为基础示例接入按设备 ID 选择的力标定

让使用者从本地目录选标定并看见实际单位。短片回放及相关测试通过。

.gitignore

@@ -31,6 +31,7 @@ __pycache__/
 /data/*
 !/data/sample/
 !/data/sample/**
+!/data/calibrations/
 
 # Generated docs / tooling outputs
 /docs/.quarto/
@@ -49,4 +50,4 @@ __pycache__/
 /outputs/
 
 # Agent scratch: one directory per task, see D:\orisys_ws\AGENTS.md
-.scratch/
+.scratch/

README.md

@@ -94,13 +94,19 @@ cfg = orisys.export_config("box", "./config/exported_config.json")
 
 For multiple physical sensors, keep calibration files in a user-selected directory:
 `<calibration_dir>/<product>/<device_id>.json` (for example,
-`./calibrations/box/BOX-001.json`). Each file uses the existing calibration JSON
+`data/calibrations/box/BOX-001.json`). Each file uses the existing calibration JSON
 format and must contain matching `identity.sensor_type` and `identity.sn`, Newton
 curves for FN/FX/FY, and a compatible measurement pipeline. Enter the device ID
 manually until hardware identification is available:
 
+The source checkout provides `data/calibrations/{box,mini,finger}/` folders; device
+files placed there are ignored by Git. This location is optional: pass
+`--calibration-dir data/calibrations`
+and `--device-id BOX-001` to `examples/basic_pipeline.py` to select a file there.
+Installed wheels do not create or search this directory automatically.
+
 ```python
-sensor = orisys.Sensor(0, config_name="box", calibration_dir="./calibrations", device_id="BOX-001")
+sensor = orisys.Sensor(0, config_name="box", calibration_dir="data/calibrations", device_id="BOX-001")
 ```
 
 If that ID has no file, the sensor reports raw force; it never falls back to the

data/calibrations/.gitignore

@@ -0,0 +1,4 @@
+*
+!*/
+!.gitignore
+!.gitkeep

data/calibrations/box/.gitkeep

@@ -0,0 +1 @@
+

data/calibrations/finger/.gitkeep

@@ -0,0 +1 @@
+

data/calibrations/mini/.gitkeep

@@ -0,0 +1 @@
+

examples/basic_pipeline.py

@@ -19,6 +19,7 @@ Run:
     python examples/basic_pipeline.py -v 0 -c mini
     python examples/basic_pipeline.py -v recording.mp4 -c box
     python examples/basic_pipeline.py --no-show           # headless: print only
+    python examples/basic_pipeline.py -v 0 -c box --calibration-dir data/calibrations --device-id BOX-001
 
 Keys: 'q' quit, 'r' reset the tracker.
 """
@@ -44,18 +45,39 @@ def main() -> int:
                         help="camera index or video file path (default: 0)")
     parser.add_argument("-c", "--config", default="box",
                         help="product config: box, mini, finger, or a config path")
-    parser.add_argument("--cal", default=None,
-                        help="force calibration file; omit to use the sensor bundle's own")
+    calibration = parser.add_mutually_exclusive_group()
+    calibration.add_argument("--cal", default=None,
+                             help="force calibration file; omit to use the sensor bundle's own")
+    calibration.add_argument("--calibration-dir", default=None,
+                             help="root containing <product>/<device-id>.json")
+    parser.add_argument("--device-id", default=None,
+                        help="physical sensor ID; required with --calibration-dir")
     parser.add_argument("--no-show", dest="show", action="store_false",
                         help="do not open the display windows")
     parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
     args = parser.parse_args()
+    if args.calibration_dir is not None and args.device_id is None:
+        parser.error("--calibration-dir requires --device-id")
+    if args.device_id is not None and args.calibration_dir is None and args.cal is None:
+        parser.error("--device-id requires --calibration-dir or --cal")
 
     # ------------------------------------------------------------------ create the object
     # That is the whole setup. The source may be a camera index or a video path.
     source = int(args.video) if args.video.isdigit() else args.video
-    sensor = orisys.Sensor(source, config_name=args.config, cal_path=args.cal,
-                           verbose=args.verbose)
+    sensor = orisys.Sensor(
+        source, config_name=args.config, cal_path=args.cal,
+        calibration_dir=args.calibration_dir, device_id=args.device_id,
+        verbose=args.verbose,
+    )
+    fn_unit, fx_unit, fy_unit = sensor.force_units
+    selected = sensor.calibration.source_path if sensor.calibration else None
+    print(f"Force calibration: {selected or 'none'}")
+    print(f"Force units: FN={fn_unit}, FX={fx_unit}, FY={fy_unit}")
+    if sensor.device_calibration_missing:
+        print(
+            f"Warning: no calibration for {args.device_id!r} under "
+            f"{args.calibration_dir}; force is raw."
+        )
 
     # contact=True runs contact analysis. include=... selects which arrays each snapshot carries;
     # arrays that are not included are None, so you pay only for what you use.
@@ -99,7 +121,7 @@ def main() -> int:
                     if colour is not None:
                         cv2.imshow("depth", colour)
 
-                key = cv2.waitKey(1) & 0xFF
+                key = cv2.waitKey(1) & 0xFF if args.show else -1
                 if key == ord("q"):
                     print("\nExiting.")
                     break
@@ -117,4 +139,4 @@ def main() -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    sys.exit(main())

tools/downstream_sync_manifest.json

@@ -8,6 +8,12 @@
         {"from": "docs", "to": "docs", "include": ["get_started.md", "api.md"]},
         {"from": "examples", "to": "examples", "exclude": ["__pycache__", "*.pyc", "*.pyo"]},
         {"from": "config", "to": "config", "include": ["box.json", "finger.json", "mini.json"]},
+        {"from": "data/calibrations", "to": "data/calibrations", "include": [
+          ".gitignore",
+          "box/.gitkeep",
+          "mini/.gitkeep",
+          "finger/.gitkeep"
+        ]},
         {"from": "sensors", "to": "sensors", "include": [
           "box/sensor.json",
           "box/force_calibration.json",