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Merge branch 'dev' of 192.168.192.162:D:\Users\ykcheungab.MEE1965\Documents\python\orisyssdk_git into dev

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TPP-G6
2026-01-25 10:49:56 +08:00
parent aa9872b3ab cec11653c7
commit 5fb6a2373d
23 changed files with 207 additions and 118 deletions
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Readme.md
+9 -4
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@@ -18,14 +18,14 @@ https://anaconda.org/channels/nvidia/packages/cuda/overview
conda install nvidia/label/cuda-12.9.0::cuda-toolkit nvidia::cudnn conda install nvidia/label/cuda-12.9.0::cuda-toolkit nvidia::cudnn
``` ```
## SDK安装方法 ## SDK安装方法
1. 根据平台（win / linux）和python （如p38、p39、p310）版本下载对应的`.whl`文件 1. 根据系统（win / linux）,平台(amd64, aarch64), python(如p38、p39、p310) 版本下载对应的`.whl`文件
2. 运行pip命令安装： 2. 运行pip命令安装：
```bash ```bash
pip install orisys-{version}-{python-version}-{python-version}-{os}_amd64.whl pip install orisys-{version}-{python-version}-{python-version}-{os}_{machine}.whl
``` ```
如 如
```bash ```bash
pip install orisys-0.2.0-cp310-cp310-win_amd64.whl pip install orisys-0.2.3-cp310-cp310-win_amd64.whl
``` ```
3. **安装 CuPy（根据您的 CUDA 版本选择）：** 3. **安装 CuPy（根据您的 CUDA 版本选择）：**
@@ -184,6 +184,8 @@ centroid, contour, depth = sensor.read_info(
* FSHEARX: X切向力，`float`。 * FSHEARX: X切向力，`float`。
* FSHEARY: Y切向力，`float`。 * FSHEARY: Y切向力，`float`。
* FPS: 输出帧率，`float`。 * FPS: 输出帧率，`float`。
* CENTROID： 触碰点的坐标，(x, y)。
* CONTOUR： 触碰区域轮廓，`np.ndarray`, shape=(H, W), 未生成时返回`np.empty`
时间戳 时间戳
* TIMESTAMP: 时间戳字符串（HH:MM:SS），`str`。 * TIMESTAMP: 时间戳字符串（HH:MM:SS），`str`。
@@ -198,7 +200,7 @@ centroid, contour, depth = sensor.read_info(
返回值数量与有效参数数量一致。 返回值数量与有效参数数量一致。
- 向量/图像类数据：`np.ndarray` - 向量/图像类数据：`np.ndarray`
- 若当前流程中尚未生成该数据，返回空数组 `np.array([])` - 若当前流程中尚未生成该数据，返回空数组
- 标量类数据：`float` - 标量类数据：`float`
- 时间戳：`str`（`TIMESTAMP`，格式为 `HH:MM:SS`） - 时间戳：`str`（`TIMESTAMP`，格式为 `HH:MM:SS`）
@@ -280,3 +282,6 @@ A：`read_info()`按传入的`sensor.info`参数顺序返回一个元组。
### Q5:如果没有标定文件，或拼接结果不正确，会发生什么？ ### Q5:如果没有标定文件，或拼接结果不正确，会发生什么？
A：若未指定或未找到标定文件，系统会在需要时创建新的拼接标定数据并保存到默认路径。 A：若未指定或未找到标定文件，系统会在需要时创建新的拼接标定数据并保存到默认路径。
拼接结果异常通常与标定数据、拼接配置或输入图像质量有关，建议重新生成拼接标定并检查配置参数。 拼接结果异常通常与标定数据、拼接配置或输入图像质量有关，建议重新生成拼接标定并检查配置参数。
### Q6: 运行报错：“AttributeError: 'Stitcher' object has no attribute 'pos_default'”
A: 请检查视频源的编号是否正确，以及是否能正常打开视频源。在linux 使用`v4l2-ctl --list-devices` 列出设备
build_nuitka.py
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@@ -16,7 +16,7 @@ def install_nuitka():
def build(): def build():
install_nuitka() install_nuitka()
version = "0.2.0" version = "0.2.3"
src_dir = Path("src/orisys") src_dir = Path("src/orisys")
output_dir = Path("build_nuitka") output_dir = Path("build_nuitka")
dist_dir = Path("dist_nuitka") dist_dir = Path("dist_nuitka")
build_nuitka_linux.py
+1 -1
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@@ -16,7 +16,7 @@ def install_nuitka():
def build(): def build():
install_nuitka() install_nuitka()
version = "0.2.0" version = "0.2.3"
src_dir = Path("src/orisys") src_dir = Path("src/orisys")
output_dir = Path("build_nuitka") output_dir = Path("build_nuitka")
dist_dir = Path("dist_nuitka") dist_dir = Path("dist_nuitka")
calibration_data_collection.py
+2 -4
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@@ -18,7 +18,7 @@ def main():
print("\n") print("\n")
print(f"Collecting data for device ID: {device_id} on test type: {test_type}, video source: {vid_source}") print(f"Collecting data for device ID: {device_id} on test type: {test_type}, video source: {vid_source}")
print("\n") print("\n")
