config/dd06-ov.json

@@ -9,8 +9,8 @@
     ],
     "fps": 30,
     "resolution_stitch": [
-      390,
-      550
+      195,
+      275
     ],
     "source_scale": 0.4,
     "old": [
@@ -55,7 +55,7 @@
       "raft",
       "dis"
     ],
-    "hhd_downsample": 1
+    "hhd_downsample": 3
   },
   "contact": {
     "min_contour_area": 3000,

examples/gui/preference.json

@@ -1,5 +1,5 @@
 {
-  "video_source": "D:/repo/orisys-sdk/data/dd02-0703/1.mp4",
+  "video_source": "D:/repo/orisys-sdk/data/dd02/0607_1.mp4",
   "config_path": "./config/dd02-ov.json",
   "finger_assets_dir": "D:/repo/orisys-sdk/assets/finger/30fps-0703",
   "csv_save_dir": "./outputs/csv",

examples/gui/viewer2d/__init__.py

@@ -1,10 +1,13 @@
 """2D Qt sensor monitor (image + force curves; no finger 3D mesh)."""
 
 from .backend import (
+    PURE_COLOR_BG_BGR,
+    ArrowBackground,
     ForceHistory,
     ForcePlotState,
     QtViewerBackend,
     ViewerFrame,
+    build_display_image,
     image_shape_meta,
     panel_width_for_aspect,
     select_display_image,
@@ -12,11 +15,14 @@ from .backend import (
 from .window import QtViewerWindow, run_viewer
 
 __all__ = [
+    "PURE_COLOR_BG_BGR",
+    "ArrowBackground",
     "ForceHistory",
     "ForcePlotState",
     "QtViewerBackend",
     "QtViewerWindow",
     "ViewerFrame",
+    "build_display_image",
     "image_shape_meta",
     "panel_width_for_aspect",
     "run_viewer",

examples/gui/viewer2d/backend.py

@@ -8,10 +8,11 @@ Does not import camera, ROI, or `orisys.Sensor`.
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import Optional, Sequence, Tuple
+from typing import Literal, Optional, Sequence, Tuple
 
 import cv2
 import numpy as np
+import orisys
 from scipy.signal import butter, filtfilt
 
 FORCE_SAMPLE_RATE_HZ = 30.0
@@ -19,6 +20,17 @@ PLOT_BUFFER_POINTS = 120
 PLOT_WINDOW_SEC = PLOT_BUFFER_POINTS / FORCE_SAMPLE_RATE_HZ
 Y_AXIS_MIN_SPAN = 20000.0
 
+ArrowBackground = Literal["pure_color", "captured"]
+# #0B1016 as BGR (matches demo_wuxi / promote_video theme)
+PURE_COLOR_BG_BGR = (22, 16, 11)
+
+_ARROW_DRAW_KW = dict(
+    threshold=2,
+    grid_spacing=20,
+    arrow_scale=0.5,
+    below_threshold_color=(160, 160, 160),
+)
+
 
 @dataclass
 class ViewerFrame:
@@ -92,6 +104,14 @@ def image_shape_meta(img: np.ndarray) -> Tuple[int, int, float]:
     return h, w, aspect
 
 
+def _base_bgr(snapshot) -> Optional[np.ndarray]:
+    for attr in ("image", "processed_image", "raw_image"):
+        out = ensure_bgr(getattr(snapshot, attr, None))
+        if out is not None:
+            return out
+    return None
+
+
 def select_display_image(snapshot) -> np.ndarray:
     """Pick flow overlay / processed / raw image for the left panel."""
     arrows = getattr(snapshot, "flow_overlay", None)
@@ -109,6 +129,29 @@ def select_display_image(snapshot) -> np.ndarray:
     return np.zeros((400, 400, 3), dtype=np.uint8)
 
