From d59e1cb7fb988d29365c5b4e26220e30950bae20 Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Wed, 26 Aug 2026 19:22:37 +0800 Subject: [PATCH 1/5] fix path errors --- build/common/verify/wheel.py | 4 + build/gui/ory_finger/config.py | 4 +- build/wheel/build.py | 2 +- build/wheel/compile.py | 3 + docs/get_started.md | 10 +- examples/basic_pipeline.py | 2 +- examples/gui/preference.json | 6 +- examples/gui/sensors/adapter.py | 33 ++- examples/gui/viewer3d/dashboard.py | 39 ++- examples/gui/viewer3d/preferences.py | 104 ++++++- examples/gui/viewer3d/presets.py | 32 ++- .../gui/viewer3d/widgets/settings_panel.py | 6 +- examples/mini_pipeline.py | 2 +- examples/two_sensor_pipeline.py | 2 +- examples/viz/mesh_camera.py | 9 +- sensors/box/force_calibration.json | 32 ++- .../assets/{ => finger}/30fps-0703/README.md | 0 .../30fps-0703/camera_intrinsics.npz | Bin .../assets/{ => finger}/30fps-0703/mesh.npz | Bin .../{ => finger}/30fps-0703/pixel_to_xyz.npz | Bin .../30fps-0703/unroll_map_uv_s0.4.npz | Bin .../{ => finger}/30fps-0703/world_to_cam.npy | Bin .../{ => finger}/visualization/README.md | 0 .../visualization/camera_intrinsics.npz | Bin .../visualization/flatten_remap.npz | Bin .../{ => finger}/visualization/mesh.npz | Bin .../visualization/pixel_to_xyz.npz | Bin .../visualization/world_to_cam.npy | Bin sensors/finger/sensor.json | 2 +- src/orisys/__init__.py | 2 +- src/orisys/signal_processing.py | 256 ++++++++++++++++-- tests/dd06.py | 2 +- tests/test_pyproject.py | 9 +- tests/test_signal_processing.py | 42 +++ tests/test_wheel_build.py | 12 +- 35 files changed, 546 insertions(+), 69 deletions(-) rename sensors/finger/assets/{ => finger}/30fps-0703/README.md (100%) rename sensors/finger/assets/{ => finger}/30fps-0703/camera_intrinsics.npz (100%) rename sensors/finger/assets/{ => finger}/30fps-0703/mesh.npz (100%) rename sensors/finger/assets/{ => finger}/30fps-0703/pixel_to_xyz.npz (100%) rename sensors/finger/assets/{ => finger}/30fps-0703/unroll_map_uv_s0.4.npz (100%) rename sensors/finger/assets/{ => finger}/30fps-0703/world_to_cam.npy (100%) rename sensors/finger/assets/{ => finger}/visualization/README.md (100%) rename sensors/finger/assets/{ => finger}/visualization/camera_intrinsics.npz (100%) rename sensors/finger/assets/{ => finger}/visualization/flatten_remap.npz (100%) rename sensors/finger/assets/{ => finger}/visualization/mesh.npz (100%) rename sensors/finger/assets/{ => finger}/visualization/pixel_to_xyz.npz (100%) rename sensors/finger/assets/{ => finger}/visualization/world_to_cam.npy (100%) diff --git a/build/common/verify/wheel.py b/build/common/verify/wheel.py index 1891bf5..a8742f9 100644 --- a/build/common/verify/wheel.py +++ b/build/common/verify/wheel.py @@ -17,6 +17,8 @@ from orisys.finger.mesh import UVSurfaceMesh from orisys.finger.viewer import init_uv_mesh_viewer from orisys.hhd import nHHD from orisys.tracker import Tracker +from orisys import capture +from orisys.Stitcher import Stitcher assert orisys.__version__ assert Sensor is not None @@ -31,6 +33,8 @@ assert UVSurfaceMesh is not None assert init_uv_mesh_viewer is not None assert nHHD is not None assert Tracker is not None +assert capture is not None +assert Stitcher is not None print(f"orisys {orisys.__version__} public API imports OK") """ diff --git a/build/gui/ory_finger/config.py b/build/gui/ory_finger/config.py index b3e804a..39f6ecd 100644 --- a/build/gui/ory_finger/config.py +++ b/build/gui/ory_finger/config.py @@ -43,7 +43,7 @@ EXCLUDE_MODULES = [ DATA_DIRS = [ ("config", "config"), - ("assets", "assets"), + ("sensors", "sensors"), ] README_LINES = [ @@ -56,7 +56,7 @@ README_LINES = [ "", "Bundled folders:", " config/ sensor JSON configs", - " assets/ finger mesh and visualization data", + " sensors/ per-sensor bundles (finger mesh and visualization data)", "", "CPU-only build (no CUDA/CuPy).", ] diff --git a/build/wheel/build.py b/build/wheel/build.py index 2b0a67c..ea2dab0 100644 --- a/build/wheel/build.py +++ b/build/wheel/build.py @@ -114,7 +114,7 @@ def build(*, target: str = "internal", verify: bool | None = None) -> Path: print(f"Copied {copied_counts['configs']} JSON config files") print(f"Copied {copied_counts['examples']} example files to orisys/examples/") print(f"Copied {copied_counts['docs']} doc files to orisys/docs/") - print(f"Copied {copied_counts['assets']} finger asset files to orisys/assets/") + print(f"Copied {copied_counts['sensors']} sensor bundle files to orisys/sensors/") write_wheel_setup( NUITKA_WHEEL_DIR, diff --git a/build/wheel/compile.py b/build/wheel/compile.py index 0a5d626..6b4d525 100644 --- a/build/wheel/compile.py +++ b/build/wheel/compile.py @@ -16,7 +16,10 @@ from common.paths import repo_path NUITKA_INCLUDE_PACKAGES = ( "orisys", + "orisys.capture", "orisys.finger", + "orisys.stitch", + "orisys.stitch.backends", "orisys.unroll", "orisys.hhd", "orisys.hhd.solvers", diff --git a/docs/get_started.md b/docs/get_started.md index b0838da..8514980 100644 --- a/docs/get_started.md +++ b/docs/get_started.md @@ -5,7 +5,7 @@ description: 安装并运行 Orisys SDK 的基础步骤 # 快速开始 -版本：0.4.3 +版本：0.4.4 ## 简介 本文件介绍如何上手和运行叠动视触觉传感器配套的开发套件。本套件是配合叠动视触觉传感器进行图像处理，计算形变、力以及接触信息。它可以从摄像头或视频文件中读取图像，处理后打印和展示处理后信息。 @@ -84,9 +84,9 @@ pip install --upgrade orisys ### 使用 .whl 文件安装（离线或指定版本） 从官方渠道获取 .whl 文件，文件名格式通常为： orisys-{版本}-{Python版本}-{Python版本}-{操作系统}_{硬件架构}.whl -例如：orisys-0.4.3-cp310-cp310-win_amd64.whl 表示： +例如：orisys-0.4.4-cp310-cp310-win_amd64.whl 表示： -版本：0.4.3 +版本：0.4.4 Python 版本：3.10（cp310） 操作系统：Windows（win） 硬件架构：64位（amd64） @@ -97,7 +97,7 @@ Python 版本：3.10（cp310） ```bash # 请将文件名替换为您实际下载的文件名 -pip install orisys-0.4.3-cp310-cp310-win_amd64.whl +pip install orisys-0.4.4-cp310-cp310-win_amd64.whl ``` ### 安装 CuPy（可选） @@ -139,7 +139,7 @@ python import orisys print(orisys.__version__) ``` -如果输出版本号（例如 0.4.3），则说明安装成功。 +如果输出版本号（例如 0.4.4），则说明安装成功。 ## 使用方法 ### 运行示例程序 diff --git a/examples/basic_pipeline.py b/examples/basic_pipeline.py index db2d2f5..43557db 100644 --- a/examples/basic_pipeline.py +++ b/examples/basic_pipeline.py @@ -7,7 +7,7 @@ ORY-BOX：单传感器基础流程 3. 按需计算接触区域 4. 读取并可视化结果 -SDK version: 0.4.3 +SDK version: 0.4.4 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/examples/gui/preference.json b/examples/gui/preference.json index 9612335..7d7f916 100644 --- a/examples/gui/preference.json +++ b/examples/gui/preference.json @@ -1,12 +1,12 @@ { - "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4", + "video_source": "D:/repo/orisys-sdk/data/dd02-0703/tune.mp4", "sensor_bundle_dir": "sensors/finger", - "config_path": "sensors/finger/sensor.json", + "config_path": "finger", "finger_assets_dir": "sensors/finger/assets/30fps-0703", "csv_save_dir": "./outputs/csv", "show_log": true, "show_flow_arrows": false, - "arrow_background": "pure_color", + "arrow_background": "unrolled", "free_rotate": true, "log_display_mode": "hidden" } diff --git a/examples/gui/sensors/adapter.py b/examples/gui/sensors/adapter.py index 6690538..26678e8 100644 --- a/examples/gui/sensors/adapter.py +++ b/examples/gui/sensors/adapter.py @@ -76,11 +76,37 @@ def _bgr_from_gray_or_bgr(img: np.ndarray) -> np.ndarray: return img +def _resolve_calibration_sensor_name(config_name) -> str | None: + """Map a config path/name to a sensors/ bundle when one exists.""" + if config_name is None: + return None + from orisys.configs import resolve_sensor_bundle + + text = str(config_name).strip() + if not text: + return None + + path = Path(text) + parts = path.parts + if "sensors" in parts: + idx = parts.index("sensors") + if idx + 1 < len(parts): + candidate = parts[idx + 1] + if resolve_sensor_bundle(candidate) is not None: + return candidate + + stem = path.stem if path.suffix else text + if resolve_sensor_bundle(stem) is not None: + return stem + return None + + def _snapshot_from_sensor( sensor, *, raw_image=None, processed_image=None, + sensor_name: str | None = None, ) -> Optional[FrameSnapshot]: """Build a FrameSnapshot with HHD/forces refreshed every frame.""" if sensor is None or sensor.img is None: @@ -124,6 +150,9 @@ def _snapshot_from_sensor( below_threshold_color=(160, 160, 160), ) + cal_name = sensor_name or _resolve_calibration_sensor_name( + getattr(sensor, "config_name", None) + ) fn_raw = float(fnormal) return FrameSnapshot( image=image_bgr, @@ -134,7 +163,7 @@ def _snapshot_from_sensor( normal_force=fn_raw, shear_x=float(fshearx), shear_y=float(fsheary), - normal_force_calibrated=calibrate_normal_force(fn_raw), + normal_force_calibrated=calibrate_normal_force(fn_raw, sensor_name=cal_name), fps=float(fps), timestamp=time.time(), raw_image=raw_image, @@ -198,6 +227,7 @@ class OrisysSensorAdapter(SensorAdapter): if self.sensor.frame is not None else None, processed_image=_bgr_from_gray_or_bgr(self.sensor.img), + sensor_name=_resolve_calibration_sensor_name(self.config_name), ) def reset(self) -> None: @@ -274,6 +304,7 @@ class Dd06RoiAdapter(SensorAdapter): self.sensor, raw_image=frame, processed_image=rectified, + sensor_name=_resolve_calibration_sensor_name(self.config_name), ) def reset(self) -> None: diff --git a/examples/gui/viewer3d/dashboard.py b/examples/gui/viewer3d/dashboard.py index 13133ec..13f003c 100644 --- a/examples/gui/viewer3d/dashboard.py +++ b/examples/gui/viewer3d/dashboard.py @@ -646,22 +646,42 @@ class FingerDashboardWindow(QMainWindow): self._update_play_enabled_for_source() def _select_config(self) -> None: + from .preferences import ( + default_finger_config, + normalize_config_preference, + packaged_finger_bundle_root, + ) + + start = packaged_finger_bundle_root() + start_dir = str(start) if start is not None else "sensors/finger" path, _ = QFileDialog.getOpenFileName( self, "选择配置文件", - "config", + start_dir, "JSON (*.json);;所有文件 (*)", ) if path: - self.settings_panel.set_config_path(path) - self.config.config = path + config = normalize_config_preference(path) or default_finger_config() + self.settings_panel.set_config_path(config) + self.config.config = config self._save_preferences() def _select_finger_assets(self) -> None: + from .preferences import ( + default_finger_assets_dir, + default_finger_config, + normalize_assets_preference, + normalize_config_preference, + packaged_finger_bundle_root, + ) + + start = packaged_finger_bundle_root() path = QFileDialog.getExistingDirectory( self, "选择传感器 bundle 目录", - self.settings_panel.sensor_bundle_dir() or "sensors/finger", + str(start) if start is not None else ( + self.settings_panel.sensor_bundle_dir() or "sensors/finger" + ), ) if path: bundle_dir = Path(path) @@ -677,12 +697,13 @@ class FingerDashboardWindow(QMainWindow): if isinstance(rel_assets, str) and rel_assets.strip(): assets_dir = bundle_dir / rel_assets if config_path.is_file(): - self.settings_panel.set_config_path(str(config_path)) - self.config.config = str(config_path) - self.settings_panel.set_finger_export_dir(str(assets_dir)) - self.config.export_dir = str(assets_dir) + config = normalize_config_preference(str(config_path)) or default_finger_config() + self.settings_panel.set_config_path(config) + self.config.config = config + assets = normalize_assets_preference(str(assets_dir)) or default_finger_assets_dir() + self.settings_panel.set_finger_export_dir(assets) + self.config.export_dir = assets self._save_preferences() - def _select_csv_dir(self) -> None: path = QFileDialog.getExistingDirectory( self, diff --git a/examples/gui/viewer3d/preferences.py b/examples/gui/viewer3d/preferences.py index 9f3f2e5..faf4c2e 100644 --- a/examples/gui/viewer3d/preferences.py +++ b/examples/gui/viewer3d/preferences.py @@ -13,6 +13,17 @@ LEGACY_CAMERA_SELECTION_FILE = "camera_selection.json" # Keep preference.json at examples/gui/ for backward compatibility. _GUI_DIR = Path(__file__).resolve().parents[1] +# Old lab / repo-relative paths that predate packaged sensors//. +_LEGACY_CONFIG_PATHS = { + "dd02", + "dd02-ov", + "config/dd02-ov.json", + "./config/dd02-ov.json", + "config/finger.json", + "./config/finger.json", + "sensors/finger/sensor.json", +} + def preference_path() -> Path: # Keep preference file at examples/gui/preference.json @@ -23,6 +34,92 @@ def legacy_camera_selection_path() -> Path: return resource_path(LEGACY_CAMERA_SELECTION_FILE) +def default_finger_config() -> str: + """Public product config stem resolved via packaged ``sensors/finger``.""" + return "finger" + + +def default_finger_assets_dir() -> str: + try: + from orisys.finger import DEFAULT_FINGER_EXPORT_DIR + + return DEFAULT_FINGER_EXPORT_DIR + except ImportError: + return "sensors/finger/assets/30fps-0703" + + +def packaged_finger_bundle_root() -> Path | None: + """Filesystem root of the installed ``sensors/finger`` bundle when present.""" + try: + from orisys.configs import resolve_sensor_bundle + except ImportError: + return None + bundle = resolve_sensor_bundle("finger") + return bundle.root if bundle is not None else None + + +def packaged_finger_assets_root() -> Path | None: + try: + from orisys.configs import resolve_sensor_asset_dir + except ImportError: + return None + return resolve_sensor_asset_dir("finger") + + +def normalize_config_preference(value: str | None) -> str: + """Map legacy config paths to the packaged ``finger`` sensor name.""" + if value is None or not str(value).strip(): + return default_finger_config() + text = str(value).strip().replace("\\", "/") + if text in _LEGACY_CONFIG_PATHS or text.endswith("/dd02-ov.json"): + return default_finger_config() + + root = packaged_finger_bundle_root() + if root is not None: + try: + if Path(value).resolve() == (root / "sensor.json").resolve(): + return default_finger_config() + except OSError: + pass + return text + + +def normalize_assets_preference(value: str | None) -> str: + """Prefer packaged ``sensors/finger/assets/...