Merge pull request 'Refractor/finger' (#4) from refractor/finger into dev

Reviewed-on: http://100.106.67.31:3000/orisys-tech/orisys-sdk/pulls/4

build/OrisysDashboard.spec

@@ -6,7 +6,7 @@ a = Analysis(
     pathex=[],
     binaries=[],
     datas=[('D:\\repo\\orisyssdk_git\\config', 'config'), ('D:\\repo\\orisyssdk_git\\assets', 'assets')],
-    hiddenimports=['PyQt5', 'pyqtgraph', 'open3d', 'cv2', 'orisys', 'gui', 'pipeline', 'viz', 'app_paths', 'plotly', '_plotly_utils', 'open3d.cpu.pybind'],
+    hiddenimports=['PyQt5', 'pyqtgraph', 'open3d', 'cv2', 'orisys', 'gui', 'pipeline', 'viz', 'gui.app_paths', 'plotly', '_plotly_utils', 'open3d.cpu.pybind'],
     hookspath=[],
     hooksconfig={},
     runtime_hooks=[],

build/build_gui_win_pyinstaller.py

@@ -33,7 +33,7 @@ HIDDEN_IMPORTS = [
     "gui",
     "pipeline",
     "viz",
-    "app_paths",
+    "gui.app_paths",
     "plotly",
     "_plotly_utils",
     # sometimes needed for open3d:

build/wheel_layout.py

@@ -82,7 +82,7 @@ def copy_bundle_items(repo_root: Path, pkg_dir: Path, items: list[dict]) -> dict
 def package_data_from_bundle(ext_suffix: str, items: list[dict]) -> dict[str, list[str]]:
     package_data: dict[str, list[str]] = {
         "orisys": [f"*{ext_suffix}"],
-        "orisys.examples": ["*.py", "README.md", "app_paths.py", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"],
+        "orisys.examples": ["*.py", "README.md", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"],
     }
     for item in items:
         if item["name"] == "examples":

examples/README.md

@@ -5,7 +5,6 @@ Top-level demo scripts under `examples/`. Run them from the repository root.
 ## Top-Level Files
 
 - `README.md` — this overview of the root-level example entry points
-- `app_paths.py` — path helpers used by the packaged / frozen dashboard entry point
 - `basic_pipeline.py` — basic single-sensor OpenCV demo for the compound-eye pipeline
 - `plot_data.py` — single-sensor demo with OpenCV views plus PyQtGraph force charts
 - `two_sensor_pipeline.py` — two-sensor multiprocessing demo for parallel acquisition / display
@@ -59,7 +58,7 @@ pip install -e ".[gui]"
 
 ## Notes
 
-- `finger_pipeline_3dview.py` is the main interactive demo. It uses `app_paths.py` so the same entry point works in editable and packaged runs.
+- `finger_pipeline_3dview.py` is the main interactive demo. It uses `gui/app_paths.py` so the same entry point works in editable and packaged runs.
 - Dashboard controls: click **启动** to start acquisition; `Q` quits, `R` resets, `S` starts recording, `E` stops recording, and `Esc` toggles fullscreen.
 - `finger_pipeline.py` is the leanest finger example if you want to validate UV unroll + force/contact processing without the full dashboard.
 - `finger_pipeline.py` uses `orisys.finger.FingerRuntime` as the high-level entry point, then runs tactile analysis through `runtime.tactile`.

examples/finger_pipeline.py

@@ -12,7 +12,6 @@ For the full demo (UV debug panels, dashboard, benchmarks) see:
 import argparse
 import os
 import sys
-import time
 
 os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
 
@@ -20,19 +19,6 @@ import cv2
 import orisys
 from orisys.finger import FingerRuntime
 
-from pipeline.profiling import StageProfiler, run_deformation_timed
-
-_FINGER_PIPELINE_STAGES = (
-    "capture",
-    "uv_unroll",
-    "flow",
-    "hhd",
-    "contact",
-    "read_info",
-    "display",
-    "total",
-)
-
 
 def main():
     parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
@@ -41,17 +27,6 @@ def main():
     parser.add_argument("--config", "-c", default="./config/dd02-ov.json", help="Orisys SDK config")
     parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
     parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
-    parser.add_argument(
-        "--profile",
-        action="store_true",
-        help="Print per-stage timing (capture, UV, flow, HHD, contact, read_info, display)",
-    )
-    parser.add_argument(
-        "--profile-every",
-        type=int,
-        default=30,
-        help="When --profile is set, print rolling averages every N frames (default: 30)",
-    )
     args = parser.parse_args()
 
     try:
@@ -77,48 +52,17 @@ def main():
 
     runtime.warmup(color=False)
     tactile = runtime.tactile
-    profiler = (
-        StageProfiler(report_every=args.profile_every, stage_order=_FINGER_PIPELINE_STAGES)
-        if args.profile
-        else None
-    )
 
     print("Press 'q' to quit, 'r' to reset tracker.")
-    if args.profile:
-        print(f"Profiling enabled (report every {args.profile_every} frames).")
     try:
         while True:
-            frame_t0 = time.perf_counter()
-
-            if profiler is not None:
-                t0 = time.perf_counter()
-                ok, frame = runtime.read_source()
-                profiler.record("capture", (time.perf_counter() - t0) * 1000.0)
-                if not ok:
-                    break
-                t0 = time.perf_counter()
-                unrolled = runtime.process_frame(frame, color=False)
-                profiler.record("uv_unroll", (time.perf_counter() - t0) * 1000.0)
-            else:
             ok, unrolled = runtime.grab_and_process(color=False)
             if not ok:
                 break
 
