update csv export and added fixed mesh axis drawing

examples/gui/dashboard.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+import math
 import sys
 import time
 
@@ -17,6 +18,7 @@ from PyQt5.QtWidgets import (
 )
 
 from pipeline.config import PipelineConfig
+from pipeline.csv_recorder import CsvRecorder
 from pipeline.service import FingerPipeline
 
 from .app_paths import resource_path
@@ -54,6 +56,7 @@ class FingerDashboardWindow(QMainWindow):
         self.config = config
         self.layout = layout
         self.pipeline = FingerPipeline(config)
+        self.csv_recorder = CsvRecorder(config.csv_save_dir)
         self._running = False
         self._frame_index = 0
         self._wall_fps = 0.0
@@ -103,6 +106,7 @@ class FingerDashboardWindow(QMainWindow):
         self.settings_panel.set_config_path(self.config.config)
         self.settings_panel.set_calibration_path(self.config.calib or "")
         self.settings_panel.set_finger_export_dir(self.config.export_dir)
+        self.settings_panel.set_csv_save_dir(self.config.csv_save_dir)
 
         self.settings_panel.log_visibility_changed.connect(self._set_log_panel_visible)
         self.settings_panel.free_rotation_changed.connect(self.mesh_viewport.set_free_rotation)
@@ -112,9 +116,12 @@ class FingerDashboardWindow(QMainWindow):
         self.settings_panel.browse_video_requested.connect(self._select_camera)
         self.settings_panel.browse_config_requested.connect(self._select_config)
         self.settings_panel.browse_finger_assets_requested.connect(self._select_finger_assets)
+        self.settings_panel.browse_csv_dir_requested.connect(self._select_csv_dir)
+        self.settings_panel.csv_record_toggled.connect(self._on_csv_record_toggled)
         self.settings_panel.btn_play_pause.clicked.connect(self._on_play_pause_clicked)
         self.settings_panel.btn_reset_tracker.clicked.connect(self._on_reset)
         self.settings_panel.set_play_pause_state("run")
+        self.settings_panel.set_csv_controls_for_pipeline(False)
 
         self._panel_widgets: dict[str, QWidget] = {}
         self._panel_widgets["mesh"] = self.mesh_viewport
@@ -314,6 +321,7 @@ class FingerDashboardWindow(QMainWindow):
         cal = self.settings_panel.calibration_path()
         self.config.calib = cal or None
         self.config.export_dir = self.settings_panel.finger_export_dir()
+        self.config.csv_save_dir = self.settings_panel.csv_save_dir() or "./outputs/csv"
 
         try:
             self.pipeline = FingerPipeline(self.config)
@@ -334,6 +342,7 @@ class FingerDashboardWindow(QMainWindow):
         self.timer.start(self.layout.timer_interval_ms)
         self._set_play_pause_button("pause")
         self.settings_panel.btn_reset_tracker.setEnabled(True)
+        self.settings_panel.set_csv_controls_for_pipeline(True)
         print(
             f"▶ 启动 — 摄像机={self.config.video}, 配置={self.config.config}, "
             f"标定={self.config.calib or '(none)'}, 资产={self.config.export_dir}"
@@ -342,6 +351,7 @@ class FingerDashboardWindow(QMainWindow):
     def _on_stop(self) -> None:
         if not self._running:
             return
+        self._stop_csv_recording(announce=True)
         self._running = False
         self.timer.stop()
         self.log_handler.clear_status_line()
@@ -354,6 +364,7 @@ class FingerDashboardWindow(QMainWindow):
         self._set_play_pause_button("run")
         self.settings_panel.btn_reset_tracker.setEnabled(False)
         self.settings_panel.set_finger_export_dir_enabled(True)
+        self.settings_panel.set_csv_controls_for_pipeline(False)
 
     def _on_reset(self) -> None:
         if not self._running:
@@ -413,10 +424,26 @@ class FingerDashboardWindow(QMainWindow):
             profile.record("total", total_ms)
             self.pipeline.record_total_frame(total_ms)
 