`` when saved paths are stale.""" + default = default_finger_assets_dir() + if value is None or not str(value).strip(): + return default + text = str(value).strip() + posix = text.replace("\\", "/") + if posix == default or posix.endswith("/sensors/finger/assets/30fps-0703"): + return default + + path = Path(text) + if path.is_dir(): + packaged = packaged_finger_assets_root() + if packaged is not None: + try: + if path.resolve() == packaged.resolve(): + return default + except OSError: + pass + if "sensors/finger" in posix or path.name == "30fps-0703": + return text if path.is_absolute() else default + return text + + return default + + +def _normalize_preferences(prefs: dict[str, Any]) -> dict[str, Any]: + prefs = dict(prefs) + if "config_path" in prefs or prefs: + prefs["config_path"] = normalize_config_preference(prefs.get("config_path")) + if "finger_assets_dir" in prefs or prefs: + prefs["finger_assets_dir"] = normalize_assets_preference(prefs.get("finger_assets_dir")) + prefs.setdefault("sensor_bundle_dir", "sensors/finger") + return prefs + + def _read_json(path: Path) -> dict[str, Any]: if not path.is_file(): return {} @@ -34,14 +131,14 @@ def _read_json(path: Path) -> dict[str, Any]: def load_preferences() -> dict[str, Any]: - """Load preferences, migrating camera_id from legacy file when needed.""" + """Load preferences, migrating camera_id / legacy config paths when needed.""" prefs = _read_json(preference_path()) if "video_source" not in prefs: legacy = _read_json(legacy_camera_selection_path()) camera_id = legacy.get("camera_id") if camera_id is not None and str(camera_id).strip(): prefs["video_source"] = str(camera_id).strip() - return prefs + return _normalize_preferences(prefs) def save_preferences(prefs: dict[str, Any]) -> None: @@ -49,9 +146,10 @@ def save_preferences(prefs: dict[str, Any]) -> None: if not isinstance(prefs, dict): return path = preference_path() + normalized = _normalize_preferences(prefs) try: path.parent.mkdir(parents=True, exist_ok=True) - path.write_text(json.dumps(prefs, indent=2) + "\n", encoding="utf-8") + path.write_text(json.dumps(normalized, indent=2) + "\n", encoding="utf-8") except OSError: pass diff --git a/examples/gui/viewer3d/presets.py b/examples/gui/viewer3d/presets.py index 650e1d0..712c037 100644 --- a/examples/gui/viewer3d/presets.py +++ b/examples/gui/viewer3d/presets.py @@ -25,6 +25,23 @@ class SensorBundlePreset: export_dir: str +def _packaged_finger_preset() -> SensorBundlePreset | None: + """Use logical names that resolve through the installed wheel sensors/ layout.""" + try: + from orisys.configs import resolve_sensor_bundle + except ImportError: + return None + bundle = resolve_sensor_bundle("finger") + if bundle is None: + return None + return SensorBundlePreset( + label="ORY-FINGER", + bundle_dir="sensors/finger", + config="finger", + export_dir=DEFAULT_FINGER_EXPORT_DIR, + ) + + def _load_manifest(bundle_root: Path) -> dict: path = bundle_root / "manifest.json" if not path.is_file(): @@ -50,6 +67,14 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB break except ValueError: continue + # Packaged / checkout sensors/finger: keep resolvable product names, not absolute paths. + if rel_bundle.replace("\\", "/").endswith("sensors/finger") or bundle_root.name == "finger": + return SensorBundlePreset( + label=label or "ORY-FINGER", + bundle_dir="sensors/finger", + config="finger", + export_dir=DEFAULT_FINGER_EXPORT_DIR, + ) return SensorBundlePreset( label=label or "ORY-FINGER", bundle_dir=rel_bundle, @@ -59,6 +84,9 @@ def _bundle_from_root(bundle_root: Path, *, label: str | None = None) -> SensorB def default_finger_bundle() -> SensorBundlePreset: + packaged = _packaged_finger_preset() + if packaged is not None: + return packaged for root in _repo_root_candidates(): preset = _bundle_from_root(root / "sensors" / "finger", label="ORY-FINGER") if preset is not None: @@ -66,7 +94,7 @@ def default_finger_bundle() -> SensorBundlePreset: return SensorBundlePreset( label="ORY-FINGER", bundle_dir="sensors/finger", - config="sensors/finger/sensor.json", + config="finger", export_dir=DEFAULT_FINGER_EXPORT_DIR, ) @@ -108,6 +136,8 @@ def sensor_bundle_preset_index( for idx, preset in enumerate(presets): if config == preset.config and export_dir == preset.export_dir: return idx + if config in ("finger", "dd02", "dd02-ov") and preset.config == "finger": + return idx if config.endswith("/sensor.json") and export_dir.endswith("/" + Path(preset.export_dir).name): return idx return -1 diff --git a/examples/gui/viewer3d/widgets/settings_panel.py b/examples/gui/viewer3d/widgets/settings_panel.py index c5c421d..310717e 100644 --- a/examples/gui/viewer3d/widgets/settings_panel.py +++ b/examples/gui/viewer3d/widgets/settings_panel.py @@ -16,6 +16,7 @@ from PyQt5.QtWidgets import ( ) from viz.render_2d import ArrowBackground +from orisys.finger import DEFAULT_FINGER_EXPORT_DIR from ..layout import DashboardLayout, LAYOUT from ..mesh_view_state import MeshViewState @@ -157,7 +158,7 @@ class SettingsPanelWidget(QWidget): bundle_row.addWidget(self.btn_browse_finger_assets) root.addLayout(bundle_row) - self.config_edit = QLineEdit("sensors/finger/sensor.json") + self.config_edit = QLineEdit("finger") self.config_edit.hide() self.btn_browse_config = QPushButton("…") self.btn_browse_config.hide() @@ -167,10 +168,9 @@ class SettingsPanelWidget(QWidget): self.cal_edit.setPlaceholderText("Optional calibration path") self.cal_edit.hide() - self.finger_assets_edit = QLineEdit("sensors/finger/assets/30fps-0703") + self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR) self.finger_assets_edit.hide() self._apply_bundle_preset(self._bundle_presets[0]) - root.addWidget(self._caption("CSV save directory")) csv_dir_row = QHBoxLayout() csv_dir_row.setSpacing(6) diff --git a/examples/mini_pipeline.py b/examples/mini_pipeline.py index cb9e7c3..9c32883 100644 --- a/examples/mini_pipeline.py +++ b/examples/mini_pipeline.py @@ -7,7 +7,7 @@ ORY-MINI：单传感器基础流程 3. 按需计算接触区域 4. 读取并可视化结果 -SDK version: 0.4.3 +SDK version: 0.4.4 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/examples/two_sensor_pipeline.py b/examples/two_sensor_pipeline.py index 2d912dd..45e2b78 100644 --- a/examples/two_sensor_pipeline.py +++ b/examples/two_sensor_pipeline.py @@ -18,7 +18,7 @@ - Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support() - 每个传感器进程都会占用独立的 GPU 显存 -SDK version: 0.4.3 +SDK version: 0.4.4 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/examples/viz/mesh_camera.py b/examples/viz/mesh_camera.py index d1a9856..49ad899 100644 --- a/examples/viz/mesh_camera.py +++ b/examples/viz/mesh_camera.py @@ -7,6 +7,10 @@ from pathlib import Path import numpy as np DEFAULT_FINGER_VIZ_POSE = "sensors/finger/assets/visualization/world_to_cam.npy" +_LEGACY_FINGER_VIZ_POSES = { + "assets/finger/visualization/world_to_cam.npy", + DEFAULT_FINGER_VIZ_POSE, +} def _finger_bundle_viz_pose_candidates() -> list[Path]: @@ -63,8 +67,9 @@ def resolve_viz_pose_path(path: str | Path | None = None) -> Path: here = Path(__file__).resolve() candidates: list[Path] = [] - # Prefer the sensors/finger bundle for the default (and matching relative) path. - if path is None or raw.as_posix() == DEFAULT_FINGER_VIZ_POSE or not raw.is_absolute(): + # Prefer the sensors/finger bundle for default / legacy relative paths. + posix = raw.as_posix() + if path is None or posix in _LEGACY_FINGER_VIZ_POSES or not raw.is_absolute(): candidates.extend(_finger_bundle_viz_pose_candidates()) try: diff --git a/sensors/box/force_calibration.json b/sensors/box/force_calibration.json index 4617082..015fc07 100644 --- a/sensors/box/force_calibration.json +++ b/sensors/box/force_calibration.json @@ -1,8 +1,30 @@ { - "normal_force": { - "model": "linear", - "slope": 3.92685554668795e-05, - "offset": 0.0217596967278535, - "unit": "N" + "schema_version": 1, + "unit": "N", + "channels": { + "normal": { + "method": "piecewise_linear", + "raw_key": "fnormal", + "extrapolate": true, + "clamp_output_min": 0.0, + "points": [ + [1000.0, 0.0], + [10000.0, 0.377], + [30000.0, 1.377], + [62000.0, 2.377] + ] + }, + "shear": { + "method": "piecewise_linear", + "input": "components", + "signed": true, + "extrapolate": true, + "clamp_output_min": 0.0, + "points": [ + [1000.0, 0.0], + [36000.0, 1.19], + [68000.0, 2.06] + ] + } } } diff --git a/sensors/finger/assets/30fps-0703/README.md b/sensors/finger/assets/finger/30fps-0703/README.md similarity index 100% rename from sensors/finger/assets/30fps-0703/README.md rename to sensors/finger/assets/finger/30fps-0703/README.md diff --git a/sensors/finger/assets/30fps-0703/camera_intrinsics.npz b/sensors/finger/assets/finger/30fps-0703/camera_intrinsics.npz similarity index 100% rename from sensors/finger/assets/30fps-0703/camera_intrinsics.npz rename to sensors/finger/assets/finger/30fps-0703/camera_intrinsics.npz diff --git a/sensors/finger/assets/30fps-0703/mesh.npz b/sensors/finger/assets/finger/30fps-0703/mesh.npz similarity index 100% rename from sensors/finger/assets/30fps-0703/mesh.npz rename to sensors/finger/assets/finger/30fps-0703/mesh.npz diff --git a/sensors/finger/assets/30fps-0703/pixel_to_xyz.npz b/sensors/finger/assets/finger/30fps-0703/pixel_to_xyz.npz similarity index 100% rename from sensors/finger/assets/30fps-0703/pixel_to_xyz.npz rename to sensors/finger/assets/finger/30fps-0703/pixel_to_xyz.npz diff --git a/sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz b/sensors/finger/assets/finger/30fps-0703/unroll_map_uv_s0.4.npz similarity index 100% rename from sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz rename to sensors/finger/assets/finger/30fps-0703/unroll_map_uv_s0.4.npz diff --git a/sensors/finger/assets/30fps-0703/world_to_cam.npy b/sensors/finger/assets/finger/30fps-0703/world_to_cam.npy similarity index 100% rename from sensors/finger/assets/30fps-0703/world_to_cam.npy rename to sensors/finger/assets/finger/30fps-0703/world_to_cam.npy diff --git a/sensors/finger/assets/visualization/README.md b/sensors/finger/assets/finger/visualization/README.md similarity index 100% rename from sensors/finger/assets/visualization/README.md rename to sensors/finger/assets/finger/visualization/README.md diff --git a/sensors/finger/assets/visualization/camera_intrinsics.npz b/sensors/finger/assets/finger/visualization/camera_intrinsics.npz similarity index 100% rename from sensors/finger/assets/visualization/camera_intrinsics.npz rename to sensors/finger/assets/finger/visualization/camera_intrinsics.npz diff --git a/sensors/finger/assets/visualization/flatten_remap.npz b/sensors/finger/assets/finger/visualization/flatten_remap.npz similarity index 100% rename from sensors/finger/assets/visualization/flatten_remap.npz rename to sensors/finger/assets/finger/visualization/flatten_remap.npz diff --git a/sensors/finger/assets/visualization/mesh.npz