modify 3d view to sync / identical to 2d view
This commit is contained in:
ykcheungab
+133
-106
@@ -1,9 +1,10 @@
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"""Stage 3 acceptance: sampling, composition, and the frame schedule.
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"""Stage 3 acceptance: the field path, composition, and the frame schedule.
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The three rows that matter most are the ones that are easy to get subtly wrong and
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impossible to notice on screen: an invalid tap must invalidate the *vertex* rather
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than read as zero, the display gain must not touch the measurement, and a producer
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must never be able to make the display queue grow.
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impossible to notice on screen: the *colour* path must never resample the field onto
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the vertices (that is what painted 30.15 % of the island grey), the display gain must
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not touch the measurement, and a producer must never be able to make the display queue
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grow.
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"""
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from __future__ import annotations
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@@ -30,9 +31,8 @@ from orisys_app_shared.scene3d.contracts import (
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rest_descriptor,
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)
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from orisys_app_shared.scene3d.sampling import (
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SurfaceSampler,
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remap_to_domain,
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sample_field,
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sample_vertex_displacement,
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)
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@@ -70,133 +70,155 @@ def _binding(shape=(3, 3), indices=None, weights=None):
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from orisys_app_shared.scene3d.contracts import SurfaceBinding
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count = int(indices.shape[0]) if indices is not None else shape[0] * shape[1]
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uvs = np.zeros((count, 2), dtype=np.float32)
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if count == shape[0] * shape[1]:
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grid = np.stack(
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np.meshgrid(np.arange(shape[1]), np.arange(shape[0])), axis=-1
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).reshape(-1, 2)
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uvs = grid.astype(np.float32)
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return SurfaceBinding(
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part_id="sensing_surface",
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geometry_id=scene.geometry_id,
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field_domain_id=scene.field_domain_id,
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shape_hw=shape,
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uvs=freeze(uvs, dtype=np.float32),
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sample_indices=freeze(np.asarray(indices, dtype=np.int32), dtype=np.int32),
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sample_weights=freeze(np.asarray(weights, dtype=np.float32), dtype=np.float32),
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)
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# --------------------------------------------------------------------- sampling
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def test_a_constant_field_samples_to_the_same_constant():
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# -------------------------------------------------------- the colour field path
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def test_the_colour_path_never_gathers_the_field_onto_the_vertices():
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"""The property the whole texture-first change exists for.
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The render frame must carry the acquisition frame's *own* ``[H,W]`` grid — not a
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per-vertex resampling of it. This is asserted by identity, which is the strongest
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form available: a gather cannot produce the same object.
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"""
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scene = synthetic.poc_scene()
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fields = sample_field(_frame(scene, np.full((3, 3), 7.5)), scene.binding)
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assert np.allclose(np.asarray(fields.scalar), 7.5)
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assert np.asarray(fields.valid).all()
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frame = _frame(scene, np.arange(9, dtype=np.float32).reshape(3, 3))
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composed = SceneComposer().compose(scene, frame, DisplaySettings())
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assert composed.field.scalar is frame.scalar
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assert composed.field.valid is frame.valid
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assert composed.field.shape_hw == (3, 3)
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assert composed.field.domain_id == scene.field_domain_id
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assert composed.field.descriptor is frame.scalar_descriptor
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# ...and there is no per-vertex array left to read by mistake.
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assert not hasattr(composed, "scalar")
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assert not hasattr(composed, "valid")
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def test_a_ramp_field_samples_exactly_like_the_reference():
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"""Every vertex samples its own cell, so the sampled value is the cell value."""
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def test_a_hole_in_the_field_stays_a_hole_and_is_never_a_vertex_nan():
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"""A gap is not a measurement of zero, and it is not a grey *triangle* either.
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Under the old sampler one invalid tap made a whole vertex ``NaN``, and the shader
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painted every triangle touching it grey. Now the hole travels as a hole: exactly
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the pixels the device called invalid are invalid, and a value of 0.0 inside them
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is not read at all.