-            if profiler is not None:
-                flow_ms, hhd_ms = run_deformation_timed(
-                    tactile, check_motion=True, threshold=0
-                )
-                profiler.record("flow", flow_ms)
-                profiler.record("hhd", hhd_ms)
-            else:
             tactile.compute_deformation(check_motion=True, threshold=0)
-
-            t0 = time.perf_counter()
             tactile.compute_contact()
-            if profiler is not None:
-                profiler.record("contact", (time.perf_counter() - t0) * 1000.0)
 
-            t0 = time.perf_counter()
             fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = tactile.read_info(
                 tactile.info.FPS,
                 tactile.info.VRAW,
@@ -131,8 +75,6 @@ def main():
                 tactile.info.FSHEARX,
                 tactile.info.FSHEARY,
             )
-            if profiler is not None:
-                profiler.record("read_info", (time.perf_counter() - t0) * 1000.0)
 
             status = (
                 f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
@@ -140,7 +82,6 @@ def main():
             )
 
             if args.show:
-                t0 = time.perf_counter()
                 arrows = orisys.util.draw_arrows(
                     unrolled,
                     flow,
@@ -149,17 +90,7 @@ def main():
                     arrow_scale=1.0,
                 )
                 cv2.imshow("UV Unrolled", arrows)
-                if profiler is not None:
-                    profiler.record("display", (time.perf_counter() - t0) * 1000.0)
 
-            if profiler is not None:
-                total_ms = (time.perf_counter() - frame_t0) * 1000.0
-                profiler.record("total", total_ms)
-                status += (
-                    f" | wall={total_ms:.1f}ms flow={profiler.last.get('flow', 0):.1f}ms"
-                    f" hhd={profiler.last.get('hhd', 0):.1f}ms"
-                )
-                profiler.tick()
             print(status, end="\r")
 
             key = cv2.waitKey(1) & 0xFF
@@ -170,8 +101,6 @@ def main():
                 tactile.reset()
                 print("\nTracker reset.")
     finally:
-        if profiler is not None and profiler.frame_count:
-            profiler.print_report(prefix="[profile final]")
         runtime.close()
         cv2.destroyAllWindows()
 

examples/finger_pipeline_3dview.py

@@ -15,7 +15,7 @@ import sys
 
 os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
 
-from app_paths import configure_frozen_runtime, default_config_path, ensure_examples_import_path
+from gui.app_paths import configure_frozen_runtime, default_config_path, ensure_examples_import_path
 
 configure_frozen_runtime()
 ensure_examples_import_path()

examples/gui/app_paths.py

@@ -1,4 +1,4 @@
-"""Resolve bundled resource paths for dev runs and Nuitka standalone builds."""
+"""Resolve bundled resource paths for dev runs and standalone builds."""
 
 from __future__ import annotations
 
@@ -6,7 +6,8 @@ import os
 import sys
 from pathlib import Path
 
-_EXAMPLES_DIR = Path(__file__).resolve().parent
+_GUI_DIR = Path(__file__).resolve().parent
+_EXAMPLES_DIR = _GUI_DIR.parent
 _REPO_ROOT = _EXAMPLES_DIR.parent
 
 

examples/gui/dashboard.py

@@ -19,7 +19,7 @@ from PyQt5.QtWidgets import (
 from pipeline.config import PipelineConfig
 from pipeline.service import FingerPipeline
 
-from app_paths import resource_path
+from .app_paths import resource_path
 from .layout import (
     DashboardLayout,
     LAYOUT,

examples/viz/mesh_camera.py

@@ -39,7 +39,7 @@ def resolve_viz_pose_path(path: str | Path | None = None) -> Path:
         here.parents[2] / raw,
     ]
     try:
-        from app_paths import app_root
+        from gui.app_paths import app_root
 
         candidates.insert(0, app_root() / raw)
     except ImportError:

pyproject.toml

@@ -51,7 +51,7 @@ dev_install = true
 name = "examples"
 source = "examples"
 target = "examples"
-patterns = ["*.py", "README.md", "app_paths.py", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"]
+patterns = ["*.py", "README.md", "viz/**/*.py", "pipeline/**/*.py", "gui/**/*.py"]
 preserve_tree = true
 
 [[tool.orisys.bundle.items]]