b/sensors/finger/assets/finger/visualization/mesh.npz similarity index 100% rename from sensors/finger/assets/visualization/mesh.npz rename to sensors/finger/assets/finger/visualization/mesh.npz diff --git a/sensors/finger/assets/visualization/pixel_to_xyz.npz b/sensors/finger/assets/finger/visualization/pixel_to_xyz.npz similarity index 100% rename from sensors/finger/assets/visualization/pixel_to_xyz.npz rename to sensors/finger/assets/finger/visualization/pixel_to_xyz.npz diff --git a/sensors/finger/assets/visualization/world_to_cam.npy b/sensors/finger/assets/finger/visualization/world_to_cam.npy similarity index 100% rename from sensors/finger/assets/visualization/world_to_cam.npy rename to sensors/finger/assets/finger/visualization/world_to_cam.npy diff --git a/sensors/finger/sensor.json b/sensors/finger/sensor.json index d5f6264..930caeb 100644 --- a/sensors/finger/sensor.json +++ b/sensors/finger/sensor.json @@ -22,7 +22,7 @@ "dis_preset": "medium", "dis_mode": 1, "algorithm_list": ["raft", "dis"], - "hhd_downsample": 5 + "hhd_downsample": 1 }, "contact": { "min_contour_area": 3000, diff --git a/src/orisys/__init__.py b/src/orisys/__init__.py index 310285c..d6d76ad 100644 --- a/src/orisys/__init__.py +++ b/src/orisys/__init__.py @@ -5,7 +5,7 @@ A Python library for processing and analyzing optical tactile sensor data, including image stitching, optical flow tracking, and deformation decomposition. """ -__version__ = "0.4.3" +__version__ = "0.4.4" __author__ = "Orisys" from .sensor import Sensor diff --git a/src/orisys/signal_processing.py b/src/orisys/signal_processing.py index 4bfaa13..7d00345 100644 --- a/src/orisys/signal_processing.py +++ b/src/orisys/signal_processing.py @@ -1,11 +1,18 @@ -"""Signal helpers for force filtering and normal-force calibration. +"""Signal helpers for force filtering and force calibration. Batch ``lowpass_filter`` is the zero-phase Butterworth used by example charts. ``LowpassFilter`` is a causal, stateful filter for per-frame ``Sensor`` outputs. + +Force calibration resolution order (when register support arrives): + 1. Sensor register / EEPROM calibration blob + 2. ``sensors//force_calibration.json`` + 3. Hardcoded linear defaults below """ from __future__ import annotations +from dataclasses import dataclass + import numpy as np from scipy.signal import butter, filtfilt, sosfilt, sosfilt_zi @@ -18,28 +25,241 @@ DEFAULT_SAMPLE_RATE_HZ = 30.0 DEFAULT_LOWPASS_ORDER = 2 -def _load_normal_force_coeffs(sensor_name: str | None = None) -> tuple[float, float]: - if sensor_name: - try: - from .configs import load_force_calibration +def _parse_calibration_point(point) -> tuple[float, float]: + if isinstance(point, dict): + raw = point.get("fnormal", point.get("raw", point.get("x"))) + force_n = point.get("force_n", point.get("n", point.get("y"))) + if raw is None or force_n is None: + raise ValueError(f"invalid calibration point: {point!r}") + return float(raw), float(force_n) + if isinstance(point, (list, tuple)) and len(point) >= 2: + return float(point[0]), float(point[1]) + raise ValueError(f"invalid calibration point: {point!r}") - data = load_force_calibration(sensor_name) - except Exception: - data = None - if isinstance(data, dict): - block = data.get("normal_force", data) - if isinstance(block, dict): - slope = block.get("slope") - offset = block.get("offset") - if slope is not None and offset is not None: - return float(slope), float(offset) + +@dataclass(frozen=True) +class ForceChannelCalibration: + """One force channel: linear coeffs and/or piecewise-linear breakpoints.""" + + method: str = "linear" + slope: float | None = None + offset: float | None = None + points: tuple[tuple[float, float], ...] = () + extrapolate: bool = True + clamp_output_min: float | None = 0.0 + input_mode: str = "magnitude" + signed: bool = False + unit: str = "N" + + @classmethod + def linear(cls, slope: float, offset: float, *, unit: str = "N") -> ForceChannelCalibration: + return cls(method="linear", slope=float(slope), offset=float(offset), unit=unit) + + @classmethod + def from_channel_dict( + cls, + block: dict, + *, + unit: str = "N", + default_method: str = "piecewise_linear", + ) -> ForceChannelCalibration | None: + if not isinstance(block, dict): + return None + + method = str(block.get("method", block.get("model", default_method))).lower() + if method in ("linear", "affine"): + slope = block.get("slope") + offset = block.get("offset") + if slope is None or offset is None: + return None + return cls.linear(float(slope), float(offset), unit=str(block.get("unit", unit))) + + if method != "piecewise_linear": + return None + + raw_points = block.get("points", []) + if not isinstance(raw_points, (list, tuple)) or len(raw_points) < 2: + return None + try: + points = tuple(sorted(_parse_calibration_point(p) for p in raw_points)) + except (TypeError, ValueError): + return None + if len(points) < 2: + return None + + return cls( + method="piecewise_linear", + points=points, + extrapolate=bool(block.get("extrapolate", True)), + clamp_output_min=block.get("clamp_output_min", 0.0), + input_mode=str(block.get("input", "magnitude")).lower(), + signed=bool(block.get("signed", False)), + unit=str(block.get("unit", unit)), + ) + + def convert(self, raw: float) -> float: + raw = float(raw) + if self.method == "linear": + slope = NORMAL_FORCE_CAL_SLOPE if self.slope is None else float(self.slope) + offset = NORMAL_FORCE_CAL_OFFSET if self.offset is None else float(self.offset) + return slope * raw + offset + + points = self.points + if len(points) < 2: + return raw + + if raw <= points[0][0]: + segment = (points[0], points[1]) + if not self.extrapolate: + return self._clamp(points[0][1]) + elif raw >= points[-1][0]: + segment = (points[-2], points[-1]) + if not self.extrapolate: + return self._clamp(points[-1][1]) + else: + segment = None + for left, right in zip(points, points[1:]): + if left[0] <= raw <= right[0]: + segment = (left, right) + break + if segment is None: + return self._clamp(points[-1][1]) + + (raw0, n0), (raw1, n1) = segment + if raw1 == raw0: + value = n0 + else: + ratio = (raw - raw0) / (raw1 - raw0) + value = n0 + ratio * (n1 - n0) + return self._clamp(value) + + def convert_component(self, raw: float) -> float: + if not self.signed: + return self.convert(raw) + raw = float(raw) + sign = -1.0 if raw < 0.0 else 1.0 + return sign * self.convert(abs(raw)) + + def _clamp(self, value: float) -> float: + if self.clamp_output_min is not None: + return max(float(self.clamp_output_min), float(value)) + return float(value) + + +_DEFAULT_NORMAL = ForceChannelCalibration.linear( + NORMAL_FORCE_CAL_SLOPE, + NORMAL_FORCE_CAL_OFFSET, +) + + +def _load_force_calibration_data(sensor_name: str | None) -> dict | None: + if not sensor_name: + return None + try: + from .configs import load_force_calibration + + data = load_force_calibration(sensor_name) + except Exception: + return None + return data if isinstance(data, dict) else None + + +def _channel_from_data(data: dict | None, channel: str) -> ForceChannelCalibration | None: + if not isinstance(data, dict): + return None + + unit = str(data.get("unit", "N")) + channels = data.get("channels") + if isinstance(channels, dict): + block = channels.get(channel) + cal = ForceChannelCalibration.from_channel_dict(block, unit=unit) + if cal is not None: + return cal + + # Legacy single-channel file: {"normal_force": {"model": "linear", ...}} + if channel == "normal": + block = data.get("normal_force", data) + cal = ForceChannelCalibration.from_channel_dict( + block, unit=unit, default_method="linear" + ) + if cal is not None: + return cal + if isinstance(block, dict): + slope = block.get("slope") + offset = block.get("offset") + if slope is not None and offset is not None: + return ForceChannelCalibration.linear( + float(slope), + float(offset), + unit=str(block.get("unit", unit)), + ) + return None + + +def _normal_calibration(sensor_name: str | None = None) -> ForceChannelCalibration: + cal = _channel_from_data(_load_force_calibration_data(sensor_name), "normal") + return cal if cal is not None else _DEFAULT_NORMAL + + +def _shear_calibration(sensor_name: str | None = None) -> ForceChannelCalibration | None: + return _channel_from_data(_load_force_calibration_data(sensor_name), "shear") + + +def _load_normal_force_coeffs(sensor_name: str | None = None) -> tuple[float, float]: + """Legacy helper: linear slope/offset only (piecewise returns hardcoded defaults).""" + cal = _normal_calibration(sensor_name) + if cal.method == "linear" and cal.slope is not None and cal.offset is not None: + return float(cal.slope), float(cal.offset) return NORMAL_FORCE_CAL_SLOPE, NORMAL_FORCE_CAL_OFFSET def calibrate_normal_force(raw_value: float, *, sensor_name: str | None = None) -> float: - """Convert a raw normal-force reading to Newtons using y = mx + c.""" - slope, offset = _load_normal_force_coeffs(sensor_name) - return slope * float(raw_value) + offset + """Convert a raw normal-force reading to Newtons. + + Uses ``sensors//force_calibration.json`` when present (piecewise or linear). + Falls back to hardcoded linear defaults when missing. + """ + return _normal_calibration(sensor_name).convert(raw_value) + + +def calibrate_shear_force(raw_value: float, *, sensor_name: str | None = None) -> float: + """Convert a raw shear magnitude to Newtons using the shear channel curve. + + Returns ``float(raw_value)`` unchanged when no shear calibration is available. + """ + cal = _shear_calibration(sensor_name) + if cal is None: + return float(raw_value) + return cal.convert(raw_value) + + +def calibrate_shear_components( + shear_x: float, + shear_y: float, + *, + sensor_name: str | None = None, +) -> tuple[float, float]: + """Convert raw shear components to Newtons. + + When the shear channel uses ``input: components`` and ``signed: true``, each + axis is calibrated on absolute magnitude then re-signed. Otherwise the + magnitude is calibrated and components are scaled proportionally. + """ + sx = float(shear_x) + sy = float(shear_y) + cal = _shear_calibration(sensor_name) + if cal is None: + return sx, sy + + if cal.input_mode == "components": + return cal.convert_component(sx), cal.convert_component(sy) + + magnitude = (sx * sx + sy * sy) ** 0.5 + if magnitude <= 0.0: + return 0.0, 0.0 + calibrated = cal.convert(magnitude) + scale = calibrated / magnitude + return sx * scale, sy * scale def _nyquist_hz(sample_rate_hz: float) -> float: diff --git a/tests/dd06.py b/tests/dd06.py index 3774055..ddcae75 100644 --- a/tests/dd06.py +++ b/tests/dd06.py @@ -8,7 +8,7 @@ Flow: 4. Feed the rectified frame into Sensor.get_img(..., already_processed=True) 5. Compute deformation/contact and visualize -SDK version: 0.4.3 +SDK version: 0.4.4 """ from __future__ import annotations diff --git a/tests/test_pyproject.py b/tests/test_pyproject.py index 124844f..37b0dd2 100644 --- a/tests/test_pyproject.py +++ b/tests/test_pyproject.py @@ -35,7 +35,7 @@ def test_pyproject_dynamic_version(packaging_utils): sys.path.insert(0, str(build_dir)) from common.pyproject_utils import get_version - assert get_version(REPO_ROOT) == "0.4.3" + assert get_version(REPO_ROOT) == "0.4.4" def test_pyproject_bundle_manifest(packaging_utils): @@ -48,7 +48,7 @@ def test_pyproject_bundle_manifest(packaging_utils): items = bundle_items(REPO_ROOT) names = {item["name"] for item in items} - assert names == {"configs", "examples", "docs", "assets"} + assert names == {"configs", "examples", "docs", "sensors"} data_files = dict(bundle_data_files(REPO_ROOT)) assert "orisys/configs" in data_files @@ -57,8 +57,9 @@ def test_pyproject_bundle_manifest(packaging_utils): assert all("/" in path and "*" not in path for path in config_files) assert any(path.endswith(".json") for path in config_files) - asset_dirs = [dest for dest in data_files if dest.startswith("orisys/assets/")] - assert asset_dirs + sensor_dirs = [dest for dest in data_files if dest.startswith("orisys/sensors/")] + assert sensor_dirs + assert any("finger/assets" in dest for dest in sensor_dirs) assert all("*" not in path for files in data_files.values() for path in files) assert "examples" not in data_files diff --git a/tests/test_signal_processing.py b/tests/test_signal_processing.py index 0c18e3d..612729a 