ykcheungab
92 lines
2.8 KiB
Python
92 lines
2.8 KiB
Python
#!/usr/bin/env python3
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"""
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ORY-FINGER：UV-unroll finger tactile pipeline with unified Qt dashboard.
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Where to customize the GUI:
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Layout (sizes, proportions) -> examples/gui/viewer3d/layout.py
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Colors / QSS -> examples/gui/viewer3d/styles.py
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Widget rendering logic -> examples/gui/viewer3d/widgets/
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Window behavior -> examples/gui/viewer3d/dashboard.py
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Recommended entry:
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python examples/finger_pipeline_3dview.py --video 0 --config finger
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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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from pathlib import Path
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os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
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# Make shared packages importable when launched as a file path.
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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 gui.app_paths import (
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configure_frozen_runtime,
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default_config_path,
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ensure_examples_import_path,
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require_gui_extras,
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)
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configure_frozen_runtime()
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ensure_examples_import_path()
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require_gui_extras()
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from gui import run_dashboard
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from pipeline import PipelineConfig
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from viz import DEFAULT_FINGER_VIZ_POSE
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def _parse_args():
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parser = argparse.ArgumentParser(
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description="UV-unroll finger tactile pipeline with unified Qt dashboard"
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)
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parser.add_argument("--video", "-v", default="0", help="Camera index or video file path")
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parser.add_argument("--config", "-c", default=default_config_path(), help="Orisys SDK config")
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parser.add_argument("--cal", default="", help="Optional calibration file path")
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parser.add_argument("--verbose", action="store_true", help="SDK verbose logs")
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parser.add_argument(
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"--mesh-map",
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choices=["flow", "depth"],
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default="depth",
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help="Color the 3D mesh from flow magnitude or contact depth.",
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)
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parser.add_argument("--threshold", type=float, default=None, help="Mesh/arrow threshold")
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parser.add_argument("--no-3d", action="store_true", help="Disable 3D mesh view")
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parser.add_argument(
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"--viz-pose",
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default=DEFAULT_FINGER_VIZ_POSE,
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help="world_to_cam.npy for the default view; pass 'none' to skip",
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)
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parser.add_argument(
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"--cutoff",
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type=float,
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default=5.0,
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help="Low-pass cutoff for force curves (Hz)",
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)
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parser.add_argument(
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"--profile",
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action="store_true",
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help="Print per-stage timing to the log panel / console",
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)
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parser.add_argument(
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"--profile-every",
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type=int,
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default=30,
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help="When --profile is set, print rolling averages every N frames",
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)
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return parser.parse_args()
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def main():
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args = _parse_args()
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config = PipelineConfig.from_args(args)
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sys.exit(run_dashboard(config))
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if __name__ == "__main__":
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main()
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