tuned pipeline to 60 fps

examples/finger_pipeline.py

@@ -25,6 +25,9 @@ from orisys.unroll import (
     load_calib_json,
     load_exported_data,
     recommend_edge_expand,
+    resolve_uv_runtime_sizes,
+    scale_camera_geometry,
+    scaled_map_cache_path,
 )
 
 
@@ -60,13 +63,24 @@ def main():
     parser.add_argument("--camera_id", type=int, default=0)
     parser.add_argument("--video", help="Video file path (overrides camera)")
     parser.add_argument("--config", "-c", default="./config/dd02-ov.json", help="Orisys SDK config")
+    parser.add_argument(
+        "--source_scale",
+        type=float,
+        default=None,
+        help="Resize live source before UV remap (default: camera.source_scale in config)",
+    )
     parser.add_argument("--no_flip_source_vertical", action="store_true", help="Skip vertical flip before UV remap")
     parser.add_argument("--show", action="store_true", help="Show unrolled image window")
     parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
     args = parser.parse_args()
 
     sdk_config = load_config(args.config)
-    out_width, out_height = sdk_config["camera"]["resolution_stitch"]
+    camera_config = sdk_config.get("camera", {})
+    out_width, out_height, source_scale = resolve_uv_runtime_sizes(
+        camera_config,
+        source_scale=args.source_scale,
+    )
+    map_cache = scaled_map_cache_path(args.map_cache, source_scale)
 
     mesh_path, intrinsics_path, pose_path = resolve_export_paths(args.export_dir)
 
@@ -76,18 +90,31 @@ def main():
 
     if args.calib:
         source_K, dist_coeffs, img_size = load_calib_json(args.calib)
-        source_width, source_height = img_size
+        native_width, native_height = img_size
     else:
         source_K = data["K"]
         dist_coeffs = None
-        source_width = data["width"]
-        source_height = data["height"]
+        native_width = data["width"]
+        native_height = data["height"]
+
+    source_K, source_width, source_height = scale_camera_geometry(
+        source_K,
+        native_width,
+        native_height,
+        source_scale,
+    )
+    if args.verbose:
+        print(
+            f"UV geometry: native={native_width}x{native_height}, "
+            f"source={source_width}x{source_height} (scale={source_scale:g}), "
+            f"output={out_width}x{out_height}, map_cache={map_cache}"
+        )
 
     domain = build_or_load_domain(
         mesh_path,
         intrinsics_path,
         pose_path,
-        args.map_cache,
+        map_cache,
         source_K,
         source_width,
         source_height,
@@ -96,6 +123,7 @@ def main():
         edge_expand=edge_expand,
         include_surface=True,
         verbose=args.verbose,
+        source_scale=source_scale,
     )
     domain.remap.ensure_fast_maps()
 
@@ -103,8 +131,8 @@ def main():
     if not cap.isOpened():
         print("Cannot open camera/video source", file=sys.stderr)
         sys.exit(1)
-    cap.set(cv2.CAP_PROP_FRAME_WIDTH, source_width)
-    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, source_height)
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, native_width)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, native_height)
 
     sensor = orisys.Sensor("external", config_name=args.config, verbose=args.verbose, mirror=False)
     processor = UVUnrollFrameProcessor(
@@ -162,8 +190,9 @@ def main():
             sensor.compute_deformation(check_motion=True, threshold=0)
             sensor.compute_contact()
 
-            fps, fnormal, fshearx, fsheary = sensor.read_info(
+            fps, flow,fnormal, fshearx, fsheary = sensor.read_info(
                 sensor.info.FPS,
+                sensor.info.VRAW,
                 sensor.info.FNORMAL,
                 sensor.info.FSHEARX,
                 sensor.info.FSHEARY,
@@ -175,8 +204,17 @@ def main():
                 end="\r",
             )
 
+
             if args.show:
-                cv2.imshow("UV Unrolled", unrolled)
+
+                arrows = orisys.util.draw_arrows(
+                    unrolled,
+                    flow,
+                    threshold=0.4,
+                    grid_spacing=10,
+                    arrow_scale=1.0,
+                )
+                cv2.imshow("UV Unrolled", arrows)
 
             key = cv2.waitKey(1) & 0xFF
             if key == ord("q"):