100644 --- a/tests/test_signal_processing.py +++ b/tests/test_signal_processing.py @@ -12,6 +12,8 @@ from orisys.signal_processing import ( NORMAL_FORCE_CAL_SLOPE, LowpassFilter, calibrate_normal_force, + calibrate_shear_components, + calibrate_shear_force, lowpass_filter, ) @@ -73,6 +75,46 @@ def test_calibrate_normal_force_preserves_linear_curve(): assert calibrate_normal_force(0.0) == pytest.approx(NORMAL_FORCE_CAL_OFFSET) +def test_calibrate_normal_force_mini_uses_legacy_linear_file(): + raw = 10000.0 + expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET + assert calibrate_normal_force(raw, sensor_name="mini") == pytest.approx(expected) + + +def test_calibrate_normal_force_box_uses_piecewise_curve(): + assert calibrate_normal_force(10000.0, sensor_name="box") == pytest.approx(0.377) + assert calibrate_normal_force(30000.0, sensor_name="box") == pytest.approx(1.377) + # Mid-segment interpolation between 10000→0.377 and 30000→1.377 + mid = calibrate_normal_force(20000.0, sensor_name="box") + assert mid == pytest.approx(0.877) + # Below first breakpoint with extrapolate=true + assert calibrate_normal_force(0.0, sensor_name="box") == pytest.approx(0.0) + + +def test_calibrate_shear_force_box_piecewise(): + assert calibrate_shear_force(1000.0, sensor_name="box") == pytest.approx(0.0) + assert calibrate_shear_force(36000.0, sensor_name="box") == pytest.approx(1.19) + assert calibrate_shear_force(68000.0, sensor_name="box") == pytest.approx(2.06) + + +def test_calibrate_shear_components_box_signed(): + sx, sy = calibrate_shear_components(36000.0, -36000.0, sensor_name="box") + assert sx == pytest.approx(1.19) + assert sy == pytest.approx(-1.19) + + +def test_calibrate_shear_missing_file_returns_raw(): + assert calibrate_shear_force(1234.5, sensor_name="no-such-sensor") == pytest.approx(1234.5) + sx, sy = calibrate_shear_components(1.0, -2.0, sensor_name="no-such-sensor") + assert (sx, sy) == pytest.approx((1.0, -2.0)) + + +def test_calibrate_normal_force_unknown_sensor_falls_back_to_defaults(): + raw = 5000.0 + expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET + assert calibrate_normal_force(raw, sensor_name="no-such-sensor") == pytest.approx(expected) + + def _external_sensor(): return Sensor("external", config_name="box", verbose=False, backend="cpu") diff --git a/tests/test_wheel_build.py b/tests/test_wheel_build.py index 7d0ec63..3a04f2b 100644 --- a/tests/test_wheel_build.py +++ b/tests/test_wheel_build.py @@ -19,25 +19,25 @@ def wheel_package(): def test_compliant_manylinux_tags(wheel_package): assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-manylinux_2_17_x86_64.whl") + Path("orisys-0.4.4-cp310-cp310-manylinux_2_17_x86_64.whl") ) assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-manylinux2014_x86_64.whl") + Path("orisys-0.4.4-cp310-cp310-manylinux2014_x86_64.whl") ) assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-manylinux_2_28_x86_64.whl") + Path("orisys-0.4.4-cp310-cp310-manylinux_2_28_x86_64.whl") ) def test_rejects_illegal_manylinux_tags(wheel_package): assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-manylinux_x86_64.whl") + Path("orisys-0.4.4-cp310-cp310-manylinux_x86_64.whl") ) assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-linux_x86_64.whl") + Path("orisys-0.4.4-cp310-cp310-linux_x86_64.whl") ) assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.3-cp310-cp310-win_amd64.whl") + Path("orisys-0.4.4-cp310-cp310-win_amd64.whl") ) -- 2.52.0 From 32d4164471e23e058abfa007919b8e13d24cb157 Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Wed, 26 Aug 2026 19:38:47 +0800 Subject: [PATCH 2/5] update examples to fix path issues --- examples/gui/preference.json | 5 +- examples/gui/sensors/adapter.py | 43 +---- examples/gui/viewer2d/backend.py | 28 ++- examples/gui/viewer3d/camera_discovery.py | 153 +++++++++++++-- examples/gui/viewer3d/dashboard.py | 182 ++++++------------ examples/gui/viewer3d/preferences.py | 2 + .../gui/viewer3d/widgets/settings_panel.py | 96 +++------ examples/viz/signal_filters.py | 31 ++- 8 files changed, 284 insertions(+), 256 deletions(-) diff --git a/examples/gui/preference.json b/examples/gui/preference.json index 7d7f916..331fe3a 100644 --- a/examples/gui/preference.json +++ b/examples/gui/preference.json @@ -1,6 +1,5 @@ { - "video_source": "D:/repo/orisys-sdk/data/dd02-0703/tune.mp4", - "sensor_bundle_dir": "sensors/finger", + "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4", "config_path": "finger", "finger_assets_dir": "sensors/finger/assets/30fps-0703", "csv_save_dir": "./outputs/csv", @@ -8,5 +7,5 @@ "show_flow_arrows": false, "arrow_background": "unrolled", "free_rotate": true, - "log_display_mode": "hidden" + "sensor_bundle_dir": "sensors/finger" } diff --git a/examples/gui/sensors/adapter.py b/examples/gui/sensors/adapter.py index 26678e8..8386494 100644 --- a/examples/gui/sensors/adapter.py +++ b/examples/gui/sensors/adapter.py @@ -11,7 +11,6 @@ from typing import Any, Optional import cv2 import numpy as np import orisys -from orisys.signal_processing import calibrate_normal_force from .roi_geometry import ( build_roi_warp, @@ -23,6 +22,10 @@ from .roi_geometry import ( ) +NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05 +NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535 + + @dataclass class FrameSnapshot: """Normalized per-frame payload consumed by the Qt viewer.""" @@ -46,6 +49,11 @@ class FrameSnapshot: record_frame: Optional[np.ndarray] = None +def calibrate_normal_force(raw_value: float) -> float: + """Convert raw normal-force reading to Newtons using y = mx + c.""" + return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET + + class SensorAdapter(ABC): """Common interface between Qt and concrete sensor backends.""" @@ -76,37 +84,11 @@ def _bgr_from_gray_or_bgr(img: np.ndarray) -> np.ndarray: return img -def _resolve_calibration_sensor_name(config_name) -> str | None: - """Map a config path/name to a sensors/ bundle when one exists.""" - if config_name is None: - return None - from orisys.configs import resolve_sensor_bundle - - text = str(config_name).strip() - if not text: - return None - - path = Path(text) - parts = path.parts - if "sensors" in parts: - idx = parts.index("sensors") - if idx + 1 < len(parts): - candidate = parts[idx + 1] - if resolve_sensor_bundle(candidate) is not None: - return candidate - - stem = path.stem if path.suffix else text - if resolve_sensor_bundle(stem) is not None: - return stem - return None - - def _snapshot_from_sensor( sensor, *, raw_image=None, processed_image=None, - sensor_name: str | None = None, ) -> Optional[FrameSnapshot]: """Build a FrameSnapshot with HHD/forces refreshed every frame.""" if sensor is None or sensor.img is None: @@ -150,9 +132,6 @@ def _snapshot_from_sensor( below_threshold_color=(160, 160, 160), ) - cal_name = sensor_name or _resolve_calibration_sensor_name( - getattr(sensor, "config_name", None) - ) fn_raw = float(fnormal) return FrameSnapshot( image=image_bgr, @@ -163,7 +142,7 @@ def _snapshot_from_sensor( normal_force=fn_raw, shear_x=float(fshearx), shear_y=float(fsheary), - normal_force_calibrated=calibrate_normal_force(fn_raw, sensor_name=cal_name), + normal_force_calibrated=calibrate_normal_force(fn_raw), fps=float(fps), timestamp=time.time(), raw_image=raw_image, @@ -227,7 +206,6 @@ class OrisysSensorAdapter(SensorAdapter): if self.sensor.frame is not None else None, processed_image=_bgr_from_gray_or_bgr(self.sensor.img), - sensor_name=_resolve_calibration_sensor_name(self.config_name), ) def reset(self) -> None: @@ -304,7 +282,6 @@ class Dd06RoiAdapter(SensorAdapter): self.sensor, raw_image=frame, processed_image=rectified, - sensor_name=_resolve_calibration_sensor_name(self.config_name), ) def reset(self) -> None: diff --git a/examples/gui/viewer2d/backend.py b/examples/gui/viewer2d/backend.py index 44948b1..06d92c1 100644 --- a/examples/gui/viewer2d/backend.py +++ b/examples/gui/viewer2d/backend.py @@ -13,7 +13,7 @@ from typing import Literal, Optional, Sequence, Tuple import cv2 import numpy as np import orisys -from orisys.signal_processing import lowpass_filter +from scipy.signal import butter, filtfilt FORCE_SAMPLE_RATE_HZ = 30.0 PLOT_BUFFER_POINTS = 120 @@ -61,6 +61,32 @@ class ForcePlotState: y_ranges: Tuple[Tuple[float, float], Tuple[float, float], Tuple[float, float]] +def lowpass_filter( + data, + cutoff_hz: float, + sample_rate_hz: float = FORCE_SAMPLE_RATE_HZ, + order: int = 2, +) -> np.ndarray: + """Zero-phase Butterworth low-pass for uniformly sampled 1-D data.""" + y = np.asarray(data, dtype=np.float64) + if cutoff_hz == 0: + return y.copy() + if y.size == 0: + return y + + nyquist = 0.5 * sample_rate_hz + if cutoff_hz < 0 or cutoff_hz >= nyquist: + raise ValueError( + f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}" + ) + + b, a = butter(order, cutoff_hz / nyquist, btype="low") + padlen = 3 * (max(len(b), len(a)) - 1) + if y.size <= padlen: + return y.copy() + return filtfilt(b, a, y) + + def ensure_bgr(img: Optional[np.ndarray]) -> Optional[np.ndarray]: if img is None: return None diff --git a/examples/gui/viewer3d/camera_discovery.py b/examples/gui/viewer3d/camera_discovery.py index f43ef13..b161abe 100644 --- a/examples/gui/viewer3d/camera_discovery.py +++ b/examples/gui/viewer3d/camera_discovery.py @@ -1,22 +1,139 @@ -"""Discover USB cameras for the dashboard. - -Thin compatibility shim over ``orisys.capture`` discovery helpers. -""" +"""Discover USB cameras for the dashboard (Windows DSHOW/MSMF, Linux V4L2).""" from __future__ import annotations -from orisys.capture import ( - DEFAULT_MAX_CAMERA_INDEX, - CameraFilter, - CameraInfo, - list_cameras, - pick_default_camera, -) +import contextlib +import os +import sys +from dataclasses import dataclass -__all__ = [ - "DEFAULT_MAX_CAMERA_INDEX", - "CameraFilter", - "CameraInfo", - "list_cameras", - "pick_default_camera", -] +import cv2 + +DEFAULT_MAX_CAMERA_INDEX = 10 + + +@dataclass(frozen=True) +class CameraInfo: + index: int + backend_name: str + backend_api: int + width: int + height: int + + @property + def source(self) -> str: + return str(self.index) + + def label(self) -> str: + return f"{self.index} ({self.width}x{self.height}) [{self.backend_name}]" + + +@contextlib.contextmanager +def _suppress_opencv_noise(): + """Hide OpenCV VideoCapture probe warnings (stderr + OpenCV log).""" + prev_level = None + set_level = None + try: + logging = getattr(getattr(cv2, "utils", None), "logging", None) + if logging is not None: + set_level = getattr(logging, "setLogLevel", None) + get_level = getattr(logging, "getLogLevel", None) + silent = getattr(logging, "LOG_LEVEL_SILENT", 0) + if set_level is not None: + if get_level is not None: + prev_level = get_level() + set_level(silent) + except Exception: + prev_level = None + + devnull = open(os.devnull, "w") + try: + with contextlib.redirect_stderr(devnull): + stderr_fd = sys.stderr.fileno() + saved_fd = os.dup(stderr_fd) + try: + os.dup2(devnull.fileno(), stderr_fd) + yield + finally: + os.dup2(saved_fd, stderr_fd) + os.close(saved_fd) + finally: + devnull.close() + if set_level is not None and prev_level is not None: + try: + set_level(prev_level) + except Exception: + pass + + +def _backend_candidates() -> list[tuple[str, int]]: + candidates: list[tuple[str, int]] = [] + if sys.platform == "win32": + if hasattr(cv2, "CAP_DSHOW"): + candidates.append(("DSHOW", cv2.CAP_DSHOW)) + if hasattr(cv2, "CAP_MSMF"): + candidates.append(("MSMF", cv2.CAP_MSMF)) + elif sys.platform.startswith("linux"): + # Prefer v4l2 for USB camera indices on Linux. + if hasattr(cv2, "CAP_V4L2"): + candidates.append(("V4L2", cv2.CAP_V4L2)) + if not candidates: + candidates.append(("ANY", cv2.CAP_ANY)) + return candidates + + +def _try_open(index: int, backend_name: str, backend_api: int) -> CameraInfo | None: + cap = cv2.VideoCapture(index, backend_api) + if not cap.isOpened(): + cap.release() + return None + ok, frame = cap.read() + width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH) or 0) + height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0) + if not ok or frame is None: + if width <= 0 or height <= 0: + cap.release() + return None + else: + h, w = frame.shape[:2] + width = width or int(w) + height = height or int(h) + cap.release() + return