阶段 1：平台 PoC —— 真实 GL 上跑通静态场景，并修掉它抓出的相机/上下文错误 - What: 按 docs/architecture/studio-3d-stages.md 阶段 1 落地图形栈。OrbitCamera 全部实现（target/distance/yaw/pitch 表示；fit 按包围球与较窄的那个视场轴定距离；orbit/pan/zoom 有界；set_preset 从 eye/target 反解角度使拖动可延续；matrices 输出只读 float32 view/projection；另加 depth_range_m() 便于断言）。gl_backend：GLDispatch.bind_current_context 真正绑定 PyOpenGL 并读 vendor/renderer/GL/GLSL/max texture、判软件渲染、profile 不达标时抛 ThreeDUnsupported 并带回能力；GLRenderer 实现 initialize（两个 program，desktop33/gles30 共用同一份着色器主体、只换头部）、upload_scene（每 part 一套 VAO/VBO/EBO，交错 layout position/normal/scalar/valid = 8 float）、update_surface（只对感知面 glBufferSubData，绝不重建索引）、draw（绑 Qt 的 defaultFramebufferObject、深度测试、按 role 选 program、housing 隐藏即跳过、scalar 经 LUT 纹理与 range uniform 上色，Python 不生成 RGB 数组）、release（幂等）；纯函数 pack_part/pack_scene_part/estimate_gpu_bytes/rest_surface/shader_source/shader_header/lut_rgba/is_software_renderer/profile_from_renderable_type 都可在无 GPU 环境测试。Sensor3DWidget 实现 initializeGL/paintGL/resizeGL/release_resources/aboutToBeDestroyed/showEvent/hideEvent 与鼠标事件；加载场景时先采用资产自带的默认视角再 fit；一帧几何不匹配只"拒绝该帧"（计数 + 诊断 + 用 rest_surface 清掉上次测量）而不是把整个视图打成不可用。shared/scene3d/synthetic.py 提供 PoC 与测试共用的已知场景（20mm 感知板 + 外壳盒，米、sensor 坐标系、带默认三视角预设）。tools/scene_assets/probe_gl.py 真实现：真实窗口取 context 并输出 JSON 报告（平台/Qt/PyOpenGL/vendor/renderer/GL/GLSL/DPR/framebuffer/是否软件渲染），退出码即门禁（0 通过、3 软件渲染、4 无上下文）；apps/studio/pyproject.toml 增加 [three-d] 可选依赖（仅 PyOpenGL；Open3D 不进运行时）。测试：apps/studio/tests/test_scene3d_stage1.py 24 项（相机数学、PoC 场景合规、打包布局、着色器两方言共用主体、LUT、软件渲染识别、renderableType 映射、GPU 预算、参考帧语义，全部无需 GPU）＋ test_scene3d_gl_smoke.py 8 项（真实 context：能力、两个 part 都画出来、外壳可隐藏、参考帧中性 vs 色图有差异、动态更新不动 housing 缓冲、坏几何帧被拒且视图存活、resize 跟随、release 幂等且新 context 能重传场景、探针如实报告）；offscreen 下后者自动 skip。docs/architecture/gl-report-windows-dev.json 为本机平台报告。 - Why: 用户要求"从骨架搭起→计划阶段→逐阶段实现与验收"，并明确 ARM 暂缓。阶段 1 的产出本身就是一份能回答"这块板的图形栈能不能用"的报告，所以先把它做实、把 profile 冻结点定在真实 context 上，而不是先堆屏幕上的东西。 - Verification: 真实 context（QT_QPA_PLATFORM=windows）下 8 项 GL 验收全过；offscreen 下 24 项 CPU 项全过、GL 项按设计 skip；shared 全量 187 passed；studio 全量 116 passed（含新 32 项）；ui_check 554 项 0 失败；probe_gl 输出 verdict=ok（NVIDIA RTX 4080 SUPER、GL 3.3 Core、GLSL 3.30、非软件渲染）。过程中这套验收抓出并修掉了 7 个真实缺陷：Qt renderableType 映射反了（NVIDIA 兼容 ES 着色器所以本机看不出，Intel/ARM 会直接失败）、观察相机是左手基导致整模型镜像（det=-1）、近平面过近使 NDC z 全挤在 0.99（深度精度归零、外壳与感知面会 z-fighting）、手动 makeCurrent 早于 Qt 首次绘制会把 GPU 对象建在被丢弃的 context 里（glBindVertexArray 报 INVALID_OPERATION）、context 重建后不重传场景、一帧几何不匹配把整个视图打死、以及 grabFramebuffer 是 BGRA+stride 导致颜色断言全部读错通道。 - Not in this change: 未接入 app_window/main.py（三维对现有应用仍完全惰性，故"开/关三维 CSV 行序一致"这条验收随阶段 4 做）；阶段 2 的资产导入/坐标/包格式；ARM 平台实测（probe 已可在板上直接运行）。
This commit is contained in:
ykcheungab
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"""A known scene, in metres, in the sensor frame — for the PoC and for tests.
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Not an asset pipeline and not shipped to customers: it is the geometry the
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platform PoC draws and the CPU tests reason about, so "the surface is at z≈0 and
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the housing sits behind it" is a fact both can rely on instead of re-deriving
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triangles in every test.
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Two parts, as the design requires of every scene: a sensing plate (dynamic) and a
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housing box (static, hideable). Coordinates are right-handed metres; the plate
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faces +Z, so a normal check has an unambiguous answer.
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"""
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from __future__ import annotations
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import numpy as np
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from orisys_app_shared.scene3d.contracts import (
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CameraPreset,
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ExpectedGeometry,
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FrameIdentity,
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Material,
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MeshPart,
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SceneAssets,
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SurfaceBinding,
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freeze,
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)
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#: The plate is 20 mm x 20 mm, sampled 3x3: small enough to read in a test, big
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#: enough to have an interior vertex that a bilinear tap can move.
