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精简 Finger 示例的标定启动参数

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从配置包读取几何资源，并提供显式无载荷启动置零。30 项测试、静态检查及现有录像验证通过。
This commit is contained in:
ykcheungab
2026-10-18 13:10:45 +08:00
parent ff7614a6a0
commit e9710e140b
2 changed files with 254 additions and 14 deletions
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examples/finger_pipeline.py
+105 -14
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@@ -14,39 +14,118 @@ Run:
python examples/finger_pipeline.py --camera_id 0 --config finger
python examples/finger_pipeline.py --video path/to/clip.mp4
python examples/finger_pipeline.py --no-show # headless: print only
python examples/finger_pipeline.py --config path/to/sensor.json --video clip.mp4 --cal-path model.json --zero
Keys: 'q' quit, 'r' reset the tracker.
Geometry comes from the selected bundle's manifest.json assets_dir; its UV cache follows the
geometry directory. Schema 3 requires matching processing config/geometry and a session zero.
Use --zero only when the first 30 frames after warmup are known to be unloaded. Without a zero,
schema 3 reports zero_unavailable. Use --help-advanced for SN selection and diagnostic overrides.
Keys: 'q' quit, 'r' reset the tracker and clear the schema 3 session reference.
"""
import argparse
import math
import os
import statistics
import sys
from pathlib import Path
os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
import cv2
from _display import draw_flow_arrows
from orisys.configs import resolve_sensor_bundle
from orisys.finger import FingerRuntime
def configured_export_dir(config):
"""Reuse the selected bundle's geometry, including an explicit sensor.json path."""
path = Path(config)
bundle = resolve_sensor_bundle(str(path.resolve().parent) if path.is_file() else config)
if bundle is None:
return None
if path.is_file() and bundle.sensor_json != path.resolve():
return None
if bundle.manifest_json is not None and bundle.assets_dir is None:
raise ValueError(f"No usable assets_dir in {bundle.manifest_json}; use --export-dir")
return str(bundle.assets_dir) if bundle.assets_dir is not None else None
def measure_unloaded_reference(runtime):
"""Measure before pipeline threads start; --zero asserts these frames are unloaded."""
tactile = runtime.tactile
model = tactile.raw_sensor.calibration
if getattr(model, "schema_version", None) != 3:
raise ValueError("--zero requires a loaded schema 3 calibration")
info = tactile.info
axes = [(axis, key) for axis, key in
(("fn", info.FNORMAL_RAW), ("fx", info.FSHEARX_RAW), ("fy", info.FSHEARY_RAW))
if axis in model.channels]
samples = {axis: [] for axis, _ in axes}
print("Measuring session zero from 30 unloaded frames...")
for _ in range(30):
ok, _ = runtime.grab_and_process(color=False)
if not ok:
raise ValueError("Input ended before 30 unloaded frames; session zero was not set")
tactile.compute_deformation()
values = tactile.read_info(*(key for _, key in axes))
if not all(math.isfinite(value) for value in values):
raise ValueError("Non-finite unloaded reading; session zero was not set")
for (axis, _), value in zip(axes, values):
samples[axis].append(value)
runtime.set_calibration_reference(
{axis: statistics.median(values) for axis, values in samples.items()},
reference_id="startup-unloaded-reference")
def main() -> int:
parser = argparse.ArgumentParser(description="UV-unrolled finger tactile pipeline")
advanced = "--help-advanced" in sys.argv
parser = argparse.ArgumentParser(description="UV-unrolled finger tactile pipeline",
epilog="Use --help-advanced for SN selection and diagnostic overrides.")