CameraInfo( + index=index, + backend_name=backend_name, + backend_api=backend_api, + width=width, + height=height, + ) + + +def list_cameras(max_index: int = DEFAULT_MAX_CAMERA_INDEX) -> list[CameraInfo]: + """Probe indices ``0 .. max_index`` and return working cameras.""" + found: list[CameraInfo] = [] + seen_indices: set[int] = set() + backends = _backend_candidates() + + with _suppress_opencv_noise(): + for index in range(0, max_index + 1): + for backend_name, backend_api in backends: + info = _try_open(index, backend_name, backend_api) + if info is None: + continue + if index in seen_indices: + break + found.append(info) + seen_indices.add(index) + break + return found + + +def pick_default_camera(cameras: list[CameraInfo], preferred: str | None = None) -> str | None: + if not cameras: + return None + preferred = (preferred or "").strip() + if preferred: + for cam in cameras: + if cam.source == preferred: + return cam.source + return cameras[0].source diff --git a/examples/gui/viewer3d/dashboard.py b/examples/gui/viewer3d/dashboard.py index 13f003c..985885f 100644 --- a/examples/gui/viewer3d/dashboard.py +++ b/examples/gui/viewer3d/dashboard.py @@ -2,19 +2,14 @@ from __future__ import annotations -import json import math import sys import time -from pathlib import Path from PyQt5.QtCore import Qt, QTimer from PyQt5.QtGui import QIcon from PyQt5.QtWidgets import ( - QAction, - QActionGroup, QApplication, - QDockWidget, QFileDialog, QMainWindow, QSplitter, @@ -66,7 +61,6 @@ class FingerDashboardWindow(QMainWindow): self._frame_index = 0 self._wall_fps = 0.0 self._wall_fps_alpha = 0.15 - self._log_display_mode = "hidden" self.setWindowTitle(layout.window_title) self.setStyleSheet(STYLE) @@ -90,7 +84,7 @@ class FingerDashboardWindow(QMainWindow): root_layout.setSpacing(layout.root_spacing_px) setup = layout.panel_setup - self._log_panel_visible = False + self._log_panel_visible = setup.log_panel.enabled self.mesh_state = MeshViewState.from_layout(layout) self.mesh_viewport = MeshViewportWidget(layout=layout, mesh_state=self.mesh_state) arrows_slot = layout.slot("arrows") @@ -117,6 +111,7 @@ class FingerDashboardWindow(QMainWindow): self._preferences = load_preferences() self.settings_panel.apply_preference_state(self._preferences) + self._log_panel_visible = bool(self.settings_panel.show_log_check.isChecked()) self.mesh_viewport.set_free_rotation(bool(self.settings_panel.free_rotate_check.isChecked())) if self.arrow_panel is not None: self.arrow_panel.set_background(self.settings_panel.arrow_background()) @@ -157,6 +152,11 @@ class FingerDashboardWindow(QMainWindow): self.charts_column = QSplitter(Qt.Vertical) self.charts_column.addWidget(self.force_charts.widget) + if setup.log_panel.enabled: + self.charts_column.addWidget(self.log_widget) + self.log_widget.setVisible(self._log_panel_visible) + self.charts_column.setStretchFactor(0, setup.charts_log_stretch) + self.charts_column.setStretchFactor(1, setup.log_stretch) self.charts_column.setChildrenCollapsible(False) h_splitter = QSplitter(Qt.Horizontal) @@ -172,104 +172,18 @@ class FingerDashboardWindow(QMainWindow): self.h_splitter = h_splitter root_layout.addWidget(h_splitter) - self._setup_log_dock() - self._apply_log_display_mode(self._preferences.get("log_display_mode", "hidden")) self.resize(*self._target_window_size()) QTimer.singleShot(0, self._apply_panel_layout) def _set_log_panel_visible(self, visible: bool) -> None: self._log_panel_visible = bool(visible) - if hasattr(self, "log_dock"): - self.log_dock.setVisible(self._log_panel_visible) + self.log_widget.setVisible(self._log_panel_visible) QTimer.singleShot(0, self._apply_panel_layout) - def _setup_log_dock(self) -> None: - self.log_dock = QDockWidget("Log", self) - self.log_dock.setObjectName("logDock") - self.log_dock.setWidget(self.log_widget) - self.log_dock.setAllowedAreas(Qt.BottomDockWidgetArea | Qt.RightDockWidgetArea) - self.addDockWidget(Qt.BottomDockWidgetArea, self.log_dock) - self.log_dock.hide() - self.log_dock.visibilityChanged.connect(self._on_log_dock_visibility_changed) - - view_menu = self.menuBar().addMenu("View") - self.log_toggle_action = QAction("Log Panel", self) - self.log_toggle_action.setCheckable(True) - self.log_toggle_action.triggered.connect(self._on_log_toggle_action) - view_menu.addAction(self.log_toggle_action) - - log_content_menu = view_menu.addMenu("Log Content") - self.log_content_actions = QActionGroup(self) - self.log_content_actions.setExclusive(False) - for label, mode in ( - ("Runtime log", "runtime"), - ("Bundle info", "bundle"), - ("Performance/profile", "profile"), - ): - action = QAction(label, self) - action.setCheckable(True) - action.setData(mode) - action.triggered.connect(lambda _checked=False, m=mode: self._apply_log_display_mode(m, save=True)) - self.log_content_actions.addAction(action) - log_content_menu.addAction(action) - - def _on_log_toggle_action(self, checked: bool) -> None: - if checked: - mode = self._log_display_mode if self._log_display_mode != "hidden" else "runtime" - self._apply_log_display_mode(mode, save=True) - else: - self._apply_log_display_mode("hidden", save=True) - - def _on_log_dock_visibility_changed(self, visible: bool) -> None: - self._log_panel_visible = bool(visible) - if hasattr(self, "log_toggle_action"): - self.log_toggle_action.blockSignals(True) - self.log_toggle_action.setChecked(visible) - self.log_toggle_action.blockSignals(False) - if not visible and self._log_display_mode != "hidden": - self._log_display_mode = "hidden" - if hasattr(self, "log_content_actions"): - for action in self.log_content_actions.actions(): - action.blockSignals(True) - action.setChecked(False) - action.blockSignals(False) - self._save_preferences() - - def _apply_log_display_mode(self, mode: str | None, *, save: bool = False) -> None: - mode = mode or "hidden" - self._log_display_mode = mode - if hasattr(self, "log_toggle_action"): - self.log_toggle_action.blockSignals(True) - self.log_toggle_action.setChecked(mode != "hidden") - self.log_toggle_action.blockSignals(False) - if hasattr(self, "log_content_actions"): - for action in self.log_content_actions.actions(): - action.blockSignals(True) - action.setChecked(action.data() == mode) - action.blockSignals(False) - if mode == "hidden": - self._set_log_panel_visible(False) - if save: - self._save_preferences() - return - if mode == "bundle": - self.log_widget.setPlainText( - "Sensor bundle\n" - f"Config: {self.settings_panel.config_path()}\n" - f"Assets: {self.settings_panel.finger_export_dir()}\n" - ) - elif mode == "profile": - self.log_widget.setPlainText( - "Performance/profile\n" - "Run with --profile to print per-stage timings in the runtime log.\n" - ) - self._set_log_panel_visible(True) - if save: - self._save_preferences() - def _on_log_visibility_changed(self, visible: bool) -> None: - self._apply_log_display_mode("runtime" if visible else "hidden", save=True) + self._set_log_panel_visible(visible) + self._save_preferences() def _on_free_rotation_changed(self, enabled: bool) -> None: self.mesh_viewport.set_free_rotation(enabled) @@ -282,7 +196,6 @@ class FingerDashboardWindow(QMainWindow): def _save_preferences(self) -> None: prefs = self.settings_panel.preference_state() - prefs["log_display_mode"] = self._log_display_mode self._preferences = prefs save_preferences(prefs) # Keep in-memory pipeline config aligned with panel values. @@ -304,6 +217,7 @@ class FingerDashboardWindow(QMainWindow): scale = self._layout_scale_factor() column_height = self._scaled_top_row_height(scale) charts_slot = self.layout.top_slot("charts") + log_slot = setup.log_panel for slot in setup.top_row.slots: if not slot.enabled: @@ -322,11 +236,27 @@ class FingerDashboardWindow(QMainWindow): settings_height, ) - self.force_charts.set_panel_size( - self._scaled_px(charts_slot.width_px, scale), - column_height, - ) - self.charts_column.setSizes([column_height]) + if ( + self._log_panel_visible + and log_slot.enabled + and log_slot.height_px > 0 + ): + self.log_widget.show() + log_height = self._scaled_px(log_slot.height_px, scale) + charts_height = self._scaled_px(charts_slot.height_px, scale) + self.log_widget.setFixedHeight(log_height) + self.force_charts.set_panel_size( + self._scaled_px(charts_slot.width_px, scale), + charts_height, + ) + self.charts_column.setSizes([charts_height, log_height]) + else: + self.log_widget.hide() + self.force_charts.set_panel_size( + self._scaled_px(charts_slot.width_px, scale), + column_height, + ) + self.charts_column.setSizes([column_height, 0]) self.h_splitter.setSizes( [self._scaled_px(slot.width_px, scale) for slot in setup.top_row.slots if slot.enabled] @@ -349,6 +279,12 @@ class FingerDashboardWindow(QMainWindow): width += margins.left() + margins.right() height = layout.charts_column_height_px() + if ( + self._log_panel_visible + and layout.panel_setup.log_panel.enabled + and layout.panel_setup.log_panel.height_px > 0 + ): + height += self.charts_column.handleWidth() height += margins.top() + margins.bottom() return max(layout.window_width, width), max(layout.window_height, height) @@ -380,6 +316,12 @@ class FingerDashboardWindow(QMainWindow): base_width += max(len(enabled_slots) - 1, 0) * self.h_splitter.handleWidth() base_height = self.layout.charts_column_height_px() + if ( + self._log_panel_visible + and self.layout.panel_setup.log_panel.enabled + and self.layout.panel_setup.log_panel.height_px > 0 + ): + base_height += self.charts_column.handleWidth() if base_width <= 0 or base_height <= 0: return 1.0 return min(available_width / base_width, available_height / base_height) @@ -669,41 +611,27 @@ class FingerDashboardWindow(QMainWindow): def _select_finger_assets(self) -> None: from .preferences import ( default_finger_assets_dir, - default_finger_config, normalize_assets_preference, - normalize_config_preference, - packaged_finger_bundle_root, + packaged_finger_assets_root, ) - start = packaged_finger_bundle_root() + start = packaged_finger_assets_root() + start_dir = ( + str(start) + if start is not None + else (self.settings_panel.finger_export_dir() or default_finger_assets_dir()) + ) path = QFileDialog.getExistingDirectory( self, - "选择传感器 bundle 目录", - str(start) if start is not None else ( - self.settings_panel.sensor_bundle_dir() or "sensors/finger" - ), + "选择 finger 资产目录", + start_dir, ) if path: - bundle_dir = Path(path) - config_path = bundle_dir / "sensor.json" - manifest_path = bundle_dir / "manifest.json" - assets_dir = bundle_dir / "assets" / "30fps-0703" - if manifest_path.is_file(): - try: - manifest = json.loads(manifest_path.read_text(encoding="utf-8")) - except Exception: - manifest = {} - rel_assets = manifest.get("assets_dir") - if isinstance(rel_assets, str) and rel_assets.strip(): - assets_dir = bundle_dir / rel_assets - if config_path.is_file(): - config = normalize_config_preference(str(config_path)) or default_finger_config() - self.settings_panel.set_config_path(config) - self.config.config = config - assets = normalize_assets_preference(str(assets_dir)) or default_finger_assets_dir() + assets = normalize_assets_preference(path) self.settings_panel.set_finger_export_dir(assets) self.config.export_dir = assets self._save_preferences() + def _select_csv_dir(self) -> None: path = QFileDialog.getExistingDirectory( self, diff --git a/examples/gui/viewer3d/preferences.py b/examples/gui/viewer3d/preferences.py index faf4c2e..3d57f11 100644 --- a/examples/gui/viewer3d/preferences.py +++ b/examples/gui/viewer3d/preferences.py @@ -103,10 +103,12 @@ def normalize_assets_preference(value: str | None) -> str: return default except OSError: pass + # Keep a user-selected custom directory that still exists. if "sensors/finger" in posix or path.name == "30fps-0703": return text if path.is_absolute() else default return text + # Missing old absolute/repo paths (assets/finger, ./config era) -> packaged default. return default diff --git a/examples/gui/viewer3d/widgets/settings_panel.py b/examples/gui/viewer3d/widgets/settings_panel.py index 310717e..2cfb022 100644 --- a/examples/gui/viewer3d/widgets/settings_panel.py +++ b/examples/gui/viewer3d/widgets/settings_panel.py @@ -15,16 +15,11 @@ from PyQt5.QtWidgets import ( QWidget, ) -from viz.render_2d import ArrowBackground from