sensor = orisys.Sensor(vid_source, config_name="./config/prototype_of3.json", cal_path= f"./config/{sample_name}.npy", isstitch=True, cuda=True, verbose=True) sensor = orisys.Sensor(vid_source, config_name="./config/prototype_of3.json", cal_path= f"./config/{sample_name}.npy", cuda=False, verbose=True)
print(f"\n按 'q' 退出程序，按 'r' 重置光流追踪器，按 's' 开始保存，按 'e' 停止保存，按 'j' 减小力，按 'l' 增大力") print(f"\n按 'q' 退出程序，按 'r' 重置光流追踪器，按 's' 开始保存，按 'e' 停止保存，按 'j' 减小力，按 'l' 增大力")
force = 0 # kgf force = 0 # kgf
@@ -60,7 +60,7 @@ def main():
sensor.compute_deformation() sensor.compute_deformation()
sensor.compute_contact() sensor.compute_contact()
fps, flow, vnormal, img, contour, centroid, depth_map,fnormal,fshearx,fsheary = sensor.read_info( fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
sensor.info.FPS, sensor.info.FPS,
sensor.info.VRAW, sensor.info.VRAW,
sensor.info.VNORMAL, sensor.info.VNORMAL,
@@ -145,8 +145,6 @@ def main():
print(f"Stop writing, total frames: {frame_count}") print(f"Stop writing, total frames: {frame_count}")
frame_count = 0 frame_count = 0
if key == ord("p"):
print(f"normal force:{fnormal}, X {fshearx}, Y{fsheary}")
if key == ord("i"): if key == ord("i"):
save_mode_index += 1 save_mode_index += 1
if save_mode_index >= len(save_mode): if save_mode_index >= len(save_mode):
config/compound_eye.png
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config/prototype_of1.json
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@@ -1,38 +0,0 @@
{
"name": "prototype",
"version": "1.0",
"camera": {
"resolution_raw": [1920, 1080],
"fps": 60,
"units": 15,
"units_used": 9,
"resolution_stitch": [400, 400]
},
"stitcher": {
"min_area_frac": 0.018,
"max_area_frac": 0.035,
"max_aspect_ratio": 100,
"index": [1,2,3,6,7,8,11,12,13],
"margin": 10,
"nominal_ov_pos": 100,
"n": [3,3]
},
"tracker": {
"adaptive": true,
"lower_threshold": 12.0,
"upper_threshold": 18.0,
"loop_closure_interval": 1,
"dis_preset": "medium",
"finest_scale": 1
},
"contact": {
"min_contour_area": 3000,
"flow_threshold":1,
"div_threshold":0.02,
"expansion_threshold": 0.01,
"kernel_size": [5,5],
"denoise_sigma": 15
}
}
config/prototype_of2.json
-38
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@@ -1,38 +0,0 @@
{
"name": "prototype",
"version": "1.0",
"camera": {
"resolution_raw": [1920, 1080],
"fps": 60,
"units": 15,
"units_used": 9,
"resolution_stitch": [400, 400]
},
"stitcher": {
"min_area_frac": 0.018,
"max_area_frac": 0.035,
"max_aspect_ratio": 100,
"index": [1,2,3,6,7,8,11,12,13],
"margin": 10,
"nominal_ov_pos": 100,
"n": [3,3]
},
"tracker": {
"adaptive": true,
"lower_threshold": 12.0,
"upper_threshold": 18.0,
"loop_closure_interval": 1,
"dis_preset": "medium",
"finest_scale": 2
},
"contact": {
"min_contour_area": 3000,
"flow_threshold":1,
"div_threshold":0.02,
"expansion_threshold": 0.01,
"kernel_size": [5,5],
"denoise_sigma": 15
}
}
config/prototype_of3.json
+4 -3
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@@ -3,7 +3,7 @@
"version": "1.0", "version": "1.0",
"camera": { "camera": {
"resolution_raw": [1920, 1080], "resolution_raw": [1920, 1080],
"fps": 60, "fps": 30,
"units": 15, "units": 15,
"units_used": 9, "units_used": 9,
"resolution_stitch": [400, 400] "resolution_stitch": [400, 400]
@@ -15,7 +15,8 @@
"index": [1,2,3,6,7,8,11,12,13], "index": [1,2,3,6,7,8,11,12,13],
"margin": 10, "margin": 10,
"nominal_ov_pos": 100, "nominal_ov_pos": 100,
"n": [3,3] "n": [3,3],
"row_tol": 0.6
}, },
"tracker": { "tracker": {
"adaptive": true, "adaptive": true,
@@ -23,7 +24,7 @@
"upper_threshold": 18.0, "upper_threshold": 18.0,
"loop_closure_interval": 1, "loop_closure_interval": 1,
