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update example and build

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bluepulsar
2026-01-10 19:20:17 +08:00
parent cd7ab65e84
commit dff2aef2fa
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Readme.md
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -19,9 +19,16 @@ setup(
},
include_package_data=True,
install_requires=[
"numpy",
"opencv-python",
"scipy",
"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"],
# For backward compatibility, 'cuda' defaults to CUDA 12.x
"cuda": ["cupy-cuda12x>=12.3.0"],
},
python_requires=">=3.8",
)
src/orisys/Stitcher.py
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@@ -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)