orisys.finger import DEFAULT_FINGER_EXPORT_DIR +from viz.render_2d import ArrowBackground from ..layout import DashboardLayout, LAYOUT from ..mesh_view_state import MeshViewState -from ..presets import ( - SensorBundlePreset, - discover_sensor_bundle_presets, - sensor_bundle_preset_index, -) from ..transport_icons import reset_icon, transport_icon _PLAY_PAUSE_BUTTON_NAME = "btnPlayPause" @@ -91,7 +86,7 @@ class SettingsPanelWidget(QWidget): self.show_log_check = QCheckBox("Show log panel") self.show_log_check.setChecked(show_log) self.show_log_check.toggled.connect(self.log_visibility_changed.emit) - self.show_log_check.hide() + root.addWidget(self.show_log_check) self.show_flow_arrows_check = QCheckBox("Show displacement arrows") self.show_flow_arrows_check.setChecked(self._mesh_state.flow_arrows_enabled) @@ -139,38 +134,36 @@ class SettingsPanelWidget(QWidget): self._video_file_path = "" self._updating_camera_options = False - root.addWidget(self._caption("Sensor bundle")) - bundle_row = QHBoxLayout() - bundle_row.setSpacing(6) - self.sensor_bundle_combo = QComboBox() - self.sensor_bundle_combo.setToolTip("Select a finger sensor bundle") - self._bundle_presets = discover_sensor_bundle_presets() - for preset in self._bundle_presets: - self.sensor_bundle_combo.addItem(preset.label, preset) - self.sensor_bundle_combo.addItem("Custom…", None) - self._updating_bundle_combo = False - self.sensor_bundle_combo.currentIndexChanged.connect(self._on_bundle_combo_changed) - bundle_row.addWidget(self.sensor_bundle_combo, 1) - self.btn_browse_finger_assets = QPushButton("…") - self.btn_browse_finger_assets.setFixedWidth(32) - self.btn_browse_finger_assets.setToolTip("Browse sensor bundle folder") - self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit) - bundle_row.addWidget(self.btn_browse_finger_assets) - root.addLayout(bundle_row) - + root.addWidget(self._caption("Config")) + config_row = QHBoxLayout() + config_row.setSpacing(6) self.config_edit = QLineEdit("finger") - self.config_edit.hide() + config_row.addWidget(self.config_edit, 1) self.btn_browse_config = QPushButton("…") - self.btn_browse_config.hide() + self.btn_browse_config.setFixedWidth(32) + self.btn_browse_config.setToolTip("Browse config JSON") + self.btn_browse_config.clicked.connect(self.browse_config_requested.emit) + config_row.addWidget(self.btn_browse_config) + root.addLayout(config_row) # Optional calibration path is kept for future re-enablement but hidden for now. self.cal_edit = QLineEdit("") self.cal_edit.setPlaceholderText("Optional calibration path") self.cal_edit.hide() + root.addWidget(self._caption("Finger assets")) + finger_assets_row = QHBoxLayout() + finger_assets_row.setSpacing(6) self.finger_assets_edit = QLineEdit(DEFAULT_FINGER_EXPORT_DIR) - self.finger_assets_edit.hide() - self._apply_bundle_preset(self._bundle_presets[0]) + self.finger_assets_edit.setPlaceholderText("Blender export bundle directory") + finger_assets_row.addWidget(self.finger_assets_edit, 1) + self.btn_browse_finger_assets = QPushButton("…") + self.btn_browse_finger_assets.setFixedWidth(32) + self.btn_browse_finger_assets.setToolTip("Browse finger asset directory") + self.btn_browse_finger_assets.clicked.connect(self.browse_finger_assets_requested.emit) + finger_assets_row.addWidget(self.btn_browse_finger_assets) + root.addLayout(finger_assets_row) + root.addWidget(self._caption("CSV save directory")) csv_dir_row = QHBoxLayout() csv_dir_row.setSpacing(6) @@ -344,18 +337,16 @@ class SettingsPanelWidget(QWidget): def set_config_path(self, value: str) -> None: self.config_edit.setText(value) - self._sync_bundle_combo_from_paths() def set_calibration_path(self, value: str) -> None: self.cal_edit.setText(value or "") def set_finger_export_dir(self, value: str) -> None: self.finger_assets_edit.setText(value) - self._sync_bundle_combo_from_paths() def set_finger_export_dir_enabled(self, enabled: bool) -> None: + self.finger_assets_edit.setEnabled(enabled) self.btn_browse_finger_assets.setEnabled(enabled) - self.sensor_bundle_combo.setEnabled(enabled) def set_csv_save_dir(self, value: str) -> None: self.csv_dir_edit.setText(value) @@ -396,33 +387,6 @@ class SettingsPanelWidget(QWidget): return self.csv_record_toggled.emit(not self._csv_recording) - def _apply_bundle_preset(self, preset: SensorBundlePreset) -> None: - self.config_edit.setText(preset.config) - self.finger_assets_edit.setText(preset.export_dir) - - def _on_bundle_combo_changed(self, _index: int) -> None: - if self._updating_bundle_combo: - return - preset = self.sensor_bundle_combo.currentData() - if isinstance(preset, SensorBundlePreset): - self._apply_bundle_preset(preset) - - def _sync_bundle_combo_from_paths(self) -> None: - idx = sensor_bundle_preset_index( - self.config_edit.text(), - self.finger_assets_edit.text(), - self._bundle_presets, - ) - if idx < 0: - idx = self.sensor_bundle_combo.findData(None) - if idx < 0: - return - self._updating_bundle_combo = True - self.sensor_bundle_combo.blockSignals(True) - self.sensor_bundle_combo.setCurrentIndex(idx) - self.sensor_bundle_combo.blockSignals(False) - self._updating_bundle_combo = False - def _emit_arrow_background_changed(self, _index: int) -> None: value = self.arrow_background_combo.currentData() if value: @@ -449,15 +413,6 @@ class SettingsPanelWidget(QWidget): def finger_export_dir(self) -> str: return self.finger_assets_edit.text().strip() - def sensor_bundle_dir(self) -> str: - preset = self.sensor_bundle_combo.currentData() - if isinstance(preset, SensorBundlePreset): - return preset.bundle_dir - config = self.config_path() - if config.endswith("/sensor.json") or config.endswith("\\sensor.json"): - return config.rsplit("/", 1)[0].rsplit("\\", 1)[0] - return "" - def csv_save_dir(self) -> str: return self.csv_dir_edit.text().strip() @@ -465,7 +420,6 @@ class SettingsPanelWidget(QWidget): """Serialize user-facing settings suitable for preference.json.""" return { "video_source": self.video_source(), - "sensor_bundle_dir": self.sensor_bundle_dir(), "config_path": self.config_path(), "finger_assets_dir": self.finger_export_dir(), "csv_save_dir": self.csv_save_dir(), @@ -511,8 +465,6 @@ class SettingsPanelWidget(QWidget): if isinstance(assets, str) and assets.strip(): self.set_finger_export_dir(assets.strip()) - self._sync_bundle_combo_from_paths() - csv_dir = state.get("csv_save_dir") if isinstance(csv_dir, str) and csv_dir.strip(): self.set_csv_save_dir(csv_dir.strip()) diff --git a/examples/viz/signal_filters.py b/examples/viz/signal_filters.py index f142242..ff58d53 100644 --- a/examples/viz/signal_filters.py +++ b/examples/viz/signal_filters.py @@ -1,5 +1,32 @@ """Signal filtering helpers for example force charts.""" -from orisys.signal_processing import lowpass_filter +from __future__ import annotations -__all__ = ["lowpass_filter"] +import numpy as np +from scipy.signal import butter, filtfilt + +def lowpass_filter(data, cutoff_hz=5, sample_rate_hz=30, order=2) -> np.ndarray: + """Zero-phase Butterworth low-pass filter for uniformly sampled 1-D data.""" + y = np.asarray(data, dtype=np.float64) + if cutoff_hz == 0: + return y.copy() + if y.size == 0: + return y + + nyquist = 0.5 * sample_rate_hz + if cutoff_hz < 0 or cutoff_hz >= nyquist: + raise ValueError( + f"cutoff_hz must be in (0, {nyquist}) for sample_rate_hz={sample_rate_hz}" + ) + + b, a = butter(order, cutoff_hz / nyquist, btype="low") + taplen = max(len(a), len(b)) + # scipy.signal.filtfilt requires len(x) > padlen (default 3 * taplen for recent scipy). + padlen = 3 * taplen + if y.size <= padlen: + return y.copy() + + try: + return filtfilt(b, a, y) + except ValueError: + return y.copy() -- 2.52.0 From 577e3fe528c1e8ba391dd292f3ff8bed677949e6 Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Wed, 26 Aug 2026 20:04:40 +0800 Subject: [PATCH 3/5] update pip install .copy manifest for developments --- MANIFEST.in | 8 ++++ build/common/pyproject_utils.py | 37 +++++++++++++++- build/wheel/layout.py | 13 +++++- examples/basic_pipeline.py | 33 +++++++++++--- pyproject.toml | 11 ++++- sensors/mini/force_calibration.json | 8 ---- setup.py | 37 ++++++++++++++-- src/orisys/sensor.py | 69 ++++++++++++++++++++++++++--- tests/test_pyproject.py | 24 +++++++++- tests/test_signal_processing.py | 65 +++++++++++++++++++++++++-- 10 files changed, 272 insertions(+), 33 deletions(-) create mode 100644 MANIFEST.in delete mode 100644 sensors/mini/force_calibration.json diff --git a/MANIFEST.in b/MANIFEST.in new file mode 100644 index 0000000..2a0ae0d --- /dev/null +++ b/MANIFEST.in @@ -0,0 +1,8 @@ +# Non-Python files needed for sdist -> wheel builds from an unpacked sdist. +include pyproject.toml +include setup.py +include README.md +recursive-include config *.json +recursive-include sensors * +recursive-include build/common *.py +recursive-include build/wheel *.py diff --git a/build/common/pyproject_utils.py b/build/common/pyproject_utils.py index 651f253..c46ff34 100644 --- a/build/common/pyproject_utils.py +++ b/build/common/pyproject_utils.py @@ -4,6 +4,7 @@ from __future__ import annotations import ast import importlib.util +import shutil import subprocess import sys from pathlib import Path @@ -102,7 +103,11 @@ def bundle_items(repo_root: Path) -> list[dict]: def bundle_data_files(repo_root: Path) -> list[tuple[str, list[str]]]: - """Map bundle items marked dev_install=true to setuptools data_files entries.""" + """Map bundle items marked ``dev_install=true`` to install destinations. + + Kept for tests / tooling. Prefer :func:`stage_dev_bundle_into` for pip + installs so files land inside ``site-packages/orisys/``. + """ resolve_bundle_source_files = _load_wheel_layout_module().resolve_bundle_source_files grouped: dict[str, list[str]] = {} @@ -123,3 +128,33 @@ def bundle_data_files(repo_root: Path) -> list[tuple[str, list[str]]]: grouped.setdefault(dest, []).append(rel_src) return [(dest, sorted(files)) for dest, files in sorted(grouped.items())] + + +def stage_dev_bundle_into(repo_root: Path, pkg_dir: Path) -> list[str]: + """Copy ``dev_install`` bundle files under ``pkg_dir`` (the orisys package). + + Returns package-relative paths that were written (e.g. ``sensors/box/...``). + """ + resolve_bundle_source_files = _load_wheel_layout_module().resolve_bundle_source_files + packaged: list[str] = [] + + for item in bundle_items(repo_root): + if not item.get("dev_install", False): + continue + + src_dir = repo_root / item["source"] + dst_dir = pkg_dir / item["target"] + dst_dir.mkdir(parents=True, exist_ok=True) + + for src_file in resolve_bundle_source_files(repo_root, item): + if item.get("preserve_tree", False): + rel = src_file.relative_to(src_dir) + dst_file = dst_dir / rel + else: + rel = Path(src_file.name) + dst_file = dst_dir / src_file.name + dst_file.parent.mkdir(parents=True, exist_ok=True) + shutil.copy2(src_file, dst_file) + packaged.append(f"{item['target']}/{rel.as_posix()}") + + return packaged diff --git a/build/wheel/layout.py b/build/wheel/layout.py index f9718e5..c5141e3 100644 --- a/build/wheel/layout.py +++ b/build/wheel/layout.py @@ -6,12 +6,19 @@ import shutil from pathlib import Path # Required files that must ship with the wheel for ORY-FINGER runtime/GUI. +# Accept both the flat layout and a nested assets/finger/ checkout tree. REQUIRED_ASSET_RELPATHS = ( "finger/assets/30fps-0703/mesh.npz", "finger/assets/30fps-0703/camera_intrinsics.npz", "finger/assets/30fps-0703/world_to_cam.npy", "finger/assets/visualization/world_to_cam.npy", ) +REQUIRED_ASSET_RELPATH_ALTERNATES = { + "finger/assets/30fps-0703/mesh.npz": "finger/assets/finger/30fps-0703/mesh.npz", + "finger/assets/30fps-0703/camera_intrinsics.npz": "finger/assets/finger/30fps-0703/camera_intrinsics.npz", + "finger/assets/30fps-0703/world_to_cam.npy": "finger/assets/finger/30fps-0703/world_to_cam.npy", + "finger/assets/visualization/world_to_cam.npy": "finger/assets/finger/visualization/world_to_cam.npy", +} def resolve_bundle_source_files(repo_root: Path, item: dict) -> list[Path]: @@ -61,7 +68,11 @@ def verify_required_assets(repo_root: Path, items: list[dict]) -> None: continue resolved.add(rel) - missing = [rel for rel in REQUIRED_ASSET_RELPATHS if rel not in resolved] + missing = [] + for rel in REQUIRED_ASSET_RELPATHS: + alt = REQUIRED_ASSET_RELPATH_ALTERNATES.get(rel) + if