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PLATE_HALF_M = 0.01
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GRID = 3
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def _plate() -> MeshPart:
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step = (2.0 * PLATE_HALF_M) / (GRID - 1)
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positions = np.zeros((GRID * GRID, 3), dtype=np.float32)
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for row in range(GRID):
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for col in range(GRID):
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positions[row * GRID + col] = (
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-PLATE_HALF_M + col * step,
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-PLATE_HALF_M + row * step,
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0.0,
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)
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normals = np.tile(np.array([0.0, 0.0, 1.0], dtype=np.float32), (GRID * GRID, 1))
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triangles = []
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for row in range(GRID - 1):
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for col in range(GRID - 1):
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a = row * GRID + col
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b = a + 1
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c = a + GRID
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d = c + 1
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triangles.append((a, b, d))
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triangles.append((a, d, c))
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return MeshPart(
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part_id="sensing_surface",
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role="sensing",
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positions_sensor_m=freeze(positions, dtype=np.float32),
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normals_sensor=freeze(normals, dtype=np.float32),
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triangles=freeze(np.asarray(triangles, dtype=np.uint32), dtype=np.uint32),
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material=Material((0.85, 0.85, 0.88, 1.0), "unlit_scalar", True),
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lod_id="poc",
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)
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def _housing() -> MeshPart:
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"""An open box sitting behind the plate: static, grey, never measured."""
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h = PLATE_HALF_M * 1.6
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depth = PLATE_HALF_M * 0.8
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corners = np.array(
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[
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(-h, -h, -depth), (h, -h, -depth), (h, h, -depth), (-h, h, -depth),
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(-h, -h, 0.0), (h, -h, 0.0), (h, h, 0.0), (-h, h, 0.0),
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],
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dtype=np.float32,
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)
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faces = [
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(0, 1, 2), (0, 2, 3), # back
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(4, 6, 5), (4, 7, 6), # front, wound the other way
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(0, 4, 5), (0, 5, 1), # bottom
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(3, 2, 6), (3, 6, 7), # top
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(0, 3, 7), (0, 7, 4), # left
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(1, 5, 6), (1, 6, 2), # right
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]
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normals = np.zeros_like(corners)
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for triangle in faces:
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a, b, c = (corners[index] for index in triangle)
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normal = np.cross(b - a, c - a)
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length = float(np.linalg.norm(normal))
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if length > 0:
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normal = normal / length
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for index in triangle:
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normals[index] += normal
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lengths = np.linalg.norm(normals, axis=1, keepdims=True)
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normals = normals / np.where(lengths > 0, lengths, 1.0)
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return MeshPart(
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part_id="housing",
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role="housing",
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positions_sensor_m=freeze(corners, dtype=np.float32),
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normals_sensor=freeze(normals.astype(np.float32), dtype=np.float32),
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triangles=freeze(np.asarray(faces, dtype=np.uint32), dtype=np.uint32),
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material=Material((0.25, 0.26, 0.28, 1.0), "diffuse", True),
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lod_id="poc",
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)
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def _binding() -> SurfaceBinding:
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"""Identity binding: each plate vertex samples its own field cell."""
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count = GRID * GRID
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indices = np.full((count, 4), -1, dtype=np.int32)
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weights = np.zeros((count, 4), dtype=np.float32)
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for index in range(count):
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indices[index, 0] = index
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weights[index, 0] = 1.0
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return SurfaceBinding(
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part_id="sensing_surface",
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geometry_id="poc-geometry",
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field_domain_id="poc-domain",
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shape_hw=(GRID, GRID),
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sample_indices=freeze(indices, dtype=np.int32),
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sample_weights=freeze(weights, dtype=np.float32),
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)
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def poc_scene() -> SceneAssets:
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"""The synthetic scene: one sensing plate, one housing box, one preset."""
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plate = _plate()
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housing = _housing()
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points = np.concatenate(
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[np.asarray(plate.positions_sensor_m), np.asarray(housing.positions_sensor_m)]
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)
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presets = (
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# The asset's own default view: a three-quarter view of the plate's face,
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# with the housing visible behind it. Face-on would hide the depth, and
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# looking along Y would show the plate edge-on.
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CameraPreset(
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"default",
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(0.03, -0.03, 0.06),
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(0.0, 0.0, 0.0),
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(0.0, 0.0, 1.0),
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0.6,
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),
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CameraPreset("front", (0.0, 0.0, 0.08), (0.0, 0.0, 0.0), (0.0, 1.0, 0.0), 0.6),
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CameraPreset("side", (0.08, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 1.0), 0.6),
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CameraPreset("top", (0.0, 0.0, 0.09), (0.0, 0.0, 0.0), (0.0, 1.0, 0.0), 0.6),
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)
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return SceneAssets(
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asset_id="poc-scene",
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asset_version="0.0.0",
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asset_hash="poc-hash",
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geometry_id="poc-geometry",
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parts=(plate, housing),
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binding=_binding(),
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camera_presets=presets,
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bounds_sensor_m=freeze(
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np.stack([points.min(axis=0), points.max(axis=0)]).astype(np.float32),
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dtype=np.float32,
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),
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field_domain_id="poc-domain",
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shape_hw=(GRID, GRID),
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)
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def poc_identity(*, generation: int = 1) -> FrameIdentity:
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return FrameIdentity("poc", 1, 0, 0.0, generation=generation)
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def poc_expected() -> ExpectedGeometry:
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return ExpectedGeometry("finger", "poc", "poc-geometry", "poc-domain", (GRID, GRID))
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