+                continue
+            if max(shifted_v) < 0.0 or min(shifted_v) > 1.0:
+                continue
+            pixel_polys.append([
+                (u * (tex_width - 1), v * (tex_height - 1))
+                for u, v in shifted
+            ])
+    return pixel_polys
+
 def draw_ellipse(pixels, width, height, cx, cy, a, b, angle, color):
    """Filled ellipse with semi‑axes a,b (pixels), rotation angle (rad)."""
    cos_a = np.cos(angle)
@@ -194,7 +254,8 @@ def raycast_uv_from_camera(scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width

 def convex_hull_uv(points):
    """Return UV points ordered around their 2D convex hull."""
-    unique = sorted({(float(p.x), float(p.y)) for p in points})
+    unwrapped = wrap_uv_polygon_for_raster([(p.x, p.y) for p in points])
+    unique = sorted(set(unwrapped))
    if len(unique) < 3:
        return None

@@ -282,8 +343,8 @@ def rasterize_mesh_uvs(obj, pixels, tex_width, tex_height, color=(1,1,1,1)):
            uv = uv_data[loop_idx].uv
            uv_poly.append((uv.x, uv.y))
        # Convert UV (0‑1) to pixel coordinates
-        pixel_poly = [(u * (tex_width - 1), v * (tex_height - 1)) for u, v in uv_poly]
-        fill_polygon(None, pixels, tex_width, tex_height, pixel_poly, color)
+        for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
+            fill_polygon(None, pixels, tex_width, tex_height, pixel_poly, color)

 def rasterize_mesh_mask(obj, tex_width, tex_height):
    """Rasterize the active UV map to a boolean mesh mask."""
@@ -298,8 +359,8 @@ def rasterize_mesh_mask(obj, tex_width, tex_height):
        for loop_idx in poly.loop_indices:
            uv = uv_data[loop_idx].uv
            uv_poly.append((uv.x, uv.y))
-        pixel_poly = [(u * (tex_width - 1), v * (tex_height - 1)) for u, v in uv_poly]
-        fill_polygon_value(mask, tex_width, tex_height, pixel_poly, True)
+        for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
+            fill_polygon_value(mask, tex_width, tex_height, pixel_poly, True)
    return mask

 def paint_mask_color(pixels, width, height, mask, color):
@@ -495,10 +556,10 @@ def generate_patch_texture(
        for i in range(nx):
            uv_poly = patch_uv_polygons[idx]; idx += 1
            if uv_poly is None: continue
-            pixel_poly = [(u*(texture_width-1), v*(texture_height-1)) for u,v in uv_poly]
            color = patch_colors[j,i]
            rgba = (color[0], color[1], color[2], 1.0)
-            fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)
+            for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, texture_width, texture_height):
+                fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)

        # (after drawing all patches)
    if uv_centre is not None:
@@ -583,17 +644,18 @@ def generate_checker_texture(
            uv_poly = patch_uv_polygons[idx]; idx += 1
            if uv_poly is None:
                continue
-            pixel_poly = [(u*(texture_width-1), v*(texture_height-1)) for u,v in uv_poly]
            color = patch_colors[j,i]
            rgba = (color[0], color[1], color[2], 1.0)
-            fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)
-            fill_polygon_value(
-                patch_state,
-                texture_width,
-                texture_height,
-                pixel_poly,
-                1 if np.mean(color) >= 0.5 else 0,
-            )
+            patch_value = 1 if np.mean(color) >= 0.5 else 0
+            for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, texture_width, texture_height):
+                fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)
+                fill_polygon_value(
+                    patch_state,
+                    texture_width,
+                    texture_height,
+                    pixel_poly,
+                    patch_value,
+                )

    complete_checker_gaps(
        pixels, texture_width, texture_height, mesh_mask, patch_state, max_gap_px=gap_fill_px
@@ -748,10 +810,10 @@ def generate_dot_texture(
 def main():
    # ==================== CONFIGURATION ====================
    MODE = "patches"  # "patches", "checker", or "dots"
-    OBJ_NAME = "FingerMesh"
-    CAM_NAME = "Camera"
-    TEXTURE_WIDTH = 4096
-    TEXTURE_HEIGHT = 4096
+    OBJ_NAME = "FingerMesh0525.001"
+    CAM_NAME = "Camera0607"
+    TEXTURE_WIDTH = 1640*2
+    TEXTURE_HEIGHT = 1600*2
    OUTPUT_NAMES = {
        "patches": "patch_texture.png",
        "checker": "checker_texture.png",
@@ -760,7 +822,7 @@ def main():
    OUTPUT_PATH = "//" + OUTPUT_NAMES.get(MODE, "texture.png")

    # Patch mode
-    PATCH_NX = 60; PATCH_NY = 50; COLOR_R = 0.05
+    PATCH_NX = 80; PATCH_NY = 45; COLOR_R = 0.05
    EDGE_SAMPLE_GRID = 5
    # Checker mode
    CHECKER_NX = 40; CHECKER_NY = 40; CHECKER_GAP_FILL_PX = 6