qt第一版可视化

2026-06-09 09:31:44 +08:00
parent cbd8683429
commit 66a00a8b5b
39 changed files with 1055 additions and 58 deletions
@@ -10,7 +10,12 @@ from .controller import SideTriggerGripController
 from .settings import Demo02Config


-def build_controller(argv=None):
+def build_controller(
+    argv=None,
+    status_callback=None,
+    include_visuals=False,
+    visual_size=320,
+):
    ensure_project_paths()
    config = Demo02Config.from_args(argv)

@@ -33,10 +38,18 @@ def build_controller(argv=None):
        target_fps=config.sensor_fps,
        cuda=not config.sensor_cpu,
        motion_threshold=config.motion_threshold,
+        include_visuals=include_visuals,
+        visual_size=visual_size,
    )
    gripper = GripperClient(config)
    feedback = TactileFeedbackProcessor(config, normal_converter, shear_converter)
-    return SideTriggerGripController(config, reader, gripper, feedback)
+    return SideTriggerGripController(
+        config,
+        reader,
+        gripper,
+        feedback,
+        status_callback=status_callback,
+    )


 def main(argv=None):