parser.add_argument("--help-advanced", action="help", help=argparse.SUPPRESS)
def advanced_help(message):
return message if advanced else argparse.SUPPRESS
parser.add_argument("--camera_id", type=int, default=0, help="camera index (default 0)")
parser.add_argument("-v", "--video", help="video file path; overrides --camera_id")
parser.add_argument("-c", "--config", default="finger",
help="product config name or path (default: finger)")
calibration = parser.add_mutually_exclusive_group()
calibration.add_argument("--cal-path", "--cal_path", help="explicit calibration JSON (schema 1/2/3)")
calibration.add_argument("--calibration-dir", "--calibration_dir",
help=advanced_help("select <directory>/<sensor_type>/<device_id>.json"))
parser.add_argument("--device-id", "--device_id", help=advanced_help("actual device SN to validate"))
zero = parser.add_mutually_exclusive_group()
zero.add_argument("--zero", action="store_true",
help="measure session zero; first 30 frames after warmup MUST be unloaded")
zero.add_argument("--zero-fn-raw", type=float,
help=advanced_help("measured unloaded FN raw for this session (schema 3 only)"))
parser.add_argument("--export-dir", help=advanced_help("override bundle geometry export directory"))
parser.add_argument("--map-cache", help=advanced_help("override UV map base path; SDK appends scale suffix"))
parser.add_argument("--no-show", dest="show", action="store_false",
help="do not open the display window")
parser.add_argument("-verbose", action="store_true", help="SDK verbose logs")
args = parser.parse_args()
if args.device_id and not (args.cal_path or args.calibration_dir):
parser.error("--device-id requires --cal-path or --calibration-dir")
if args.calibration_dir and not args.device_id:
parser.error("--calibration-dir requires --device-id")
if args.zero_fn_raw is not None and not math.isfinite(args.zero_fn_raw):
parser.error("--zero-fn-raw must be finite")
source = args.video if args.video else args.camera_id
# ------------------------------------------------------------------ create the object
options = {key: getattr(args, key) for key in
("cal_path", "calibration_dir", "device_id", "export_dir", "map_cache")
if getattr(args, key) is not None}
try:
runtime = FingerRuntime.open(config=args.config, video=source, verbose=args.verbose)
except RuntimeError as exc:
if "export_dir" not in options:
export_dir = configured_export_dir(args.config)
if export_dir is not None:
options["export_dir"] = export_dir
runtime = FingerRuntime.open(config=args.config, video=source, verbose=args.verbose, **options)
except (RuntimeError, ValueError, OSError) as exc:
print(str(exc), file=sys.stderr)
return 1
@@ -56,14 +135,22 @@ def main() -> int:
f"source={g.source_width}x{g.source_height} "
f"output={g.out_width}x{g.out_height}")
# Fill the flow/HHD caches once so the first published frame is not a warm-up outlier.
runtime.warmup(color=False)
if args.show:
print("Keys: 'q' quit, 'r' reset tracker.")
print("Keys: 'q' quit, 'r' reset tracker and clear session zero.")
include = ("image", "flow") if args.show else ("image",)
try:
# Warmup may reset the session; apply a supplied reference afterwards and before threads start.
runtime.warmup(color=False)
if getattr(runtime.tactile.raw_sensor.calibration, "schema_version", None) == 3 and not args.device_id:
print("Calibration file selected; hardware SN has not been independently verified.")
if args.zero:
measure_unloaded_reference(runtime)
if args.zero_fn_raw is not None:
model = runtime.tactile.raw_sensor.calibration
if getattr(model, "schema_version", None) != 3:
raise ValueError("--zero-fn-raw requires a loaded schema 3 calibration")
runtime.set_calibration_reference({"fn": args.zero_fn_raw}, reference_id="cli-unloaded-reference")
with runtime.pipeline(contact=True, include=include) as pipe:
while True:
# ------------------------------------------------------ read one frame
@@ -75,12 +162,13 @@ def main() -> int:
# ------------------------------------------------------ use the results
coverage = runtime.tactile.mask_stats.get("coverage")
coverage_text = f"{coverage:.2f}" if isinstance(coverage, float) else "n/a"
fn_unit, fx_unit, fy_unit = runtime.tactile.force_units
fn_unit, fx_unit, fy_unit = snap.force_units or runtime.tactile.force_units
status = ",".join(f"{axis}:{value}" for axis, value in (snap.calibration_status or {}).items())
print(
f"FPS={snap.fps:5.1f} "
f"normal={snap.normal_force:8.4f} {fn_unit} "
f"shear=({snap.shear_x:7.4f} {fx_unit}, {snap.shear_y:7.4f} {fy_unit}) "
f"mask={coverage_text} age={snap.age_ms:4.1f} ms",
f"mask={coverage_text} age={snap.age_ms:4.1f} ms calibration={status or 'legacy/raw'}",
end="\r",
)
@@ -89,13 +177,16 @@ def main() -> int:
snap.image, snap.flow, threshold=0.4, grid_spacing=10,
valid_mask=runtime.tactile.valid_mask))
key = cv2.waitKey(1) & 0xFF
key = cv2.waitKey(1) & 0xFF if args.show else -1
if key == ord("q"):
print("\nExiting.")
break
if key == ord("r"):
pipe.reset()
print("\nTracker reset.")
print("\nTracker reset. Schema 3 session zero cleared; a new unloaded reference is required.")
except (RuntimeError, ValueError, OSError) as exc:
print(str(exc), file=sys.stderr)
return 1
except KeyboardInterrupt:
print("\nInterrupted.")
finally:
@@ -106,4 +197,4 @@ def main() -> int:
if __name__ == "__main__":
sys.exit(main())
sys.exit(main())