update example and build

Readme.md

@@ -1,13 +1,54 @@
 # orisys API 文档
 
 本文件提供了 `orisys` 套件的中文文档
-## 使用方法
+
-1. 根据平台和python 版本下载对应的`.whl`文件
+## 准备 Python 开发环境
+推荐下载 Anaconda，并使用Python 3.10 
+```
+# 创建并激活虚拟环境
+conda create -n orisys python=3.10
+conda activate orisys
+```
+## 安装 CUDA Toolkit 和 cuDNN
+在官方链接下载和安装：https://developer.nvidia.com/cuda/toolkit
+或
+在Anaconda环境中安装（例子使用cuda12.9）：
+https://anaconda.org/channels/nvidia/packages/cuda/overview
+```
+conda install nvidia/label/cuda-12.9.0::cuda-toolkit nvidia::cudnn
+```
+## SDK安装方法
+1. 根据平台（win / linux）和python （如p38、p39、p310）版本下载对应的`.whl`文件
 2. 运行pip命令安装：
 ```bash
-pip install orisys-{version}-{python-version}-none-{os}_amd64.whl
+pip install orisys-{version}-{python-version}-{python-version}-{os}_amd64.whl
 ```
-3. 并测试导入：
+如
+```bash
+pip install orisys-0.2.0-cp310-cp310-win_amd64.whl
+```
+
+3. **安装 CuPy（根据您的 CUDA 版本选择）：**
+   
+   **方法 1：使用 extras（推荐）**
+   ```bash
+   # 对于 CUDA 12.x
+   pip install orisys[cuda12]
+   
+   # 对于 CUDA 13.x
+   pip install orisys[cuda13]
+   ```
+   
+   **方法 2：手动安装**
+   ```bash
+   # 对于 CUDA 12.x
+   pip install cupy-cuda12x>=12.3.0
+   
+   # 对于 CUDA 13.x
+   pip install cupy-cuda13x>=13.0.0
+   ```
+
+4. 测试导入：
 ```python
 import orisys
 print(orisys.__version__)
@@ -21,8 +62,8 @@ print(orisys.__version__)
 * **isstitch** (`bool`，可选): 是否启用图像拼接，默认为 `True`。
 * **cuda** (`bool`，可选): 是否使用 GPU cuda 加速，默认为 `False`。
 * **verbose** (`bool`，可选): 是否输出初始化及运行过程中的详细日志信息，默认为 `False`。
-* **config_name** (`str`，可选): 内部算法或传感器配置名称，用于加载对应的参数配置，默认为 `prototype`。
+* **config_name** (`str`，可选): 内部算法或传感器配置`json`文件路径，用于加载对应的参数配置，默认为 `prototype`。
-
+* **cal_path** (`str`，可选): 复眼拼接校准文件路径，默认为 `./config/cal.npy`。有多个传感器同时运行时建议传感器类创建时建议填写，避免校准文件覆写。在首次运行时程序会在找不到文件时自动创建。
   
 ### 返回
 * `Sensor` 实例，用于后续图像采集、形变计算和数据读取操作。

build_nuitka.py

@@ -86,6 +86,30 @@ def build():
         json_count += 1
     print(f"Copied {json_count} JSON config files")
     
+    # Create and copy examples folder (as part of the package)
+    examples_dst = pkg_dir / "examples"
+    examples_dst.mkdir(exist_ok=True)
+    
+    # Create __init__.py for examples package
+    examples_init = examples_dst / "__init__.py"
+    with open(examples_init, 'w') as f:
+        f.write("# Examples for orisys package\n")
+    
+    example_files = [
+        Path("example1_basic_pipeline.py"),
+        Path("example2_two_sensor_pipeline.py"),
+    ]
+    
+    example_count = 0
+    for example_file in example_files:
+        if example_file.exists():
+            shutil.copy(example_file, examples_dst)
+            example_count += 1
+            print(f"Copied example: {example_file.name}")
+        else:
+            print(f"Warning: Example file not found: {example_file}")
+    print(f"Copied {example_count} example files to orisys/examples/")
+    
     # Create setup.py for packaging
     setup_py_path = dist_dir / "setup.py"
     setup_content = f"""
@@ -100,12 +124,24 @@ setup(
     version="{version}",
     description="Orisys - Optical Tactile Sensor SDK (Nuitka Compiled)",
     author="Orisys",
-    packages=['orisys'],
+    packages=['orisys', 'orisys.examples'],
     package_dir={{'': 'wheel_root'}},
     package_data={{
         'orisys': ['*.pyd', 'configs/*.json'],
+        'orisys.examples': ['*.py'],
     }},
     include_package_data=True,
+    install_requires=[
+        "numpy>=1.24.4",
+        "opencv-python>=4.10.0.84",
+        "opencv-contrib-python",
+        "scipy>=1.10.1",
+    ],
+    extras_require={{
+        "cuda12": ["cupy-cuda12x>=12.3.0"],
+        "cuda13": ["cupy-cuda13x>=13.0.0"],
+        "cuda": ["cupy-cuda12x>=12.3.0"],  # For backward compatibility, defaults to CUDA 12.x
+    }},
     distclass=BinaryDistribution,
     zip_safe=False,
 )

build_nuitka_linux.py

@@ -106,6 +106,17 @@ setup(
         'orisys': ['*.so', 'configs/*.json'],
     }},
     include_package_data=True,
+    install_requires=[
+        "numpy>=1.24.4",
