From cec11653c7274783003a8f20939f394ea9edb787 Mon Sep 17 00:00:00 2001 From: unknown Date: Sun, 25 Jan 2026 10:43:33 +0800 Subject: [PATCH] update calibration script --- calibration_data_collection.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/calibration_data_collection.py b/calibration_data_collection.py index aaa4cae..927558b 100644 --- a/calibration_data_collection.py +++ b/calibration_data_collection.py @@ -60,14 +60,17 @@ def main(): sensor.compute_deformation() sensor.compute_contact() - fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info( + fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info( sensor.info.FPS, sensor.info.VRAW, sensor.info.VNORMAL, sensor.info.IMG, sensor.info.CONTOUR, sensor.info.CENTROID, - sensor.info.DEPTH + sensor.info.DEPTH, + sensor.info.FNORMAL, + sensor.info.FSHEARX, + sensor.info.FSHEARY ) arrows = orisys.util.draw_arrows( @@ -142,6 +145,9 @@ def main(): print(f"Stop writing, total frames: {frame_count}") frame_count = 0 + if key == ord("p"): + print(f"Normal Force: {vnormal:.1f} kgf, Shear ForceX: {fshearx:.1f} kgf, Shear ForceY: {fsheary:.1f} kgf") + if key == ord("i"): save_mode_index += 1 if save_mode_index >= len(save_mode):