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为基础示例接入按设备 ID 选择的力标定

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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。
This commit is contained in:
ykcheungab
2026-10-05 14:02:40 +08:00
parent 8c147f03aa
commit ceb06f5702
8 changed files with 51 additions and 9 deletions
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examples/basic_pipeline.py
+28 -6
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@@ -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())