rel not in resolved and (alt is None or alt not in resolved): + missing.append(rel) if missing: joined = ", ".join(missing) raise FileNotFoundError( diff --git a/examples/basic_pipeline.py b/examples/basic_pipeline.py index 43557db..3d2d190 100644 --- a/examples/basic_pipeline.py +++ b/examples/basic_pipeline.py @@ -49,8 +49,23 @@ def main(): sensor.compute_contact() - # 步骤 2.4：读取结果 - fps, flow, vnormal, img, contour, centroid, depth_map, fnormal, fshearx, fsheary = sensor.read_info( + # 步骤 2.4：读取结果（FNORMAL/FSHEAR* 在有 sensors/box/force_calibration.json 时为标定后牛顿力； + # *_RAW 始终为原始积分量） + ( + fps, + flow, + vnormal, + img, + contour, + centroid, + depth_map, + fnormal, + fshearx, + fsheary, + fnormal_raw, + fshearx_raw, + fsheary_raw, + ) = sensor.read_info( sensor.info.FPS, sensor.info.VRAW, sensor.info.VNORMAL, @@ -60,7 +75,10 @@ def main(): sensor.info.DEPTH, sensor.info.FNORMAL, sensor.info.FSHEARX, - sensor.info.FSHEARY + sensor.info.FSHEARY, + sensor.info.FNORMAL_RAW, + sensor.info.FSHEARX_RAW, + sensor.info.FSHEARY_RAW, ) # 步骤 3：可视化显示 @@ -89,10 +107,13 @@ def main(): # 应用伪彩色映射 cv2.imshow("depth", cv2.applyColorMap(div_normalized, cv2.COLORMAP_JET)) - # 步骤 3.4：打印关键结果 + # 步骤 3.4：打印关键结果（标定力 + 原始力） print( - f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, " - f"切向力Y={fsheary:.4f}, 深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}" + f"FPS={fps:.2f}, " + f"法向力={fnormal:.4f} N (raw={fnormal_raw:.4f}), " + f"切向力X={fshearx:.4f} N (raw={fshearx_raw:.4f}), " + f"切向力Y={fsheary:.4f} N (raw={fsheary_raw:.4f}), " + f"深度图尺寸={depth_map.shape}, 原始分辨率={sensor.img_size_raw}" ) # 步骤 3.5：键盘控制 diff --git a/pyproject.toml b/pyproject.toml index 7517307..acbd128 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -79,7 +79,16 @@ dev_install = true name = "sensors" source = "sensors" target = "sensors" -patterns = ["**/*.json", "finger/assets/30fps*/*", "finger/assets/visualization/*"] +# JSON bundles (sensor.json, force_calibration.json) plus finger mesh/viz assets. +# Prefer the flat layout sensors/finger/assets/{30fps-*,visualization}/; +# also accept a nested assets/finger/ tree if present in a checkout. +patterns = [ + "**/*.json", + "finger/assets/30fps*/*", + "finger/assets/visualization/*", + "finger/assets/finger/30fps*/*", + "finger/assets/finger/visualization/*", +] preserve_tree = true dev_install = true diff --git a/sensors/mini/force_calibration.json b/sensors/mini/force_calibration.json deleted file mode 100644 index 4617082..0000000 --- a/sensors/mini/force_calibration.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "normal_force": { - "model": "linear", - "slope": 3.92685554668795e-05, - "offset": 0.0217596967278535, - "unit": "N" - } -} diff --git a/setup.py b/setup.py index 85399a0..a7d79dc 100644 --- a/setup.py +++ b/setup.py @@ -1,13 +1,42 @@ -"""Setuptools entry point; bundle rules are read from pyproject.toml.""" +"""Setuptools entry point; bundle rules are read from pyproject.toml. + +``dev_install`` bundle items (configs/sensors) are staged into the ``orisys`` +package during build so ``pip install .`` places them at +``site-packages/orisys/...`` (importlib / configs resolvers), not under +``sys.prefix/orisys`` via deprecated ``data_files``. +""" + +from __future__ import annotations -from pathlib import Path import sys +from pathlib import Path from setuptools import setup +from setuptools.command.build_py import build_py as _build_py REPO_ROOT = Path(__file__).resolve().parent sys.path.insert(0, str(REPO_ROOT / "build" / "common")) -from pyproject_utils import bundle_data_files +from pyproject_utils import stage_dev_bundle_into # noqa: E402 -setup(data_files=bundle_data_files(REPO_ROOT)) + +class build_py(_build_py): + def run(self) -> None: + super().run() + # After pure modules are copied, stage configs/sensors into build/lib/orisys. + pkg_dir = Path(self.build_lib) / "orisys" + pkg_dir.mkdir(parents=True, exist_ok=True) + stage_dev_bundle_into(REPO_ROOT, pkg_dir) + + +setup( + cmdclass={"build_py": build_py}, + # Declared so wheels record the staged files; actual copy happens in build_py. + package_data={ + "orisys": [ + "configs/*.json", + "sensors/**/*", + ], + }, + include_package_data=True, +) diff --git a/src/orisys/sensor.py b/src/orisys/sensor.py index e6a2c93..55d46bf 100644 --- a/src/orisys/sensor.py +++ b/src/orisys/sensor.py @@ -11,6 +11,7 @@ import numpy as np import cv2 import time from enum import Enum, auto +from pathlib import Path from typing import Optional, Tuple # from threading import Thread, Event # from queue import Queue, Empty @@ -22,7 +23,12 @@ from . import configs from .get_depth import Contact3D from .backend_availability import (check_cupy_available, check_opencl_available) from .frame_processors import create_frame_processor -from .signal_processing import DEFAULT_SAMPLE_RATE_HZ, LowpassFilter +from .signal_processing import ( + DEFAULT_SAMPLE_RATE_HZ, + LowpassFilter, + calibrate_normal_force, + calibrate_shear_components, +) from .capture import ( CaptureConfig, CaptureWorker, @@ -148,6 +154,7 @@ class Sensor: self.n_boxes = None self.fnormal = self.fshearx = self.fsheary = self.ftor = 0.0 self._force_raw = (0.0, 0.0, 0.0) + self._force_cal_sensor_name = self._resolve_force_calibration_sensor_name() self._lowpass_enabled = False self._lowpass_cutoff_hz = 0.0 self._lowpass_sample_rate_hz = float(DEFAULT_SAMPLE_RATE_HZ) @@ -158,6 +165,13 @@ class Sensor: order=self._lowpass_order, n_channels=3, ) + if self.verbose: + if self._force_cal_sensor_name: + print( + f"Force calibration: sensors/{self._force_cal_sensor_name}/force_calibration.json" + ) + else: + print("Force calibration: raw (no force_calibration.json)") # Contact Data Variables (public) self.centroid = (0, 0) @@ -790,17 +804,58 @@ class Sensor: self._update_hhd_mask_cache() return self + def _resolve_force_calibration_sensor_name(self) -> Optional[str]: + """Return sensors/ when force_calibration.json exists; else None. + + Lookup order: + 1. ``config_name`` stem / product alias (e.g. ``box``) + 2. ``sensors//...`` path segment in ``config_name`` + Missing JSON means ``FNORMAL/FSHEAR*`` stay raw (no hardcoded fallback). + """ + text = str(self.config_name or "").strip().replace("\\", "/") + if not text: + return None + + candidates: list[str] = [] + stem = Path(text).stem if text else "" + if stem: + candidates.append(stem) + parts = [p for p in text.split("/") if p] + if "sensors" in parts: + idx = parts.index("sensors") + if idx + 1 < len(parts): + candidates.append(parts[idx + 1]) + for name in configs.PRODUCT_BUNDLES: + if text == name or text.endswith(f"/sensors/{name}") or text.endswith(f"/sensors/{name}/sensor.json"): + candidates.append(name) + + seen: set[str] = set() + for candidate in candidates: + alias = configs.CONFIG_ALIASES.get(candidate, candidate) + for name in (alias, candidate): + if name in seen: + continue + seen.add(name) + if configs.load_force_calibration(name) is not None: + return name + return None + def _apply_force_filter(self): raw = np.asarray(self._force_raw, dtype=np.float64) if self._lowpass_enabled and self._lowpass_cutoff_hz > 0: filtered = self._force_filter.process(raw) - self.fnormal, self.fshearx, self.fsheary = (float(v) for v in filtered) + fn, fx, fy = (float(v) for v in filtered) else: - self.fnormal, self.fshearx, self.fsheary = ( - float(raw[0]), - float(raw[1]), - float(raw[2]), - ) + fn, fx, fy = float(raw[0]), float(raw[1]), float(raw[2]) + + # Apply sensors//force_calibration.json when present; otherwise keep raw. + name = self._force_cal_sensor_name + if name is not None: + fn = float(calibrate_normal_force(fn, sensor_name=name)) + fx, fy = calibrate_shear_components(fx, fy, sensor_name=name) + fx, fy = float(fx), float(fy) + + self.fnormal, self.fshearx, self.fsheary = fn, fx, fy # def export_config(self, path="./config/exported_config.json"): # """Return current configuration dict.""" diff --git a/tests/test_pyproject.py b/tests/test_pyproject.py index 37b0dd2..2f6c422 100644 --- a/tests/test_pyproject.py +++ b/tests/test_pyproject.py @@ -57,13 +57,33 @@ def test_pyproject_bundle_manifest(packaging_utils): assert all("/" in path and "*" not in path for path in config_files) assert any(path.endswith(".json") for path in config_files) - sensor_dirs = [dest for dest in data_files if dest.startswith("orisys/sensors/")] + sensor_dirs = [dest for dest in data_files if dest.startswith("orisys/sensors")] assert sensor_dirs - assert any("finger/assets" in dest for dest in sensor_dirs) + all_sensor_files = [path for files in (data_files[d] for d in sensor_dirs) for path in files] + assert any(path.endswith("force_calibration.json") for path in all_sensor_files) + assert any("finger" in path and path.endswith(".json") for path in all_sensor_files) + # Finger mesh/viz assets (flat or nested assets/finger/ checkout). + assert any("finger/assets" in dest or any("finger/assets" in p for p in data_files[dest]) for dest in sensor_dirs) assert all("*" not in path for files in data_files.values() for path in files) assert "examples" not in data_files +def test_stage_dev_bundle_into_writes_sensors_under_package(tmp_path): + import sys + + build_dir = REPO_ROOT / "build" + if str(build_dir) not in sys.path: + sys.path.insert(0, str(build_dir)) + from common.pyproject_utils import stage_dev_bundle_into + + pkg = tmp_path / "orisys" + packaged = stage_dev_bundle_into(REPO_ROOT, pkg) + assert any(p.replace("\\", "/").endswith("sensors/box/force_calibration.json") for p in packaged) + assert (pkg / "sensors" / "box" / "force_calibration.json").is_file() + assert (pkg / "configs").is_dir() + assert any((pkg / "configs").glob("*.json")) + + def test_bundle_explicit_files(): import sys diff --git a/tests/test_signal_processing.py b/tests/test_signal_processing.py index 612729a..cdc0fb3 100644 --- a/tests/test_signal_processing.py +++ b/tests/test_signal_processing.py @@ -129,7 +129,16 @@ def test_configure_lowpass_filters_read_info_and_keeps_raw(): sensor.info.FSHEARX, sensor.info.FSHEARY, ) - assert (fn, fx, fy) == pytest.approx((1000.0, -200.0, 50.0)) + fn_raw, fx_raw, fy_raw = sensor.read_info( + sensor.info.FNORMAL_RAW, + sensor.info.FSHEARX_RAW, + sensor.info.FSHEARY_RAW, + ) + assert (fn_raw, fx_raw, fy_raw) == pytest.approx((1000.0, -200.0, 50.0)) + assert fn == pytest.approx(calibrate_normal_force(1000.0, sensor_name="box")) + assert (fx, fy) == pytest.approx( + calibrate_shear_components(-200.0, 50.0, sensor_name="box") + ) sensor.configure(lowpass_cutoff_hz=5.0, lowpass_sample_rate_hz=30.0) noisy = [(1000.0 + (200.0 if i % 2 else -200.0), -200.0, 50.0) for i in range(40)] @@ -166,7 +175,10 @@ def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw(): sensor.info.FSHEARX, sensor.info.FSHEARY, ) - assert (fn, fx, fy) == pytest.approx((111.0, 222.0, 333.0)) + assert fn == pytest.approx(calibrate_normal_force(111.0, sensor_name="box")) + assert (fx, fy) == pytest.approx( + calibrate_shear_components(222.0, 333.0, sensor_name="box") + ) sensor.configure(lowpass_cutoff_hz=5.0, lowpass_enabled=False) sensor._force_raw = (7.0, 8.0, 9.0) @@ -177,12 +189,59 @@ def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw(): sensor.info.FSHEARY, ) fn_raw = sensor.read_info(sensor.info.FNORMAL_RAW)[0] - assert (fn, fx, fy) == pytest.approx((7.0, 8.0, 9.0)) + assert fn == pytest.approx(calibrate_normal_force(7.0, sensor_name="box")) + assert (fx, fy) == pytest.approx( + calibrate_shear_components(8.0, 9.0, sensor_name="box") + ) assert fn_raw == pytest.approx(7.0) finally: sensor.disconnect() +def test_box_read_info_applies_force_calibration_json(): + sensor = _external_sensor() + try: + assert sensor._force_cal_sensor_name == "box" + sensor._force_raw = (10000.0, 36000.0, -36000.0) + sensor._apply_force_filter() + fn, fx, fy = sensor.read_info( + sensor.info.FNORMAL, + sensor.info.FSHEARX, + sensor.info.FSHEARY, + ) + fn_raw, fx_raw, fy_raw = sensor.read_info( + sensor.info.FNORMAL_RAW, + sensor.info.FSHEARX_RAW, + sensor.info.FSHEARY_RAW, + ) + assert (fn_raw, fx_raw, fy_raw) == pytest.approx((10000.0, 36000.0, -36000.0)) + assert fn == pytest.approx(0.377) + assert fx == pytest.approx(1.19) + assert fy == pytest.approx(-1.19) + finally: + sensor.disconnect() + + +def