ykcheungab
102 lines
3.3 KiB
Python
102 lines
3.3 KiB
Python
"""
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Finger UV pipeline with real-time force charts and OpenCV panels.
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Demonstrates:
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1. UV-unrolled deformation arrows
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2. Contact region overlay
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3. PyQtGraph normal/shear force plots
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4. Optional raw-frame recording (s/e keys)
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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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import time
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from pathlib import Path
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os.environ["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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_EXAMPLES_DIR = Path(__file__).resolve().parent
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if str(_EXAMPLES_DIR) not in sys.path:
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sys.path.insert(0, str(_EXAMPLES_DIR))
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from viz import ForceChartWindow, FrameRecorder, lowpass_filter
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument("--video", "-v", type=str, default="0", help="视频源：摄像头编号或视频文件路径")
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parser.add_argument("--config", "-c", type=str, default="./config/dd02-ov.json", help="配置文件名称或路径")
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parser.add_argument("--verbose", "-verbose", type=bool, default=True, help="是否输出详细日志")
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args = parser.parse_args()
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charts = ForceChartWindow()
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recorder = FrameRecorder()
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runtime = FingerRuntime.open(
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config=args.config,
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video=args.video,
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verbose=args.verbose,
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)
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runtime.warmup(color=True)
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tactile = runtime.tactile
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start_time = time.time()
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print("\n按键说明：'q' 退出程序，'s' 开始录像，'e' 结束录像。")
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try:
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while True:
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ok, unrolled = runtime.grab_and_process(color=True)
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if not ok:
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break
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recorder.write_if_recording(tactile.frame)
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tactile.compute_deformation(check_motion=True, threshold=0)
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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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print(f"FPS={fps:.2f}, 法向力={fnormal:.4f}, 切向力X={fshearx:.4f}, 切向力Y={fsheary:.4f}")
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arrows = orisys.util.draw_arrows(unrolled, flow, threshold=3, grid_spacing=10, arrow_scale=1.0)
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cv2.imshow("arrows", arrows)
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cv2.imshow("contact", orisys.util.draw_contact(img, contour, centroid))
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charts.push(time.time() - start_time, fnormal, fshearx, fsheary)
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display = charts.data.copy()
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for channel in range(3):
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display[:, 1, channel] = lowpass_filter(
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charts.data[:, 1, channel],
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cutoff_hz=5,
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sample_rate_hz=30,
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)
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charts.refresh(display)
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key = cv2.waitKey(1)
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if key & 0xFF == ord("q"):
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print("\n正在退出示例程序...")
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break
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if key == ord("s"):
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recorder.start(tactile.frame)
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if key == ord("e"):
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recorder.stop()
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finally:
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runtime.close()
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if __name__ == "__main__":
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main()
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