"dis_preset": "medium", "dis_preset": "medium",
"finest_scale": 3 "of_mode": 3
}, },
"contact": { "contact": {
"min_contour_area": 3000, "min_contour_area": 3000,
example1_basic_pipeline.py
+6 -5
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@@ -14,16 +14,17 @@ os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
import cv2 import cv2
import orisys import orisys
import numpy as np import numpy as np
import time
def main(): def main():
# 步骤1：创建传感器对象 (必要步骤)，
# config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
# cal_path为校准文件路径, 每一个设备需要创建/使用一个校准文件
# 步骤1：创建传感器对象 (必要步骤)，config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
# 方式1: 从视频文件读取 # 方式1: 从视频文件读取
# sensor = orisys.Sensor("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True) sensor = orisys.Sensor("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/dd01a_0.npy", isstitch=True, cuda=False, verbose=True)
# 方式2: 从摄像头读取（取消注释使用） # 方式2: 从摄像头读取（取消注释使用）
sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True) # sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
print("\n按 'q' 退出程序，按 'r' 重置光流追踪器") print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
nuitka-crash-report.xml
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@@ -0,0 +1,159 @@
<?xml version='1.0' encoding='utf8'?>
<nuitka-compilation-report nuitka_version="2.8.9" nuitka_commercial_version="not installed" mode="module" completion="error exit message (1)" exit_message="Failed unexpectedly in Scons C backend compilation.">
<module name="orisys" kind="CompiledPythonPackage" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\__init__.py" distribution="orisys">
<optimization-time pass="1" time="0.01" micro_passes="3" />
<optimization-time pass="2" time="0.00" micro_passes="1" />
<module_usages>
<module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="orisys.sensor" finding="relative" line="11" />
<module_usage name="orisys" finding="absolute" line="12" />
<module_usage name="orisys.util" finding="relative" line="12" />
<module_usage name="orisys" finding="absolute" line="13" />
<module_usage name="orisys.configs" finding="relative" line="13" />
</module_usages>
</module>
<module name="orisys.HHD" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\HHD.py" distribution="orisys">
<optimization-time pass="1" time="0.70" micro_passes="6" max_branch_merge="278" merged_total="16265" />
<optimization-time pass="2" time="0.10" micro_passes="1" max_branch_merge="258" merged_total="2611" />
<module_usages>
<module_usage name="numpy" finding="absolute" line="24" />
<module_usage name="timeit" finding="excluded" line="27" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="sys" finding="absolute" line="28" />
<module_usage name="scipy" finding="absolute" line="29" />
<module_usage name="scipy.signal" finding="absolute" line="29" />
<module_usage name="scipy.spatial" finding="absolute" line="29" />
<module_usage name="cupy" finding="absolute" line="35" />
<module_usage name="cupy.cuda" finding="absolute" line="40" />
<module_usage name="cupy.cuda.Stream" finding="not-found" line="40" />
<module_usage name="cupy" finding="absolute" line="480" />
<module_usage name="numpy" finding="absolute" line="861" />
<module_usage name="scipy" finding="absolute" line="862" />
<module_usage name="scipy.signal" finding="absolute" line="862" />
<module_usage name="scipy.spatial" finding="absolute" line="862" />
<module_usage name="cupy" finding="absolute" line="867" />
<module_usage name="cupyx.scipy.signal" finding="absolute" line="868" />
<module_usage name="scipy.spatial.distance" finding="absolute" line="1092" />
</module_usages>
</module>
