examples: make StreamPipeline the recommended entry, archive the manual loop
The two canonical examples taught the advanced path: they sequenced get_img() -> compute_deformation() -> compute_contact() -> read_info() by hand and unpacked a 13-element tuple positionally, which is what led developers to reach for the compute backend, the capture queue and the stitch mode. The managed alternative already existed and was documented nowhere. Library (add-only, nothing removed): - FrameSnapshot.image_size_raw carries the capture resolution, so a caller can compare it with the processed frame instead of reaching into Sensor. - StreamPipeline.reset() resets the tracker and force filters *safely*. It is queued and applied by the flow stage before its next frame, never inline: Sensor.reset rebases initial_img on the current Sensor.img, which the flow stage is reading concurrently, so a caller-thread reset would capture a half-written reference frame. Idempotent. - TactileProcessor.pipeline(produce) and FingerRuntime.pipeline() build a pipeline without the caller naming a backend concept; the latter is `with runtime.pipeline(contact=True) as pipe`. Examples: - examples/basic_pipeline.py and examples/finger_pipeline.py rewritten onto StreamPipeline + FrameSnapshot: one object, one call per frame, no tuple, and no compute backend, queue or stitch setting in sight. - examples/archive/basic_pipeline_manual.py and _finger_pipeline_manual.py keep the previous versions byte-for-byte apart from a supersede header, so code copied from them keeps working. The finger header also records the archived --show defect (store_true with default=True, so it could never be disabled). - examples/_display.py holds the shared display helpers, so an example no longer hand-rolls depth normalisation and colormap application. - examples/README.md leads with the recommended pair and documents the manual form as still-supported, and states that examples/gui/ is moving to orisys-studio. Tests: three added to tests/test_pipeline.py, covering the reset queue (it must not run on the caller's thread and must land before the first compute_flow), image_size_raw, and the None case when a producer reports no size. Verified the reset test fails when reset() is made inline, so it discriminates. Verified end-to-end against real media: basic_pipeline on data/sample/s1_480p.mp4 (box) reaches ~113 FPS and exits 0; finger_pipeline on data/dd02-0703/1.mp4 (finger) reaches ~140 FPS with mask coverage 0.41 and exits 0. Both archived manual versions still run. tests/test_pipeline.py: 20 passed. Full suite: 342 passed, 3 failed - all three failures reproduce on the pristine tree (import precedence, longrun timing, and a stale ruff version literal in docs/code-review.md) and are unrelated to this change.
This commit is contained in:
ykcheungab
+72
-77
@@ -1,14 +1,21 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
ORY-FINGER：Minimum UV-unroll finger tactile pipeline.
|
||||
"""ORY-FINGER: UV-unrolled finger tactile pipeline.
|
||||
|
||||
Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
|
||||
Runtime: camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
|
||||
Same shape as ``basic_pipeline.py`` - one object, one call per frame - with the finger-specific
|
||||
capture path underneath:
|
||||
|
||||
Recommended entry:
|
||||
python examples/finger_pipeline.py --camera_id 0 --config finger
|
||||
FingerRuntime -> runtime.pipeline() -> FrameSnapshot per frame
|
||||
|
||||
Current product config: ``finger`` (``dd02`` still resolves to ``dd02-ov``).
|
||||
``FingerRuntime`` owns the camera, the Blender export (mesh, intrinsics, world-to-camera), the UV
|
||||
unroll map and the valid-region mask. ``runtime.pipeline()`` runs those stages concurrently and
|
||||
returns one immutable snapshot per frame, so there is nothing to sequence and no tuple to unpack.
|
||||
|
||||
Run:
|
||||
|
||||
python examples/finger_pipeline.py --camera_id 0 --config finger
|
||||
python examples/finger_pipeline.py --video path/to/clip.mp4
|
||||
python examples/finger_pipeline.py --no-show # headless: print only
|
||||
|
||||
Keys: 'q' quit, 'r' reset the tracker.