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"""
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scene = synthetic.poc_scene()
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ramp = np.arange(9, dtype=np.float32).reshape(3, 3)
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fields = sample_field(_frame(scene, ramp), scene.binding)
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assert np.array_equal(np.asarray(fields.scalar), ramp.reshape(-1))
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def test_a_single_sample_spike_reaches_exactly_one_vertex():
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scene = synthetic.poc_scene()
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field = np.zeros((3, 3), dtype=np.float32)
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field[1, 1] = 5.0
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fields = sample_field(_frame(scene, field), scene.binding)
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scalar = np.asarray(fields.scalar)
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assert int((scalar > 0).sum()) == 1
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assert scalar[4] == 5.0
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def test_bilinear_sampling_averages_the_four_taps():
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"""A vertex between pixels gets the weighted average, computed by hand."""
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scene = synthetic.poc_scene()
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indices = np.array([[0, 1, 3, 4]], dtype=np.int32)
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weights = np.array([[0.25, 0.25, 0.25, 0.25]], dtype=np.float32)
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binding = _binding(indices=indices, weights=weights)
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field = np.array([[1.0, 2.0, 0.0], [3.0, 4.0, 0.0], [0.0, 0.0, 0.0]], dtype=np.float32)
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fields = sample_field(_frame(scene, field), binding)
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assert np.asarray(fields.scalar)[0] == pytest.approx((1 + 2 + 3 + 4) / 4)
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assert bool(np.asarray(fields.valid)[0])
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def test_one_invalid_tap_invalidates_the_vertex_and_is_not_read_as_zero():
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"""A gap is not a measurement of zero: the value must be absent."""
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scene = synthetic.poc_scene()
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indices = np.array([[0, 1, 3, 4]], dtype=np.int32)
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weights = np.array([[0.25, 0.25, 0.25, 0.25]], dtype=np.float32)
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binding = _binding(indices=indices, weights=weights)
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field = np.array([[1.0, 2.0, 0.0], [3.0, 4.0, 0.0], [0.0, 0.0, 0.0]], dtype=np.float32)
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valid = np.ones((3, 3), dtype=bool)
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valid[1, 1] = False # index 4 is a positive-weight tap
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fields = sample_field(_frame(scene, field, valid), binding)
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assert not bool(np.asarray(fields.valid)[0])
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assert np.isnan(np.asarray(fields.scalar)[0]), (
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"an invalid vertex must carry no value at all, not a sum with a zero in it"
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)
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def test_an_unused_tap_is_neither_a_contribution_nor_a_reason_to_invalidate():
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scene = synthetic.poc_scene()
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indices = np.array([[4, -1, -1, -1]], dtype=np.int32)
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weights = np.array([[1.0, 0.0, 0.0, 0.0]], dtype=np.float32)
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binding = _binding(indices=indices, weights=weights)
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valid[1, 1] = False
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field = np.zeros((3, 3), dtype=np.float32)
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field[1, 1] = 3.0
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valid = np.ones((3, 3), dtype=bool)
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valid[0, 0] = False # unused, so it must not matter
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fields = sample_field(_frame(scene, field, valid), binding)
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assert bool(np.asarray(fields.valid)[0])
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assert np.asarray(fields.scalar)[0] == pytest.approx(3.0)
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def test_a_non_finite_scalar_invalidates_rather_than_colouring_nan():
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scene = synthetic.poc_scene()
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field = np.full((3, 3), 1.0, dtype=np.float32)
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field[2, 2] = np.nan
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fields = sample_field(_frame(scene, field), scene.binding)
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assert not bool(np.asarray(fields.valid)[8])
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assert np.isnan(np.asarray(fields.scalar)[8])
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field[1, 1] = 99.0
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composed = SceneComposer().compose(scene, _frame(scene, field, valid), DisplaySettings())
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assert composed.field.valid.tolist() == valid.tolist()
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assert int(composed.field.valid.sum()) == 8
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# The scalar is carried through untouched, `NaN` or not: nothing rewrites it into
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# a per-vertex absence, so the fragment reads the *device's* answer.
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assert np.array_equal(np.asarray(composed.field.scalar), field)
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def test_a_zero_measurement_is_valid_and_stays_zero():
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"""Zero is a value. Only `valid` decides whether it means anything."""
