split example visualizaiton pipeline

2026-06-18 13:47:16 +08:00
parent fbee1c37ed
commit f19f092b64
42 changed files with 3067 additions and 702 deletions
@@ -0,0 +1,101 @@
+"""
+Finger UV pipeline with real-time force charts and OpenCV panels.
+
+Demonstrates:
+1. UV-unrolled deformation arrows
+2. Contact region overlay
+3. PyQtGraph normal/shear force plots
+4. Optional raw-frame recording (s/e keys)
+"""
+
+import argparse
+import os
+import sys
+import time
+from pathlib import Path
+
+os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
+
+import cv2
+import orisys
+from orisys.finger import FingerRuntime
+
+_EXAMPLES_DIR = Path(__file__).resolve().parent
+if str(_EXAMPLES_DIR) not in sys.path:
+    sys.path.insert(0, str(_EXAMPLES_DIR))
+
+from viz import ForceChartWindow, FrameRecorder, lowpass_filter
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--video", "-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
+    parser.add_argument("--config", "-c", type=str, default="./config/dd02-ov.json", help="配置文件名称或路径")
+    parser.add_argument("--verbose", "-verbose", type=bool, default=True, help="是否输出详细日志")
+    args = parser.parse_args()
+
+    charts = ForceChartWindow()
+    recorder = FrameRecorder()
+
+    runtime = FingerRuntime.open(
+        config=args.config,
+        video=args.video,
+        verbose=args.verbose,
+    )
+    runtime.warmup(color=True)
+    tactile = runtime.tactile
+    start_time = time.time()
+
+    print("\n按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。")
+    try:
+        while True:
+            ok, unrolled = runtime.grab_and_process(color=True)
+            if not ok:
+                break
+
+            recorder.write_if_recording(tactile.frame)
+
+            tactile.compute_deformation(check_motion=True, threshold=0)
+            tactile.compute_contact()
+            fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
+                tactile.info.FPS,
+                tactile.info.VRAW,
+                tactile.info.VNORMAL,
+                tactile.info.IMG,
+                tactile.info.CONTOUR,
+                tactile.info.CENTROID,
+                tactile.info.DEPTH,
+                tactile.info.FNORMAL,
+                tactile.info.FSHEARX,
+                tactile.info.FSHEARY,
+            )
+            print(f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, 切向力Y={fsheary:.4f}")
+
+            arrows = orisys.util.draw_arrows(unrolled, flow, threshold=3, grid_spacing=10, arrow_scale=1.0)
+            cv2.imshow("arrows", arrows)
+            cv2.imshow("contact", orisys.util.draw_contact(img, contour, centroid))
+
+            charts.push(time.time() - start_time, fnormal, fshearx, fsheary)
+            display = charts.data.copy()
+            for channel in range(3):
+                display[:, 1, channel] = lowpass_filter(
+                    charts.data[:, 1, channel],
+                    cutoff_hz=5,
+                    sample_rate_hz=30,
+                )
+            charts.refresh(display)
+
+            key = cv2.waitKey(1)
+            if key & 0xFF == ord("q"):
+                print("\n正在退出示例程序...")
+                break
+            if key == ord("s"):
+                recorder.start(tactile.frame)
+            if key == ord("e"):
+                recorder.stop()
+    finally:
+        runtime.close()
+
+
+if __name__ == "__main__":
+    main()