+        "opencv-python>=4.10.0.84",
+        "opencv-contrib-python",
+        "scipy>=1.10.1",
+    ],
+    extras_require={{
+        "cuda12": ["cupy-cuda12x>=12.3.0"],
+        "cuda13": ["cupy-cuda13x>=13.0.0"],
+        "cuda": ["cupy-cuda12x>=12.3.0"],  # For backward compatibility, defaults to CUDA 12.x
+    }},
     distclass=BinaryDistribution,
     zip_safe=False,
 )

example1_basic_pipeline.py

@@ -17,13 +17,12 @@ import numpy as np
 def main():
     
     # 步骤1：创建传感器对象 (必要步骤)，config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
-
     # 方式1: 从视频文件读取
-    sensor = orisys.Sensor("s1.mp4", isstitch=True, cuda=True, verbose=True,config_name="prototype")
+    sensor = orisys.Sensor("s1.mp4", config_name="prototype", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
 
     
     # 方式2: 从摄像头读取（取消注释使用） 
-    # sensor = orisys.Sensor(0, cuda=True, verbose=True, config_name="prototype")
+    # sensor = orisys.Sensor(0, config_name="prototype", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
 
     print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")
 

example2_two_sensor_pipeline.py

@@ -28,7 +28,7 @@ from multiprocessing import Queue, Process
 import time
 
 
-def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event):
+def sensor_worker(sensor_id, vid_src, config_name, cal_path, result_queue, stop_event):
     """
     传感器工作进程函数
     
@@ -46,7 +46,8 @@ def sensor_worker(sensor_id, vid_src, config_name, result_queue, stop_event):
             isstitch=True, 
             cuda=True, 
             verbose=False,  # 减少子进程输出
-            config_name=config_name
+            config_name=config_name,
+            cal_path=cal_path
         )
         
         print(f"传感器 {sensor_id} 已启动")
@@ -116,12 +117,16 @@ def main():
     num_sensors = 2
     sensor_configs = [
         {
+            'sensor_id': 0,
             'vid_src': './s1.mp4',
-            'config_name': 'prototype'
+            'config_name': 'prototype',
+            'cal_path': './config/cal.npy'
         },
         {
+            'sensor_id': 1,
             'vid_src': './s1.mp4',  # 可以改为不同的视频源或摄像头索引
-            'config_name': 'prototype'
+            'config_name': 'prototype',
+            'cal_path': './config/cal2.npy'
         },
     ]
     
@@ -138,7 +143,7 @@ def main():
     for i, config in enumerate(sensor_configs):
         p = Process(
             target=sensor_worker,
-            args=(i, config['vid_src'], config['config_name'], result_queues[i], stop_events[i])
+            args=(i, config['vid_src'], config['config_name'], config['cal_path'], result_queues[i], stop_events[i])
         )
         p.start()
         processes.append(p)

requirements.txt

@@ -1,4 +1,8 @@
-cupy_cuda12x>=12.3.0
+# CuPy - Install the appropriate version based on your CUDA version:
+# For CUDA 12.x: pip install cupy-cuda12x>=12.3.0
+# For CUDA 13.x: pip install cupy-cuda13x>=13.0.0
+# Or use extras: pip install orisys[cuda12] or pip install orisys[cuda13]
+
 numpy>=1.24.4
 opencv_python>=4.10.0.84
 opencv-contrib-python

setup.py

@@ -19,9 +19,16 @@ setup(
     },
     include_package_data=True,
     install_requires=[
-        "numpy",
+        "numpy>=1.24.4",
-        "opencv-python",
+        "opencv-python>=4.10.0.84",
-        "scipy",
+        "opencv-contrib-python",
+        "scipy>=1.10.1",
     ],
+    extras_require={
+        "cuda12": ["cupy-cuda12x>=12.3.0"],
+        "cuda13": ["cupy-cuda13x>=13.0.0"],
+        # For backward compatibility, 'cuda' defaults to CUDA 12.x
+        "cuda": ["cupy-cuda12x>=12.3.0"],
+    },
     python_requires=">=3.8",
 )

src/orisys/Stitcher.py

@@ -446,7 +446,7 @@ class Stitcher:
         n_boxes = 0
         bk_thresh = 0  # initial black threshold
         bk_thresh_step = 5
-        bk_thresh_max = 125
+        bk_thresh_max = 100
 
         # Also include a low global V threshold to capture colored but dark tiles
         hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)