<module name="orisys.Stitcher" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\Stitcher.py" distribution="orisys">
<optimization-time pass="1" time="0.68" micro_passes="8" max_branch_merge="113" merged_total="9783" />
<optimization-time pass="2" time="0.09" micro_passes="1" max_branch_merge="89" merged_total="1164" />
<module_usages>
<module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="numpy" finding="absolute" line="2" />
<module_usage name="scipy.fft" finding="absolute" line="3" />
<module_usage name="scipy.ndimage" finding="absolute" line="4" />
<module_usage name="cv2" finding="absolute" line="5" />
</module_usages>
</module>
<module name="orisys.configs" kind="CompiledPythonPackage" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\configs\__init__.py" distribution="orisys">
<optimization-time pass="1" time="0.07" micro_passes="5" max_branch_merge="38" merged_total="1506" />
<optimization-time pass="2" time="0.01" micro_passes="1" max_branch_merge="31" merged_total="292" />
<module_usages>
<module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="json" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="sys" finding="absolute" line="2" />
<module_usage name="pathlib" finding="excluded" line="3" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
</module_usages>
</module>
<module name="orisys.get_depth" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\get_depth.py" distribution="orisys">
<optimization-time pass="1" time="0.18" micro_passes="5" max_branch_merge="186" merged_total="2614" />
<optimization-time pass="2" time="0.03" micro_passes="1" max_branch_merge="171" merged_total="501" />
<module_usages>
<module_usage name="numpy" finding="absolute" line="1" />
<module_usage name="cv2" finding="absolute" line="2" />
<module_usage name="cupy" finding="absolute" line="6" />
<module_usage name="cupyx.scipy.ndimage" finding="absolute" line="202" />
<module_usage name="cupyx.scipy.ndimage.gaussian_filter" finding="not-found" line="202" />
<module_usage name="cupyx.scipy.ndimage" finding="absolute" line="242" />
<module_usage name="cupyx.scipy.ndimage.zoom" finding="not-found" line="242" />
</module_usages>
</module>
<module name="orisys.sensor" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\sensor.py" distribution="orisys">
<optimization-time pass="1" time="0.24" micro_passes="5" max_branch_merge="112" merged_total="4886" />
<optimization-time pass="2" time="0.03" micro_passes="1" max_branch_merge="110" merged_total="914" />
<module_usages>
<module_usage name="os" finding="excluded" line="9" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="numpy" finding="absolute" line="10" />
<module_usage name="cv2" finding="absolute" line="11" />
<module_usage name="time" finding="absolute" line="12" />
<module_usage name="enum" finding="excluded" line="13" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="typing" finding="excluded" line="14" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="threading" finding="excluded" line="15" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="queue" finding="excluded" line="16" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
<module_usage name="orisys.Stitcher" finding="relative" line="18" />
<module_usage name="orisys.tracker" finding="relative" line="19" />
<module_usage name="orisys.HHD" finding="relative" line="20" />
<module_usage name="orisys" finding="absolute" line="21" />
<module_usage name="orisys.configs" finding="relative" line="21" />
<module_usage name="orisys.get_depth" finding="relative" line="22" />
<module_usage name="cupy" finding="absolute" line="72" />