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scene = synthetic.poc_scene()
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fields = sample_field(_frame(scene, np.zeros((3, 3), dtype=np.float32)), scene.binding)
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assert np.asarray(fields.valid).all()
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assert np.all(np.asarray(fields.scalar) == 0.0)
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assert not np.isnan(np.asarray(fields.scalar)).any()
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composed = SceneComposer().compose(
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scene, _frame(scene, np.zeros((3, 3), dtype=np.float32)), DisplaySettings()
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)
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assert composed.field.valid.all()
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assert np.all(np.asarray(composed.field.scalar) == 0.0)
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assert not np.isnan(np.asarray(composed.field.scalar)).any()
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def test_the_sampler_refuses_a_frame_from_another_domain():
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def test_the_composer_refuses_a_frame_from_another_domain():
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scene = synthetic.poc_scene()
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), domain="some-other-domain")
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with pytest.raises(ThreeDError) as excinfo:
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sample_field(frame, scene.binding)
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SceneComposer().compose(scene, frame, DisplaySettings())
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assert excinfo.value.diagnostic.code == "field_domain_mismatch"
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def test_the_sampler_refuses_a_frame_of_the_wrong_shape():
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def test_the_composer_refuses_a_frame_of_the_wrong_shape():
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scene = synthetic.poc_scene()
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frame = _frame(scene, np.zeros((4, 4), dtype=np.float32), shape=np.zeros((4, 4), dtype=np.float32))
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with pytest.raises(ThreeDError) as excinfo:
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sample_field(frame, scene.binding)
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assert "shape does not match" in excinfo.value.diagnostic.message
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SceneComposer().compose(scene, frame, DisplaySettings())
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assert excinfo.value.diagnostic.code == "field_domain_mismatch"
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def test_sampling_is_vectorised_enough_for_a_large_mesh():
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"""A full-resolution binding is ~10^5 vertices; sampling must not crawl."""
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def test_composing_a_frame_costs_no_per_vertex_work():
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"""The measured CPU cost of the colour path, over a realistic grid.
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The old path gathered 1032 vertices x 4 taps every frame *and* the panel's own
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tests measured it as the bulk of a compose. The field path is a shape check and a
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dataclass: the number below is the evidence.
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"""
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scene = synthetic.poc_scene()
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count = 20_000
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rng = np.random.default_rng(7)
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indices = rng.integers(0, 9, size=(count, 4)).astype(np.int32)
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weights = rng.random((count, 4)).astype(np.float32)
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weights /= weights.sum(axis=1, keepdims=True)
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binding = _binding(indices=indices, weights=weights)
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frame = _frame(scene, rng.random((3, 3)).astype(np.float32))
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started = time.perf_counter()
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fields = sample_field(frame, binding)
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elapsed = (time.perf_counter() - started) * 1000.0
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assert np.asarray(fields.scalar).shape == (count,)
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assert elapsed < 150.0, f"sampling {count} vertices took {elapsed:.1f} ms"
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composer = SceneComposer()
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
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composer.compose(scene, frame, DisplaySettings())
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samples = []
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for _ in range(20):
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composer.compose(scene, frame, DisplaySettings())
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samples.append(composer.last_stats.sample_ms)
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assert max(samples) < 2.0, f"the colour path still does per-vertex work: {samples}"
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# -------------------------------------------- the vertex displacement (geometry)
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def test_a_constant_displacement_gathers_to_the_same_constant():
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scene = synthetic.poc_scene()
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displacement = np.full((3, 3, 3), 0.25, dtype=np.float32)
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frame = _frame(
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scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement
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)
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values = sample_vertex_displacement(frame, scene.binding)
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assert values is not None
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assert np.allclose(np.asarray(values), 0.25)
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def test_an_invalid_tap_leaves_that_vertex_with_no_displacement():
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"""Absent is absent: the vertex does not move at all, and the composer reads NaN."""
