update dd02 3d viewer v1

src/orisys/frame_processors.py

@@ -0,0 +1,36 @@
+import cv2
+import numpy as np
+
+
+class CompoundEyeFrameProcessor:
+    """Convert a raw compound-eye frame into one stitched BGR tactile image."""
+
+    def __init__(self, stitcher):
+        self.stitcher = stitcher
+
+    def process(self, frame):
+        self.stitcher.get_stitch_unit(frame)
+        self.stitcher.extract_tiles()
+        return self.stitcher.stitch_rt_optimized(blend=False)
+
+
+class SingleCameraFrameProcessor:
+    """Convert a normal camera frame into one BGR tactile image."""
+
+    def process(self, frame):
+        if frame.ndim == 2:
+            return cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+        if frame.shape[2] == 1:
+            return cv2.cvtColor(frame[:, :, 0], cv2.COLOR_GRAY2BGR)
+        return frame
+
+
+def create_frame_processor(sensor_type, stitcher=None):
+    sensor_type = (sensor_type or "compound_eye").lower()
+    if sensor_type in ("compound_eye", "compound-eye", "compound"):
+        if stitcher is None:
+            raise ValueError("Compound-eye sensor requires a Stitcher instance.")
+        return CompoundEyeFrameProcessor(stitcher)
+    if sensor_type in ("single_camera", "camera", "mono"):
+        return SingleCameraFrameProcessor()
+    raise ValueError(f"Unsupported sensor type: {sensor_type}")