</module_usages>
</module>
<module name="orisys.tracker" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\tracker.py" distribution="orisys">
<optimization-time pass="1" time="0.07" micro_passes="5" max_branch_merge="108" merged_total="2168" />
<optimization-time pass="2" time="0.01" micro_passes="1" max_branch_merge="108" merged_total="419" />
<module_usages>
<module_usage name="cv2" finding="absolute" line="1" />
<module_usage name="numpy" finding="absolute" line="2" />
</module_usages>
</module>
<module name="orisys.util" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\util.py" distribution="orisys">
<optimization-time pass="1" time="0.71" micro_passes="6" max_branch_merge="138" merged_total="1449" />
<optimization-time pass="2" time="0.02" micro_passes="1" max_branch_merge="134" merged_total="236" />
<module_usages>
<module_usage name="cv2" finding="absolute" line="1" />
<module_usage name="numpy" finding="absolute" line="2" />
<module_usage name="scipy.interpolate" finding="absolute" line="3" />
</module_usages>
</module>
<performance>
<memory_usage name="after_launch" value="41095168" />
<memory_usage name="before_c_code_generation" value="905592832" />
<memory_usage name="before_running_scons" value="910643200" />
</performance>
<data_composer blob_size="38985" total="1450">
<module_data filename="__bytecode.const" blob_name=".bytecode" blob_size="3" input_size="0" />
<module_data filename="__constants.const" blob_name="" blob_size="800" input_size="2037" />
<module_data filename="module.orisys.HHD.const" blob_name="orisys.HHD" blob_size="11474" input_size="15837" />
<module_data filename="module.orisys.Stitcher.const" blob_name="orisys.Stitcher" blob_size="6634" input_size="9431" />
<module_data filename="module.orisys.configs.const" blob_name="orisys.configs" blob_size="2966" input_size="4231" />
<module_data filename="module.orisys.const" blob_name="orisys" blob_size="612" input_size="1011" />
<module_data filename="module.orisys.get_depth.const" blob_name="orisys.get_depth" blob_size="5580" input_size="6725" />
<module_data filename="module.orisys.sensor.const" blob_name="orisys.sensor" blob_size="6946" input_size="10850" />
<module_data filename="module.orisys.tracker.const" blob_name="orisys.tracker" blob_size="2011" input_size="3419" />
<module_data filename="module.orisys.util.const" blob_name="orisys.util" blob_size="1793" input_size="2720" />
</data_composer>
<command_line>
<option value="--module" />
<option value="--include-package=orisys" />
<option value="--output-dir=build_nuitka" />
<option value="--remove-output" />
<option value="--no-pyi-file" />
<option value="src/orisys" />
</command_line>
<plugins>
<plugin name="anti-bloat" user_enabled="no" />
<plugin name="eventlet" user_enabled="no" />
<plugin name="gi" user_enabled="no" />
<plugin name="implicit-imports" user_enabled="no" />
<plugin name="options-nanny" user_enabled="no" />
<plugin name="pkg-resources" user_enabled="no" />
<plugin name="transformers" user_enabled="no" />
</plugins>
<distributions>
<distribution name="orisys" version="0.2.0" installer="conda" />
</distributions>
<python python_exe="${sys.prefix}\python.exe" python_flavor="Anaconda Python" python_version="3.10.19" os_name="Windows" os_release="11" arch_name="x86_64" filesystem_encoding="utf-8">
<search_path>
<path value="${cwd}" />
<path value="${cwd}\src" />
<path value="${sys.prefix}\DLLs" />
<path value="${sys.prefix}\lib" />
<path value="${sys.prefix}" />
<path value="${sys.prefix}\lib\site-packages" />
<path value="${sys.prefix}\lib\site-packages\setuptools\_vendor" />
</search_path>