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scene = synthetic.poc_scene()
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displacement = np.ones((3, 3, 3), dtype=np.float32) * 0.5
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valid = np.ones((3, 3), dtype=bool)
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valid[1, 1] = False
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frame = _frame(
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scene, np.zeros((3, 3), dtype=np.float32), valid, displacement=displacement
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)
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values = np.asarray(sample_vertex_displacement(frame, scene.binding))
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assert np.isnan(values[4]).all()
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assert np.allclose(values[0], 0.5)
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def test_a_frame_without_a_displacement_gathers_nothing():
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scene = synthetic.poc_scene()
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
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assert sample_vertex_displacement(frame, scene.binding) is None
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def test_the_displacement_path_never_reads_the_scalar_field():
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"""It is geometry, not colour: the gathered value may not depend on the scalar."""
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scene = synthetic.poc_scene()
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displacement = np.ones((3, 3, 3), dtype=np.float32) * 0.125
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first = sample_vertex_displacement(
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_frame(scene, np.full((3, 3), 1.0, dtype=np.float32), displacement=displacement),
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scene.binding,
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)
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second = sample_vertex_displacement(
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_frame(scene, np.full((3, 3), 900.0, dtype=np.float32), displacement=displacement),
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scene.binding,
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)
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assert np.array_equal(np.asarray(first), np.asarray(second))
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# ----------------------------------------------------------------------- remap
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@@ -267,9 +289,9 @@ def test_the_gain_moves_positions_and_never_the_measurement():
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=50.0)
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)
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# The measurement is identical in all three.
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assert np.array_equal(np.asarray(quiet.scalar), np.asarray(small.scalar))
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assert np.array_equal(np.asarray(small.scalar), np.asarray(large.scalar))
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assert np.array_equal(np.asarray(quiet.valid), np.asarray(large.valid))
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assert np.array_equal(np.asarray(quiet.field.scalar), np.asarray(small.field.scalar))
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assert np.array_equal(np.asarray(small.field.scalar), np.asarray(large.field.scalar))
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assert np.array_equal(np.asarray(quiet.field.valid), np.asarray(large.field.valid))
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# The positions are not.
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rest = np.asarray(small.positions_sensor_m)
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moved = np.asarray(large.positions_sensor_m)
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@@ -374,10 +396,10 @@ def test_the_composer_refuses_a_frame_from_another_geometry():
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def test_a_reference_frame_measures_nothing():
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scene = synthetic.poc_scene()
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rest = SceneComposer().rest_frame(scene, FrameIdentity("live", 1, 0, 0.0, 1))
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assert not np.asarray(rest.valid).any()
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assert np.isnan(np.asarray(rest.scalar)).all()
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assert rest.scalar_descriptor.quantity == "unavailable"
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assert rest.scalar_descriptor.quality == "display_only"
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assert not np.asarray(rest.field.valid).any()
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assert np.isnan(np.asarray(rest.field.scalar)).all()
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assert rest.field.descriptor.quantity == "unavailable"
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assert rest.field.descriptor.quality == "display_only"
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assert np.allclose(
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np.asarray(rest.positions_sensor_m),
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np.asarray(scene.sensing_part().positions_sensor_m),
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@@ -389,10 +411,14 @@ def test_the_composed_frame_carries_read_only_arrays():
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composed = SceneComposer().compose(
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scene, _frame(scene, np.zeros((3, 3), dtype=np.float32)), DisplaySettings()
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)
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for name in ("positions_sensor_m", "normals_sensor", "scalar", "valid"):
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for name in ("positions_sensor_m", "normals_sensor"):
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value = getattr(composed, name)
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assert not value.flags["WRITEABLE"], f"{name} is writable"
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assert value.flags["C_CONTIGUOUS"]
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for name in ("scalar", "valid"):
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value = getattr(composed.field, name)
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assert not value.flags["WRITEABLE"], f"field.{name} is writable"
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assert value.flags["C_CONTIGUOUS"]
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def test_the_composer_does_not_rebuild_the_binding_or_the_indices():
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@@ -443,6 +469,7 @@ def test_a_calibrated_displacement_still_recomputes_positions_and_normals():
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composed = SceneComposer().compose(
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=2.0)
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)
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assert composed.deformed
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assert composed.positions_sensor_m is not part.positions_sensor_m
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assert composed.normals_sensor is not part.normals_sensor
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assert not np.allclose(
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