+        measurement = self.pipeline.measure_for_csv(frame, self._frame_index)
+        if self.csv_recorder.is_recording:
+            self.csv_recorder.write(measurement)
+
         flow_mag = 0.0
         if frame.flow.size:
             flow_mag = float((frame.flow[:, :, 0] ** 2 + frame.flow[:, :, 1] ** 2).mean() ** 0.5)
 
+        contact_xyz_mm = None
+        if (
+            math.isfinite(measurement.contact_x)
+            and math.isfinite(measurement.contact_y)
+            and math.isfinite(measurement.contact_z)
+        ):
+            contact_xyz_mm = (
+                measurement.contact_x,
+                measurement.contact_y,
+                measurement.contact_z,
+            )
+
         log_cfg = layout.log_config
         if log_cfg.status_enabled:
             self.log_handler.set_status_line(
@@ -428,6 +455,7 @@ class FingerDashboardWindow(QMainWindow):
                     flow_rms=flow_mag,
                     mask_coverage=frame.mask_coverage,
                     wall_fps=self._wall_fps,
+                    contact_xyz_mm=contact_xyz_mm,
                 )
             )
 
@@ -460,6 +488,50 @@ class FingerDashboardWindow(QMainWindow):
         if path:
             self.settings_panel.set_finger_export_dir(path)
 
+    def _select_csv_dir(self) -> None:
+        path = QFileDialog.getExistingDirectory(
+            self,
+            "选择 CSV 保存目录",
+            self.settings_panel.csv_save_dir() or "./outputs/csv",
+        )
+        if path:
+            self.settings_panel.set_csv_save_dir(path)
+            self.config.csv_save_dir = path
+
+    def _on_csv_record_toggled(self, start: bool) -> None:
+        if start:
+            self._start_csv_recording()
+        else:
+            self._stop_csv_recording(announce=True)
+
+    def _start_csv_recording(self) -> None:
+        if not self._running:
+            print("请先启动传感器后再记录 CSV。")
+            self.settings_panel.set_csv_recording(False)
+            return
+        save_dir = self.settings_panel.csv_save_dir() or "./outputs/csv"
+        self.config.csv_save_dir = save_dir
+        try:
+            path = self.csv_recorder.start(save_dir)
+        except OSError as exc:
+            print(f"无法开始 CSV 记录：{exc}")
+            self.settings_panel.set_csv_recording(False)
+            return
+        self.settings_panel.set_csv_recording(True)
+        print(f"开始 CSV 记录：{path}")
+
+    def _stop_csv_recording(self, *, announce: bool = False) -> None:
+        if not self.csv_recorder.is_recording:
+            self.settings_panel.set_csv_recording(False)
+            return
+        path, count = self.csv_recorder.stop()
+        self.settings_panel.set_csv_recording(False)
+        if announce:
+            if path is not None:
+                print(f"CSV 记录结束：{path}，总行数：{count}")
+            else:
+                print(f"CSV 记录结束，总行数：{count}")
+
     def keyPressEvent(self, event):
         key = event.key()
         if key == Qt.Key_Escape:
@@ -483,6 +555,7 @@ class FingerDashboardWindow(QMainWindow):
 
     def closeEvent(self, event):
         self.timer.stop()
+        self._stop_csv_recording(announce=True)
         self.mesh_viewport.close_renderer()
         self.pipeline.close()
         event.accept()
@@ -493,6 +566,7 @@ def run_dashboard(config: PipelineConfig, *, layout: DashboardLayout = LAYOUT) -
     from .app import get_or_create_qapp
 
     print("\n按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏")
+    print("GUI：Record CSV / Stop CSV 写入接触点与力到所选目录。")
     if config.profile:
         print(f"Profiling enabled (report every {config.profile_every} frames).")
         print("Log FPS= is end-to-end dashboard rate; sdk= is Sensor internal rate.")