</python>
<output run_filename="${cwd}\build_nuitka\orisys.cp310-win_amd64.pyd" />
</nuitka-compilation-report>
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setup.py
+1 -2
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@@ -9,7 +9,7 @@ if configs_dir.exists():
setup( setup(
name="orisys", name="orisys",
version="0.2.0", version="0.2.3",
description="Orisys - Optical Tactile Sensor SDK", description="Orisys - Optical Tactile Sensor SDK",
author="Your Name", author="Your Name",
package_dir={"": "src"}, package_dir={"": "src"},
@@ -21,7 +21,6 @@ setup(
install_requires=[ install_requires=[
"numpy>=1.24.4", "numpy>=1.24.4",
"opencv-python>=4.10.0.84", "opencv-python>=4.10.0.84",
"opencv-contrib-python",
"scipy>=1.10.1", "scipy>=1.10.1",
], ],
extras_require={ extras_require={
src/orisys/HHD.py
+10 -9
View File
@@ -36,12 +36,13 @@ try:
CUPY_AVAILABLE = True CUPY_AVAILABLE = True
# Try to import CuPy streams for parallel execution # Try to import CuPy streams for parallel execution
try: if CUPY_AVAILABLE:
from cupy.cuda import Stream try:
STREAMS_AVAILABLE = True from cupy.cuda import Stream
except ImportError: STREAMS_AVAILABLE = True
Stream = None except ImportError:
STREAMS_AVAILABLE = False Stream = None
STREAMS_AVAILABLE = False
# Create fused elementwise kernel for torque computation # Create fused elementwise kernel for torque computation
# Computes cross products and combines them in a single kernel pass # Computes cross products and combines them in a single kernel pass
@@ -103,9 +104,9 @@ class nHHD(object):
raise ValueError("nHHD Solver works only for 2 and 3 dimensions") raise ValueError("nHHD Solver works only for 2 and 3 dimensions")
self.psolver.prepare(False) self.psolver.prepare(False)
if CUPY_AVAILABLE:
self.stream1 = cp.cuda.Stream() self.stream1 = cp.cuda.Stream()
self.stream2 = cp.cuda.Stream() self.stream2 = cp.cuda.Stream()
# create the 3-component decomposition # create the 3-component decomposition
def decompose(self, vfield, verbose=0): def decompose(self, vfield, verbose=0):
src/orisys/Stitcher.py
+4 -3
View File
@@ -27,6 +27,7 @@ class Stitcher:
self.nominal_ov_pos=config_stitcher["nominal_ov_pos"] self.nominal_ov_pos=config_stitcher["nominal_ov_pos"]
self.margin=config_stitcher["margin"] self.margin=config_stitcher["margin"]
self.bound=self.nominal_ov_pos - self.margin self.bound=self.nominal_ov_pos - self.margin
self.row_tol = config_stitcher["row_tol"]
if self.verbose: if self.verbose:
print(f"Stitcher initialized with config: {self.config_stitcher}") print(f"Stitcher initialized with config: {self.config_stitcher}")
@@ -110,7 +111,7 @@ class Stitcher:
def find_stitch_boxes(self,img_src,show = False): def find_stitch_boxes(self,img_src,show = False):
img_corr = self.__correct_edge_bloom(img_src) img_corr = self.__correct_edge_bloom(img_src)
self.__detect_nonblack_regions(img_corr,show = show) self.__detect_nonblack_regions(img_corr,show = show, row_tol = self.row_tol)
return len(self.boxes), self.boxes return len(self.boxes), self.boxes
# return self.boxes # return self.boxes
@@ -431,7 +432,7 @@ class Stitcher:
return pos_list return pos_list
# Computation Functions # Computation Functions
def __detect_nonblack_regions(self, img, morph_k=3, n_boxes_target=15, bk_thresh_step=10, bk_thresh_max=100,show = False): def __detect_nonblack_regions(self, img, morph_k=3, n_boxes_target=15, bk_thresh_step=10, bk_thresh_max=100,show = False, row_tol = 0.4):
""" """
Return binary mask of non-black regions and list of bounding boxes (x,y,w,h). Return binary mask of non-black regions and list of bounding boxes (x,y,w,h).