 
+def build_display_image(
+    snapshot,
+    background: ArrowBackground = "pure_color",
+) -> np.ndarray:
+    """Build left-panel image: arrows on pure color or on the captured frame."""
+    flow = getattr(snapshot, "flow", None)
+    base = _base_bgr(snapshot)
+
+    if flow is not None and base is not None:
+        if background == "pure_color":
+            h, w = base.shape[:2]
+            canvas = np.empty((h, w, 3), dtype=np.uint8)
+            canvas[:, :] = PURE_COLOR_BG_BGR
+            return orisys.util.draw_arrows(canvas, flow, **_ARROW_DRAW_KW)
+
+        overlay = ensure_bgr(getattr(snapshot, "flow_overlay", None))
+        if overlay is not None:
+            return overlay
+        return orisys.util.draw_arrows(base, flow, **_ARROW_DRAW_KW)
+
+    return select_display_image(snapshot)
+
+
 def bgr_to_rgb_bytes(img_bgr: np.ndarray) -> Tuple[np.ndarray, int, int]:
     """Convert BGR uint8 image to contiguous RGB for QImage."""
     rgb = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2RGB)
@@ -255,6 +298,7 @@ class QtViewerBackend:
         npoints: int = PLOT_BUFFER_POINTS,
         lowpass_cutoff_hz: float = 10.0,
         y_axis_min_span: float = Y_AXIS_MIN_SPAN,
+        arrow_background: ArrowBackground = "pure_color",
     ):
         self.force_history = ForceHistory(
             npoints=npoints,
@@ -263,6 +307,50 @@ class QtViewerBackend:
         )
         self._start_time: Optional[float] = None
         self.last_viewer_frame: Optional[ViewerFrame] = None
+        self.arrow_background: ArrowBackground = arrow_background
+
+    def set_arrow_background(self, background: ArrowBackground) -> None:
+        self.arrow_background = background
+
+    def rebuild_display(self, snapshot) -> ViewerFrame:
+        """Re-render display image without advancing force history."""
+        display = build_display_image(snapshot, self.arrow_background)
+        h, w, aspect = image_shape_meta(display)
+        prev = self.last_viewer_frame
+        if prev is not None:
+            frame = ViewerFrame(
+                display_image=display,
+                image_height=h,
+                image_width=w,
+                aspect_ratio=aspect,
+                depth=prev.depth,
+                normal_force=prev.normal_force,
+                shear_x=prev.shear_x,
+                shear_y=prev.shear_y,
+                normal_force_calibrated=prev.normal_force_calibrated,
+                fps=prev.fps,
+                timestamp=prev.timestamp,
+                record_frame=prev.record_frame,
+            )
+        else:
+            frame = ViewerFrame(
+                display_image=display,
+                image_height=h,
+                image_width=w,
+                aspect_ratio=aspect,
+                depth=getattr(snapshot, "depth", None),
+                normal_force=float(getattr(snapshot, "normal_force", 0.0)),
+                shear_x=float(getattr(snapshot, "shear_x", 0.0)),
+                shear_y=float(getattr(snapshot, "shear_y", 0.0)),
+                normal_force_calibrated=float(
+                    getattr(snapshot, "normal_force_calibrated", 0.0)
+                ),
+                fps=float(getattr(snapshot, "fps", 0.0)),
+                timestamp=float(getattr(snapshot, "timestamp", 0.0) or 0.0),
+                record_frame=ensure_bgr(getattr(snapshot, "record_frame", None)),
+            )
+        self.last_viewer_frame = frame
+        return frame
 
     def reset(self) -> None:
         self.force_history.reset()
@@ -271,7 +359,7 @@ class QtViewerBackend:
 
     def ingest(self, snapshot, *, now: Optional[float] = None) -> ViewerFrame:
         """Convert a FrameSnapshot into ViewerFrame and update force history."""
-        display = select_display_image(snapshot)
+        display = build_display_image(snapshot, self.arrow_background)
         h, w, aspect = image_shape_meta(display)
 
         fn = float(getattr(snapshot, "normal_force", 0.0))

