autocal layout first design

2026-09-20 21:15:39 +08:00
parent 07d7c3bad6
commit e276b5de0f
92 changed files with 18071 additions and 64 deletions
@@ -0,0 +1,115 @@
+"""Composer overlays and 2D/3D sample-point parity."""
+
+from __future__ import annotations
+
+import numpy as np
+
+from orisys_app_shared.acquisition.arrows import _policy_from_style
+from orisys_app_shared.scene3d.composer import SceneComposer
+from orisys_app_shared.scene3d.contracts import (
+    DisplaySettings,
+    FieldDescriptor,
+    SurfaceFieldFrame,
+    freeze,
+)
+from orisys_app_shared.scene3d.synthetic import poc_identity, poc_scene
+from orisys_app_shared.scene3d.visual_policy import VisualPolicy, select_flow_samples
+
+
+def _depth_frame(assets, *, flow=None, contact_xy=None, fn=0.0):
+    h, w = assets.shape_hw
+    scalar = freeze(np.zeros((h, w), dtype=np.float32), dtype=np.float32)
+    valid = freeze(np.ones((h, w), dtype=bool), dtype=np.bool_)
+    flow_uv = None if flow is None else freeze(np.asarray(flow, dtype=np.float32), dtype=np.float32)
+    flow_mask = None if flow is None else freeze(np.asarray(valid, dtype=bool).copy(), dtype=np.bool_)
+    found = contact_xy is not None
+    return SurfaceFieldFrame(
+        identity=poc_identity(),
+        geometry_id=assets.geometry_id,
+        field_domain_id=assets.field_domain_id,
+        scalar=scalar,
+        valid=valid,
+        scalar_descriptor=FieldDescriptor(
+            "depth_response", "1", "approximate", False
+        ),
+        computed_frame_id=0,
+        flow_uv=flow_uv,
+        flow_valid_mask=flow_mask,
+        contact_uv_xy=None if contact_xy is None else tuple(contact_xy),
+        contact_found=found,
+        contact_valid=found,
+        contact_fn=float(fn),
+    )
+
+
+def test_composer_builds_overlays_when_mapping_present() -> None:
+    assets = poc_scene()
+    h, w = assets.shape_hw
+    flow = np.zeros((h, w, 2), dtype=np.float32)
+    flow[1, 1] = (0.9, 0.0)
+    frame = _depth_frame(assets, flow=flow, contact_xy=(1.0, 1.0), fn=800.0)
+    composed = SceneComposer().compose(
+        assets,
+        frame,
+        DisplaySettings(
+            flow_arrows_enabled=True,
+            contact_arrow_enabled=True,
+            flow_grid_spacing=1,
+            flow_on_px=0.4,
+            flow_off_px=0.3,
+            max_arrows=50,
+        ),
+    )
+    assert composed.flow_arrows is not None
+    assert composed.flow_arrows.origins.shape[0] >= 1
+    assert composed.contact_arrow is not None
+    assert composed.contact_arrow.origins.shape[0] == 1
+
+
+def test_composer_hides_overlays_when_disabled() -> None:
+    assets = poc_scene()
+    h, w = assets.shape_hw
+    flow = np.zeros((h, w, 2), dtype=np.float32)
+    flow[1, 1] = (0.9, 0.0)
+    frame = _depth_frame(assets, flow=flow, contact_xy=(1.0, 1.0), fn=800.0)
+    composed = SceneComposer().compose(
+        assets,
+        frame,
+        DisplaySettings(flow_arrows_enabled=False, contact_arrow_enabled=False),
+    )
+    assert composed.flow_arrows is None
+    assert composed.contact_arrow is None
+
+
+def test_2d_3d_flow_sample_points_match() -> None:
+    assets = poc_scene()
+    h, w = assets.shape_hw
+    flow = np.zeros((h, w, 2), dtype=np.float64)
+    flow[1, 1] = (0.7, 0.2)
+    mask = np.ones((h, w), dtype=bool)
+    settings = DisplaySettings(
+        flow_on_px=0.4,
+        flow_off_px=0.3,
+        flow_grid_spacing=1,
+        max_arrows=50,
+    )
+    policy_3d = _policy_from_style(
+        "finger",
+        flow_on_px=settings.flow_on_px,
+        flow_off_px=settings.flow_off_px,
+        flow_grid_spacing=settings.flow_grid_spacing,
+        max_arrows=settings.max_arrows,
+    )
+    policy_shared = VisualPolicy(
+        flow_on_px=settings.flow_on_px,
+        flow_off_px=settings.flow_off_px,
+        flow_grid_spacing=settings.flow_grid_spacing,
+        max_arrows=settings.max_arrows,
+        flow_edge_margin=0,
+    ).normalised()
+    samples_2d = select_flow_samples(flow, mask, policy_shared)
+    samples_3d = select_flow_samples(flow, mask, policy_shared)
+    assert list(zip(samples_2d.rows, samples_2d.cols)) == list(
+        zip(samples_3d.rows, samples_3d.cols)
+    )
+    assert policy_3d.flow_on_px == settings.flow_on_px