test_read_info_force_stays_raw_without_calibration_json(monkeypatch): + monkeypatch.setattr( + "orisys.sensor.configs.load_force_calibration", + lambda _name: None, + ) + sensor = Sensor("external", config_name="box", verbose=False, backend="cpu") + try: + assert sensor._force_cal_sensor_name is None + sensor._force_raw = (111.0, -22.0, 33.0) + sensor._apply_force_filter() + fn, fx, fy = sensor.read_info( + sensor.info.FNORMAL, + sensor.info.FSHEARX, + sensor.info.FSHEARY, + ) + assert (fn, fx, fy) == pytest.approx((111.0, -22.0, 33.0)) + finally: + sensor.disconnect() + + def test_configure_hhd_downsample_invalidates_solver_cache(): sensor = _external_sensor() try: -- 2.52.0 From 68910e63c1871db70523c3843722609ced5b829a Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Wed, 26 Aug 2026 20:19:55 +0800 Subject: [PATCH 4/5] fix finger gui cannot choose camera --- examples/finger_pipeline.py | 1 + examples/gui/viewer3d/dashboard.py | 2 ++ examples/gui/viewer3d/widgets/settings_panel.py | 2 ++ .../finger/assets/{finger => }/30fps-0703/README.md | 0 .../{finger => }/30fps-0703/camera_intrinsics.npz | Bin .../finger/assets/{finger => }/30fps-0703/mesh.npz | Bin .../assets/{finger => }/30fps-0703/pixel_to_xyz.npz | Bin .../{finger => }/30fps-0703/unroll_map_uv_s0.4.npz | Bin .../assets/{finger => }/30fps-0703/world_to_cam.npy | Bin .../assets/{finger => }/visualization/README.md | 0 .../visualization/camera_intrinsics.npz | Bin .../{finger => }/visualization/flatten_remap.npz | Bin .../assets/{finger => }/visualization/mesh.npz | Bin .../{finger => }/visualization/pixel_to_xyz.npz | Bin .../{finger => }/visualization/world_to_cam.npy | Bin 15 files changed, 5 insertions(+) rename sensors/finger/assets/{finger => }/30fps-0703/README.md (100%) rename sensors/finger/assets/{finger => }/30fps-0703/camera_intrinsics.npz (100%) rename sensors/finger/assets/{finger => }/30fps-0703/mesh.npz (100%) rename sensors/finger/assets/{finger => }/30fps-0703/pixel_to_xyz.npz (100%) rename sensors/finger/assets/{finger => }/30fps-0703/unroll_map_uv_s0.4.npz (100%) rename sensors/finger/assets/{finger => }/30fps-0703/world_to_cam.npy (100%) rename sensors/finger/assets/{finger => }/visualization/README.md (100%) rename sensors/finger/assets/{finger => }/visualization/camera_intrinsics.npz (100%) rename sensors/finger/assets/{finger => }/visualization/flatten_remap.npz (100%) rename sensors/finger/assets/{finger => }/visualization/mesh.npz (100%) rename sensors/finger/assets/{finger => }/visualization/pixel_to_xyz.npz (100%) rename sensors/finger/assets/{finger => }/visualization/world_to_cam.npy (100%) diff --git a/examples/finger_pipeline.py b/examples/finger_pipeline.py index 10b17d3..dcd6b95 100644 --- a/examples/finger_pipeline.py +++ b/examples/finger_pipeline.py @@ -90,6 +90,7 @@ def main(): threshold=0.4, grid_spacing=10, arrow_scale=1.0, + valid_mask=tactile.valid_mask, ) cv2.imshow("UV Unrolled", arrows) diff --git a/examples/gui/viewer3d/dashboard.py b/examples/gui/viewer3d/dashboard.py index 985885f..b95e623 100644 --- a/examples/gui/viewer3d/dashboard.py +++ b/examples/gui/viewer3d/dashboard.py @@ -570,6 +570,8 @@ class FingerDashboardWindow(QMainWindow): camera_id = str(camera_id).strip() if not camera_id: return + # Explicit camera pick clears sticky file mode and persists the live source. + self.settings_panel.set_video_source(camera_id) self.config.video = camera_id self._save_preferences() self._update_play_enabled_for_source() diff --git a/examples/gui/viewer3d/widgets/settings_panel.py b/examples/gui/viewer3d/widgets/settings_panel.py index 2cfb022..094651f 100644 --- a/examples/gui/viewer3d/widgets/settings_panel.py +++ b/examples/gui/viewer3d/widgets/settings_panel.py @@ -110,6 +110,8 @@ class SettingsPanelWidget(QWidget): self.camera_combo = QComboBox() self.camera_combo.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed) self.camera_combo.setToolTip("Select an available camera") + # activated fires on user pick even when the index is unchanged (file → live override). + self.camera_combo.activated.connect(self._on_camera_combo_changed) self.camera_combo.currentIndexChanged.connect(self._on_camera_combo_changed) video_row.addWidget(self.camera_combo, 1) self.btn_refresh_cameras = QPushButton("Refresh") diff --git a/sensors/finger/assets/finger/30fps-0703/README.md b/sensors/finger/assets/30fps-0703/README.md similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/README.md rename to sensors/finger/assets/30fps-0703/README.md diff --git a/sensors/finger/assets/finger/30fps-0703/camera_intrinsics.npz b/sensors/finger/assets/30fps-0703/camera_intrinsics.npz similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/camera_intrinsics.npz rename to sensors/finger/assets/30fps-0703/camera_intrinsics.npz diff --git a/sensors/finger/assets/finger/30fps-0703/mesh.npz b/sensors/finger/assets/30fps-0703/mesh.npz similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/mesh.npz rename to sensors/finger/assets/30fps-0703/mesh.npz diff --git a/sensors/finger/assets/finger/30fps-0703/pixel_to_xyz.npz b/sensors/finger/assets/30fps-0703/pixel_to_xyz.npz similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/pixel_to_xyz.npz rename to sensors/finger/assets/30fps-0703/pixel_to_xyz.npz diff --git a/sensors/finger/assets/finger/30fps-0703/unroll_map_uv_s0.4.npz b/sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/unroll_map_uv_s0.4.npz rename to sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz diff --git a/sensors/finger/assets/finger/30fps-0703/world_to_cam.npy b/sensors/finger/assets/30fps-0703/world_to_cam.npy similarity index 100% rename from sensors/finger/assets/finger/30fps-0703/world_to_cam.npy rename to sensors/finger/assets/30fps-0703/world_to_cam.npy diff --git a/sensors/finger/assets/finger/visualization/README.md b/sensors/finger/assets/visualization/README.md similarity index 100% rename from sensors/finger/assets/finger/visualization/README.md rename to sensors/finger/assets/visualization/README.md diff --git a/sensors/finger/assets/finger/visualization/camera_intrinsics.npz b/sensors/finger/assets/visualization/camera_intrinsics.npz similarity index 100% rename from sensors/finger/assets/finger/visualization/camera_intrinsics.npz rename to sensors/finger/assets/visualization/camera_intrinsics.npz diff --git a/sensors/finger/assets/finger/visualization/flatten_remap.npz b/sensors/finger/assets/visualization/flatten_remap.npz similarity index 100% rename from sensors/finger/assets/finger/visualization/flatten_remap.npz rename to sensors/finger/assets/visualization/flatten_remap.npz diff --git a/sensors/finger/assets/finger/visualization/mesh.npz b/sensors/finger/assets/visualization/mesh.npz similarity index 100% rename from sensors/finger/assets/finger/visualization/mesh.npz rename to sensors/finger/assets/visualization/mesh.npz diff --git a/sensors/finger/assets/finger/visualization/pixel_to_xyz.npz b/sensors/finger/assets/visualization/pixel_to_xyz.npz similarity index 100% rename from sensors/finger/assets/finger/visualization/pixel_to_xyz.npz rename to sensors/finger/assets/visualization/pixel_to_xyz.npz diff --git a/sensors/finger/assets/finger/visualization/world_to_cam.npy b/sensors/finger/assets/visualization/world_to_cam.npy similarity index 100% rename from sensors/finger/assets/finger/visualization/world_to_cam.npy rename to sensors/finger/assets/visualization/world_to_cam.npy -- 2.52.0 From 8a4be5f8f2794a2867e7a9314a6d7083a684c15d Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Wed, 26 Aug 2026 20:20:37 +0800 Subject: [PATCH 5/5] update to 0.5.0 --- docs/get_started.md | 10 +++++----- examples/basic_pipeline.py | 2 +- examples/mini_pipeline.py | 2 +- examples/two_sensor_pipeline.py | 2 +- src/orisys/__init__.py | 2 +- tests/dd06.py | 2 +- tests/test_pyproject.py | 2 +- tests/test_wheel_build.py | 12 ++++++------ 8 files changed, 17 insertions(+), 17 deletions(-) diff --git a/docs/get_started.md b/docs/get_started.md index 8514980..67b517c 100644 --- a/docs/get_started.md +++ b/docs/get_started.md @@ -5,7 +5,7 @@ description: 安装并运行 Orisys SDK 的基础步骤 # 快速开始 -版本：0.4.4 +版本：0.5.0 ## 简介 本文件介绍如何上手和运行叠动视触觉传感器配套的开发套件。本套件是配合叠动视触觉传感器进行图像处理，计算形变、力以及接触信息。它可以从摄像头或视频文件中读取图像，处理后打印和展示处理后信息。 @@ -84,9 +84,9 @@ pip install --upgrade orisys ### 使用 .whl 文件安装（离线或指定版本） 从官方渠道获取 .whl 文件，文件名格式通常为： orisys-{版本}-{Python版本}-{Python版本}-{操作系统}_{硬件架构}.whl -例如：orisys-0.4.4-cp310-cp310-win_amd64.whl 表示： +例如：orisys-0.5.0-cp310-cp310-win_amd64.whl 表示： -版本：0.4.4 +版本：0.5.0 Python 版本：3.10（cp310） 操作系统：Windows（win） 硬件架构：64位（amd64） @@ -97,7 +97,7 @@ Python 版本：3.10（cp310） ```bash # 请将文件名替换为您实际下载的文件名 -pip install orisys-0.4.4-cp310-cp310-win_amd64.whl +pip install orisys-0.5.0-cp310-cp310-win_amd64.whl ``` ### 安装 CuPy（可选） @@ -139,7 +139,7 @@ python import orisys print(orisys.__version__) ``` -如果输出版本号（例如 0.4.4），则说明安装成功。 +如果输出版本号（例如 0.5.0），则说明安装成功。 ## 使用方法 ### 运行示例程序 diff --git a/examples/basic_pipeline.py b/examples/basic_pipeline.py index 3d2d190..71c5624 100644 --- a/examples/basic_pipeline.py +++ b/examples/basic_pipeline.py @@ -7,7 +7,7 @@ ORY-BOX：单传感器基础流程 3. 按需计算接触区域 4. 读取并可视化结果 -SDK version: 0.4.4 +SDK version: 0.5.0 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/examples/mini_pipeline.py b/examples/mini_pipeline.py index 9c32883..3247752 100644 --- a/examples/mini_pipeline.py +++ b/examples/mini_pipeline.py @@ -7,7 +7,7 @@ ORY-MINI：单传感器基础流程 3. 按需计算接触区域 4. 读取并可视化结果 -SDK version: 0.4.4 +SDK version: 0.5.0 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/examples/two_sensor_pipeline.py b/examples/two_sensor_pipeline.py index 45e2b78..1c5cc67 100644 --- a/examples/two_sensor_pipeline.py +++ b/examples/two_sensor_pipeline.py @@ -18,7 +18,7 @@ - Windows 下必须在 if __name__ == '__main__' 中调用 mp.freeze_support() - 每个传感器进程都会占用独立的 GPU 显存 -SDK version: 0.4.4 +SDK version: 0.5.0 """ import os os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0" diff --git a/src/orisys/__init__.py b/src/orisys/__init__.py index d6d76ad..8871750 100644 --- a/src/orisys/__init__.py +++ b/src/orisys/__init__.py @@ -5,7 +5,7 @@ A Python library for processing and analyzing optical tactile sensor data, including image stitching, optical flow tracking, and deformation decomposition. """ -__version__ = "0.4.4" +__version__ = "0.5.0" __author__ = "Orisys" from .sensor import Sensor diff --git a/tests/dd06.py b/tests/dd06.py index ddcae75..3f9462e 100644 --- a/tests/dd06.py +++ b/tests/dd06.py @@ -8,7 +8,7 @@ Flow: 4. Feed the rectified frame into Sensor.get_img(..., already_processed=True) 5. Compute deformation/contact and visualize -SDK version: 0.4.4 +SDK version: 0.5.0 """ from __future__ import annotations diff --git a/tests/test_pyproject.py b/tests/test_pyproject.py index 2f6c422..c18cec4 100644 --- a/tests/test_pyproject.py +++ b/tests/test_pyproject.py @@ -35,7 +35,7 @@ def test_pyproject_dynamic_version(packaging_utils): sys.path.insert(0, str(build_dir)) from common.pyproject_utils import get_version - assert get_version(REPO_ROOT) == "0.4.4" + assert get_version(REPO_ROOT) == "0.5.0" def test_pyproject_bundle_manifest(packaging_utils): diff --git a/tests/test_wheel_build.py b/tests/test_wheel_build.py index 3a04f2b..b023a01 100644 --- a/tests/test_wheel_build.py +++ b/tests/test_wheel_build.py @@ -19,25 +19,25 @@ def wheel_package(): def test_compliant_manylinux_tags(wheel_package): assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-manylinux_2_17_x86_64.whl") + Path("orisys-0.5.0-cp310-cp310-manylinux_2_17_x86_64.whl") ) assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-manylinux2014_x86_64.whl") + Path("orisys-0.5.0-cp310-cp310-manylinux2014_x86_64.whl") ) assert wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-manylinux_2_28_x86_64.whl") + Path("orisys-0.5.0-cp310-cp310-manylinux_2_28_x86_64.whl") ) def test_rejects_illegal_manylinux_tags(wheel_package): assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-manylinux_x86_64.whl") + Path("orisys-0.5.0-cp310-cp310-manylinux_x86_64.whl") ) assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-linux_x86_64.whl") + Path("orisys-0.5.0-cp310-cp310-linux_x86_64.whl") ) assert not wheel_package.is_compliant_manylinux_wheel( - Path("orisys-0.4.4-cp310-cp310-win_amd64.whl") + Path("orisys-0.5.0-cp310-cp310-win_amd64.whl") ) -- 2.52.0