examples/gui/viewer2d/styles.py

@@ -66,6 +66,40 @@ QLineEdit {
     font-size: 13px;
 }
 
+QLabel#toolbarCaption {
+    color: #777777;
+    font-family: "SimHei";
+    font-size: 13px;
+    padding-left: 4px;
+}
+
+QComboBox {
+    background-color: #0d0d0d;
+    color: #999999;
+    border: 1px solid #333333;
+    border-radius: 4px;
+    padding: 5px 10px;
+    font-family: "SimHei";
+    font-size: 13px;
+    min-width: 96px;
+}
+QComboBox:hover {
+    background-color: #1a1a1a;
+    color: #cccccc;
+    border: 1px solid #555555;
+}
+QComboBox::drop-down {
+    border: none;
+    width: 20px;
+}
+QComboBox QAbstractItemView {
+    background-color: #0d0d0d;
+    color: #999999;
+    border: 1px solid #333333;
+    selection-background-color: #1a3a4a;
+    selection-color: #cccccc;
+}
+
 /* ---- 力曲线容器 ---- */
 GraphicsLayoutWidget {
     border: 1px solid #262626;

examples/gui/viewer2d/window.py

@@ -13,6 +13,7 @@ from PyQt5.QtCore import Qt, QTimer
 from PyQt5.QtGui import QFont, QIcon
 from PyQt5.QtWidgets import (
     QApplication,
+    QComboBox,
     QFileDialog,
     QHBoxLayout,
     QLabel,
@@ -35,7 +36,12 @@ from gui.sensors import create_sensor_adapter
 from gui.widgets.log_panel import TeeStream, WidgetLogHandler, make_log_widget
 from gui.widgets.qt_pixmap import ndarray_to_pixmap, pixmap_keep_aspect
 
-from .backend import PLOT_BUFFER_POINTS, PLOT_WINDOW_SEC, QtViewerBackend, panel_width_for_aspect
+from .backend import (
+    PLOT_BUFFER_POINTS,
+    PLOT_WINDOW_SEC,
+    QtViewerBackend,
+    panel_width_for_aspect,
+)
 from .styles import CURVE_THEME_COLOR, STYLE
 
 
@@ -127,6 +133,17 @@ class QtViewerWindow(QMainWindow):
         self.btn_stop.clicked.connect(self._on_stop)
         bar.addWidget(self.btn_stop)
 
+        bg_caption = QLabel("背景")
+        bg_caption.setObjectName("toolbarCaption")
+        bar.addWidget(bg_caption)
+        self.bg_combo = QComboBox()
+        self.bg_combo.setObjectName("bgCombo")
+        self.bg_combo.addItem("纯色背景", "pure_color")
+        self.bg_combo.addItem("采集图像", "captured")
+        self.bg_combo.setCurrentIndex(0)
+        self.bg_combo.currentIndexChanged.connect(self._on_arrow_background_changed)
+        bar.addWidget(self.bg_combo)
+
         root_layout.addLayout(bar)
 
         v_splitter = QSplitter(Qt.Vertical)
@@ -391,6 +408,23 @@ class QtViewerWindow(QMainWindow):
         self.sensor_adapter.reset()
         print("追踪器已重置。")
 
+    def _on_arrow_background_changed(self, _index: int) -> None:
+        value = self.bg_combo.currentData()
+        if value not in ("pure_color", "captured"):
+            return
+        self.viewer_backend.set_arrow_background(value)
+        if self._last_snapshot is None:
+            return
+        viewer_frame = self.viewer_backend.rebuild_display(self._last_snapshot)
+        self._last_viewer_frame = viewer_frame
+        aspect_changed = abs(viewer_frame.aspect_ratio - self._display_aspect) > 1e-3
+        self._display_aspect = viewer_frame.aspect_ratio
+        self._source_pixmap = ndarray_to_pixmap(viewer_frame.display_image, bgr=True)
+        if aspect_changed:
+            self.adjust_image_panel()
+        else:
+            self._render_display_pixmap()
+
     def keyPressEvent(self, event):
         key = event.key()
         if key == Qt.Key_Escape: