ykcheungab
114 lines
3.5 KiB
Python
114 lines
3.5 KiB
Python
#!/usr/bin/env python3
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"""
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ORY-FINGER：Minimum UV-unroll finger tactile pipeline.
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Offline: load Blender export -> build_or_load_domain -> unroll_map_uv.npz
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Runtime: camera frame -> FrameUnwarper -> TactileProcessor -> forces/contact
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Recommended entry:
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python examples/finger_pipeline.py --camera_id 0 --config finger
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Current product config: ``finger`` (``dd02`` still resolves to ``dd02-ov``).
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"""
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import argparse
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import os
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import sys
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os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
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import cv2
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import orisys
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from orisys.finger import FingerRuntime
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def main():
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parser = argparse.ArgumentParser(description="Minimum UV-unroll finger tactile pipeline")
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parser.add_argument("--camera_id", type=int, default=0)
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parser.add_argument("--video","-v", help="Video file path (overrides camera)")
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parser.add_argument("--config", "-c", default="finger", help="Orisys SDK config name or path")
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parser.add_argument("--show", action="store_true", default=True, help="Show unrolled image window")
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parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
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args = parser.parse_args()
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try:
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video = args.camera_id
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if args.video:
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video = args.video
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runtime = FingerRuntime.open(
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config=args.config,
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video=video,
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verbose=args.verbose,
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)
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except RuntimeError as exc:
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print(str(exc), file=sys.stderr)
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sys.exit(1)
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if args.verbose:
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geometry = runtime.geometry
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print(
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f"UV geometry: native={geometry.native_width}x{geometry.native_height}, "
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f"source={geometry.source_width}x{geometry.source_height} "
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f"output={geometry.out_width}x{geometry.out_height} "
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)
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runtime.warmup(color=False)
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tactile = runtime.tactile
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print("Press 'q' to quit, 'r' to reset tracker.")
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try:
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while True:
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ok, unrolled = runtime.grab_and_process(color=False)
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if not ok:
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break
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tactile.compute_deformation()
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tactile.compute_contact()
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fps, flow, vnormal, img, contour, centroid, depth_map, 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.IMG,
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tactile.info.CONTOUR,
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tactile.info.CENTROID,
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tactile.info.DEPTH,
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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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status = (
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f"FPS={fps:.2f} normal={fnormal:.2f} shear=({fshearx:.2f}, {fsheary:.2f}) "
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f"mask={tactile.mask_stats['coverage']:.2f}"
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)
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if args.show:
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arrows = orisys.util.draw_arrows(
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unrolled,
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flow,
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threshold=0.4,
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grid_spacing=10,
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arrow_scale=1.0,
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valid_mask=tactile.valid_mask,
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)
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cv2.imshow("UV Unrolled", arrows)
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print(status, end="\r")
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key = cv2.waitKey(1) & 0xFF
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if key == ord("q"):
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print("\nExiting.")
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break
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if key == ord("r"):
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tactile.reset()
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print("\nTracker reset.")
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finally:
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runtime.close()
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cv2.destroyAllWindows()
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if __name__ == "__main__":
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main()
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