ykcheungab
61 lines
1.8 KiB
Python
61 lines
1.8 KiB
Python
"""Display snapshot produced by one finger pipeline tick."""
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from __future__ import annotations
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from dataclasses import dataclass
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import numpy as np
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@dataclass
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class FingerFrameView:
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timestamp: float
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fps: float
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unrolled: np.ndarray
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flow: np.ndarray
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vnormal: np.ndarray
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depth_map: np.ndarray
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img: np.ndarray
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contour: np.ndarray
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centroid: np.ndarray
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fnormal: float
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fshearx: float
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fsheary: float
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centroid_found: bool
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mask_coverage: float
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valid_mask: np.ndarray | None = None
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raw_frame: np.ndarray | None = None
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@classmethod
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def from_tactile(cls, tactile, unrolled, *, timestamp: float) -> FingerFrameView:
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"""Build a display snapshot from tactile state (mask + fields assembled here)."""
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fps, flow, vnormal, depth_map, centroid, fnormal, fshearx, fsheary = tactile.read_info(
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tactile.info.FPS,
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tactile.info.VRAW,
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tactile.info.VNORMAL,
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tactile.info.DEPTH,
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tactile.info.CENTROID,
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tactile.info.FNORMAL,
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tactile.info.FSHEARX,
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tactile.info.FSHEARY,
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)
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mask = tactile.valid_mask
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return cls(
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timestamp=timestamp,
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fps=float(fps),
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unrolled=unrolled,
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flow=flow,
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vnormal=vnormal,
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depth_map=depth_map,
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img=np.array([]),
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contour=np.array([]),
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centroid=centroid,
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fnormal=float(fnormal),
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fshearx=float(fshearx),
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fsheary=float(fsheary),
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centroid_found=bool(tactile.raw_sensor.centroid_found),
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mask_coverage=float(tactile.mask_stats["coverage"]),
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valid_mask=mask.copy() if mask is not None else None,
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raw_frame=tactile.frame,
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)
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