Orisys SDK is a Python toolkit for optical tactile sensing. It provides image capture, stitching, dense optical flow, Helmholtz-Hodge decomposition, contact/depth estimation, and several runnable examples for camera and video-based workflows.

Repository Layout

src/orisys/: installable SDK package
config/: default and lab/runtime JSON configurations
examples/: user-facing example scripts
scripts/: maintenance, calibration, packaging, and demo scripts
tools/: non-package tooling such as patch-generation utilities
tests/: automated pytest suite
docs/: usage and API documentation

Quick Start

1. Create an environment

conda create -n orisys python=3.10
conda activate orisys

2. Install the SDK in editable mode

pip install -e .

Optional GPU extras:

pip install -e .[cuda12]

pip install -e .[cuda13]

3. Run tests

pytest

4. Run an example

python examples/basic_pipeline.py -v 0 -c ./config/ddjx01.json

Configuration

The canonical configuration files now live in the repo-level config/ folder. The package loader orisys.configs resolves configs from:

an explicit JSON file path
a config file stem under config/
a backward-compatible JSON "name" match, such as "prototype"

Examples:

import orisys

sensor = orisys.Sensor(0, config_name="ddjx01")
cfg = orisys.export_config("ddjx01", "./config/exported_config.json")

Examples and Tools

Example entry points: examples/README.md
User documentation: docs/get_started.md
Packaging helper: build/build_nuitka.py
Specialized utilities: tools/

Notes for Collaborators

Generated build outputs such as build/, dist/, and SDK/ are intentionally ignored.
Large or generated tooling outputs should stay under ignored output folders rather than be committed.
If you add new images or arrays that should be versioned, review .gitignore first.