Uses adaptive thresholding on grayscale + small morphology to be robust to illumination. Uses adaptive thresholding on grayscale + small morphology to be robust to illumination.
@@ -509,7 +510,7 @@ class Stitcher:
heights = [b[3] - b[1] for b in cropped_boxes] heights = [b[3] - b[1] for b in cropped_boxes]
median_height = np.median(heights) if heights else target_h median_height = np.median(heights) if heights else target_h
# Use a fraction of the box height as tolerance (e.g., 20% of box height) # Use a fraction of the box height as tolerance (e.g., 20% of box height)
row_tolerance = max(1, int(median_height * 0.2)) row_tolerance = max(1, int(median_height * row_tol))
# Quantize y-coordinates to group boxes into rows # Quantize y-coordinates to group boxes into rows
def get_row_key(box): def get_row_key(box):
src/orisys/__init__.py
+1 -1
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@@ -5,7 +5,7 @@ A Python library for processing and analyzing optical tactile sensor data,
including image stitching, optical flow tracking, and deformation decomposition. including image stitching, optical flow tracking, and deformation decomposition.
""" """
__version__ = "0.2.0" __version__ = "0.2.3"
__author__ = "Orisys" __author__ = "Orisys"
from .sensor import Sensor from .sensor import Sensor
src/orisys/configs/prototype.json
+4 -3
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@@ -3,7 +3,7 @@
"version": "1.0", "version": "1.0",
"camera": { "camera": {
"resolution_raw": [1920, 1080], "resolution_raw": [1920, 1080],
"fps": 60, "fps": 30,
"units": 15, "units": 15,
"units_used": 9, "units_used": 9,
"resolution_stitch": [400, 400] "resolution_stitch": [400, 400]
@@ -15,7 +15,8 @@
"index": [1,2,3,6,7,8,11,12,13], "index": [1,2,3,6,7,8,11,12,13],
"margin": 10, "margin": 10,
"nominal_ov_pos": 100, "nominal_ov_pos": 100,
"n": [3,3] "n": [3,3],
"row_tol": 0.6
}, },
"tracker": { "tracker": {
"adaptive": true, "adaptive": true,
@@ -23,7 +24,7 @@
"upper_threshold": 18.0, "upper_threshold": 18.0,
"loop_closure_interval": 1, "loop_closure_interval": 1,
"dis_preset": "medium", "dis_preset": "medium",
"finest_scale": 1 "finest_scale": 3
}, },
"contact": { "contact": {
"min_contour_area": 3000, "min_contour_area": 3000,
src/orisys/tracker.py
+1 -2
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@@ -35,7 +35,7 @@ class Tracker:
# Aggressive optimization for CPU # Aggressive optimization for CPU
self.__tracking_inst.setFinestScale(config_tracker["finest_scale"]) # Skip finest pyramid level (2x faster) self.__tracking_inst.setFinestScale(config_tracker["of_mode"]) # Skip finest pyramid level (2x faster)
# self.__tracking_inst.setPatchSize(8) # Smaller patches (default 8) # self.__tracking_inst.setPatchSize(8) # Smaller patches (default 8)
# self.__tracking_inst.setPatchStride(4) # Larger stride = fewer patches # self.__tracking_inst.setPatchStride(4) # Larger stride = fewer patches
# self.__tracking_inst.setGradientDescentIterations(12) # Reduce iterations (default 25) # self.__tracking_inst.setGradientDescentIterations(12) # Reduce iterations (default 25)
@@ -213,7 +213,6 @@ class Tracker:
error = self.__getForwardBackwardError( error = self.__getForwardBackwardError(
self.__fine_base_frame_queue[i], frame, f) self.__fine_base_frame_queue[i], frame, f)
if error < self.__lower_threshold: if error < self.__lower_threshold:
# print("loop closed at frame ", str(i))
self.__fine_base_frame_queue = self.__fine_base_frame_queue[: self.__fine_base_frame_queue = self.__fine_base_frame_queue[:
i + i +
1] 1]