|
||||
"""
|
||||
|
||||
import argparse
|
||||
@@ -19,95 +26,83 @@ os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
|
||||
|
||||
import cv2
|
||||
|
||||
import orisys
|
||||
from _display import draw_flow_arrows
|
||||
from orisys.finger import FingerRuntime
|
||||
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
|
||||
parser.add_argument("--camera_id", type=int, default=0)
|
||||
parser.add_argument("--video","-v", help="Video file path (overrides camera)")
|
||||
parser.add_argument("--config", "-c", default="finger", help="Orisys SDK config name or path")
|
||||
parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
|
||||
parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
|
||||
def main() -> int:
|
||||
parser = argparse.ArgumentParser(description="UV-unrolled finger tactile pipeline")
|
||||
parser.add_argument("--camera_id", type=int, default=0, help="camera index (default 0)")
|
||||
parser.add_argument("-v", "--video", help="video file path; overrides --camera_id")
|
||||
parser.add_argument("-c", "--config", default="finger",
|
||||
help="product config name or path (default: finger)")
|
||||
parser.add_argument("--no-show", dest="show", action="store_false",
|
||||
help="do not open the display window")
|
||||
parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
|
||||
args = parser.parse_args()
|
||||
|
||||
source = args.video if args.video else args.camera_id
|
||||
|
||||
# ------------------------------------------------------------------ create the object
|
||||
try:
|
||||
video = args.camera_id
|
||||
if args.video:
|
||||
video = args.video
|
||||
runtime = FingerRuntime.open(
|
||||
config=args.config,
|
||||
video=video,
|
||||
verbose=args.verbose,
|
||||
)
|
||||
runtime = FingerRuntime.open(config=args.config, video=source, verbose=args.verbose)
|
||||
except RuntimeError as exc:
|
||||
print(str(exc), file=sys.stderr)
|
||||
sys.exit(1)
|
||||
return 1
|
||||
|
||||
if args.verbose:
|
||||
geometry = runtime.geometry
|
||||
print(
|
||||
f"UV geometry: native={geometry.native_width}x{geometry.native_height}, "
|
||||
f"source={geometry.source_width}x{geometry.source_height} "
|
||||
f"output={geometry.out_width}x{geometry.out_height} "
|
||||
)
|
||||
g = runtime.geometry
|
||||
print(f"UV geometry: native={g.native_width}x{g.native_height} "
|
||||
f"source={g.source_width}x{g.source_height} "
|
||||
f"output={g.out_width}x{g.out_height}")
|
||||
|
||||
# Fill the flow/HHD caches once so the first published frame is not a warm-up outlier.
|
||||
runtime.warmup(color=False)
|
||||
tactile = runtime.tactile
|
||||
|
||||
print("Press 'q' to quit, 'r' to reset tracker.")
|
||||
if args.show:
|
||||
print("Keys: 'q' quit, 'r' reset tracker.")
|
||||
|
||||
include = ("image", "flow") if args.show else ("image",)
|
||||
try:
|
||||
while True:
|
||||
ok, unrolled = runtime.grab_and_process(color=False)
|
||||
if not ok:
|
||||
break
|
||||
with runtime.pipeline(contact=True, include=include) as pipe:
|
||||
while True:
|
||||
# ------------------------------------------------------ read one frame
|
||||
snap = pipe.wait()
|
||||
if snap is None:
|
||||
print("\nInput ended.")
|
||||
break
|
||||
|
||||
tactile.compute_deformation()
|
||||
tactile.compute_contact()
|
||||
|
||||
fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
|
||||
tactile.info.FPS,
|
||||
tactile.info.VRAW,
|
||||
tactile.info.VNORMAL,
|
||||
tactile.info.IMG,
|
||||
tactile.info.CONTOUR,
|
||||
tactile.info.CENTROID,
|
||||
tactile.info.DEPTH,
|
||||
tactile.info.FNORMAL,
|
||||
tactile.info.FSHEARX,
|
||||
tactile.info.FSHEARY,
|
||||
)
|
||||
|
||||
status = (
|
||||
f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
|
||||
f"mask={tactile.mask_stats['coverage']:.2f}"
|
||||
)
|
||||
|
||||
if args.show:
|
||||
arrows = orisys.util.draw_arrows(
|
||||
unrolled,
|
||||
flow,
|
||||
threshold=0.4,
|
||||
grid_spacing=10,
|
||||
arrow_scale=1.0,
|
||||
valid_mask=tactile.valid_mask,
|
||||
# ------------------------------------------------------ use the results
|
||||
coverage = runtime.tactile.mask_stats.get("coverage")
|
||||
coverage_text = f"{coverage:.2f}" if isinstance(coverage, float) else "n/a"
|
||||
print(
|
||||
f"FPS={snap.fps:5.1f} "
|
||||
f"normal={snap.normal_force:8.4f} N "
|
||||
f"shear=({snap.shear_x:7.4f}, {snap.shear_y:7.4f}) "
|
||||
f"mask={coverage_text} age={snap.age_ms:4.1f} ms",
|
||||
end="\r",
|
||||
)
|
||||
cv2.imshow("UV Unrolled", arrows)
|
||||
|
||||
print(status, end="\r")
|
||||
if args.show and snap.image is not None and snap.flow is not None:
|
||||
cv2.imshow("tactile (UV unrolled)", draw_flow_arrows(
|
||||
snap.image, snap.flow, threshold=0.4, grid_spacing=10,
|
||||
valid_mask=runtime.tactile.valid_mask))
|
||||
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
print("\nExiting.")
|
||||
break
|
||||
if key == ord("r"):
|
||||
tactile.reset()
|
||||
print("\nTracker reset.")
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key == ord("q"):
|
||||
print("\nExiting.")
|
||||
break
|
||||
if key == ord("r"):
|
||||
pipe.reset()
|
||||
print("\nTracker reset.")
|
||||
except KeyboardInterrupt:
|
||||
print("\nInterrupted.")
|
||||
finally:
|
||||
runtime.close()
|
||||
cv2.destroyAllWindows()
|
||||
if args.show:
|
||||
cv2.destroyAllWindows()
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
sys.exit(main())
|
||||
Reference in New Issue
Block a user