ykcheungab
55 lines
1.6 KiB
Python
55 lines
1.6 KiB
Python
"""Configuration for the finger tactile example pipeline."""
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from __future__ import annotations
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from dataclasses import dataclass
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from orisys.finger import DEFAULT_FINGER_EXPORT_DIR
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from viz.mesh_camera import DEFAULT_FINGER_VIZ_POSE
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def mesh_threshold(mesh_map: str, threshold: float | None) -> float:
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if threshold is not None:
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return threshold
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return 0.0 if mesh_map == "depth" else 0.4
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@dataclass
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class PipelineConfig:
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video: str = "0"
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config: str = "finger"
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calib: str | None = None
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export_dir: str = DEFAULT_FINGER_EXPORT_DIR
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csv_save_dir: str = "./outputs/csv"
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verbose: bool = False
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mesh_map: str = "depth"
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threshold: float | None = None
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viz_pose: str = DEFAULT_FINGER_VIZ_POSE
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enable_3d: bool = True
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use_color: bool = False
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lowpass_cutoff_hz: float = 5.0
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force_sample_rate_hz: float = 30.0
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profile: bool = False
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profile_every: int = 30
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@classmethod
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def from_args(cls, args) -> "PipelineConfig":
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return cls(
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video=args.video,
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config=args.config,
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calib=getattr(args, "cal", None) or None,
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verbose=args.verbose,
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mesh_map=args.mesh_map,
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threshold=args.threshold,
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viz_pose=args.viz_pose,
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enable_3d=not args.no_3d,
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lowpass_cutoff_hz=getattr(args, "cutoff", 5.0),
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profile=getattr(args, "profile", False),
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profile_every=getattr(args, "profile_every", 30),
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csv_save_dir=getattr(args, "csv_save_dir", "./outputs/csv"),
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)
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@property
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def flow_threshold(self) -> float:
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return mesh_threshold(self.mesh_map, self.threshold)
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