优化传感器对准压头

apps/autocal/tests/test_finger_panel.py

@@ -169,19 +169,14 @@ def test_the_initial_view_is_the_commissioned_orientation(qt_app, bundle):
             f"sensor +Y must point up the screen, but moved {tip[1] - origin[1]:+.1f} px"
         )
 
-        # Sensor +Z is the sensing face's own axis and must face the viewer. It is
-        # the platform's -Y on this mount. ``forward`` points from the eye into the
-        # scene, so a surface normal aimed *at* the camera has a positive dot with
-        # it — the opposite of what the depth term in a projection does, and the
-        # sign this assertion got wrong first time.
+        # The commissioned camera sits in front of the shell and a little below
+        # it, looking back toward platform −Y. That is the ad049d12 preview.
         eye, _distance = preview._camera()  # noqa: SLF001
+        centre = preview._view_target()  # noqa: SLF001
         _centre, forward, _right, _up = preview._view_basis(eye)  # noqa: SLF001
-        lens_axis = to_sensor(np.array([0.0, -1.0, 0.0]), stack.axis_map)
-        lens_axis = lens_axis / np.linalg.norm(lens_axis)
-        assert float(lens_axis @ forward) > 0.2, (
-            f"sensor +Z must face the viewer, but points away: "
-            f"{float(lens_axis @ forward):+.3f}"
-        )
+        assert eye[1] > centre[1]
+        assert eye[2] < centre[2]
+        assert forward[1] < -0.5, f"the view must look toward −Y, but forward is {forward}"
     finally:
         preview.deleteLater()
 
@@ -1253,8 +1248,8 @@ def test_the_tool_position_sets_the_move_and_not_the_reading(panel):
 def test_the_readouts_name_the_frame_mapping(panel):
     """The one line the bench will want to check when x and y are interchanged."""
     text = panel._readout_labels["frames"].text()  # noqa: SLF001
-    assert "x" in text and "z" in text
-    assert "-y" in text or "−y" in text
+    assert "x->-x" in text
+    assert "z->y" in text
 
 
 def test_the_readout_names_the_chosen_pose_and_the_key_that_chose_it(panel):
@@ -1271,7 +1266,7 @@ def test_the_readout_names_the_chosen_pose_and_the_key_that_chose_it(panel):
 
     pose = panel._last_pose  # noqa: SLF001
     text = panel._readout_labels["branch"].text()  # noqa: SLF001
-    assert pose.branch_reason in {"only", "alignment", "in_range", "upright", "smallest"}
+    assert pose.branch_reason in {"only", "alignment", "in_range", "upright", "smallest", "crown"}
     assert t(f"finger.branch_{pose.branch_reason}") in text
     # And the alternative's cost is on screen too, not just the chosen one's.
     assert f"{pose.other_travel_deg:.1f}" in text
@@ -1294,7 +1289,9 @@ def test_the_press_readout_says_why_it_is_held_and_then_names_the_target(panel):
     targets, held = panel.solved_pose()
     assert held == ("z",)
     assert "z" not in targets
-    assert targets["x"] == pytest.approx(pose.table_xy_mm[0])
+    from orisys_autocal.sensor.frames import TABLE_X_GAIN
+
+    assert targets["x"] == pytest.approx(-TABLE_X_GAIN * pose.table_xy_mm[0])
 
     # With the bench's zero entered, the same contact height becomes a coordinate.
     panel.set_press(PressAxis(zero_mm=2.0, rising=True, calibrated=True))