阶段 3：实时数据 —— 采样、合成、最新帧调度与适配器 - What: sampling.py 实现 SurfaceSampler（向量化四点双线性：无效 tap 不计入也不致无效、任一**正权** tap 无效即整顶点无效且值为 NaN、域/形状不符先拒；采样表只在加载时构建）与 remap_to_domain（按 unroll 映射 gather，空洞保持 NaN 且 valid=False，保留尾随轴以支持矢量场）。composer.py 实现 SceneComposer.compose（域校验 → 采样 → 位移 → **从形变后位置重算法线**；scalar 绝不成以 display_gain；approximate 位移产生 display_illustrative(info) 诊断、calibrated 不产生、无位移则着色并报 field_unavailable）与 build_rest_frame（参考帧：scalar 全 NaN、valid 全假、descriptor=unavailable/display_only），gl_backend.rest_surface 改为委托它，避免两处定义。coordinator.py 实现完整调度：容量 1 双 mailbox、generation/来源/会话三重过期拒绝并计数、**最多一次合成在飞行**、可见性挂起/恢复、设置变更（倍率变化重合成**屏幕上那一帧**）、close 幂等；submit 只做身份与形状的廉价校验，绝不等显示。adapters.py 实现 Finger/Box 适配器：|flow| 或 depth 响应、可选经 unroll 映射 remap、设备 valid_mask 优先、域不符时**发布空**并报出所见的两个形状；一律不造位移（未标定的毫米不如没有），并新增 display_illustrative 到诊断码表（info）。assets.py 从"桩类堆"改成门面：re-export 真正实现 + SceneCompiler.compile（外壳 GLB 与预算检查；加密请求明确拒绝并指向阶段 5）。测试：shared/tests/test_scene3d_live.py 25 项（采样/无效语义/倍率只影响位置/示意形变标注/法线重算/remap 空洞/参考帧/只读数组）、apps/studio/tests/test_scene3d_coordinator.py 13 项（状态机、过期、替换计数、单飞行、submit p99<1ms、切换场景丢弃在飞结果、隐藏挂起、倍率重合成、close 幂等）、test_scene3d_adapters.py 13 项；并把三处"桩仍未实现"的过时断言改成对已实现行为的断言。docs/architecture/studio-3d-stages.md 阶段 3 记为完成。 - Why: 阶段 3 决定"屏幕上的颜色和力值到底对应什么"。三条最容易错且肉眼看不出来的规则必须由代码而不是约定来保证：无效点不是 0（NaN 与 valid 分离，否则缺口会被画成一个测量值）、显示倍率只动位置不动测量（否则色标悄悄变了含义）、以及显示永远不能给采集施加背压（容量 1 mailbox + 单飞行合成 + 廉价 submit）。 - Verification: shared 全量通过（scene3d 相关 103 项：contracts 26、assets 33、package 19、live 25）；studio 全量通过（scene3d 相关 54 项：stage1 24、skeleton 4、coordinator 13、adapters 13；GL 冒烟 10 项在真实 context 下另行通过）；ui_check 554 项 0 失败。过程中修掉 3 个真实缺陷：倍率变化时用 incoming.peek() 取不到"屏幕上那一帧"（已被消费）导致改了倍率画面不动——改为保留 _last_field_frame；display_illustrative 不在码表里被默认成 error；assets.py 里与 package/legacy 同名的重复桩类（会误导集成者，已改为门面）。另修正两处我自己的错误断言（对称凸起顶点法线本就竖直；pytest.approx 不能直接 .all()）。 - Not in this change: 手势与面板（阶段 4）；示意位移的真实来源（需要 SDK lift + 已确认尺度，现阶段 adapter 一��� displacement=None）；app_window 接线与记录隔离（阶段 4）。
This commit is contained in:
ykcheungab
@@ -1,11 +1,13 @@
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"""Assets: loading a validated scene, importing the legacy finger export.
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"""Assets: the one place a caller should look for loading and compiling a scene.
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Stage 2 in ``docs/architecture/studio-3d-stages.md``. The signatures are fixed
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here so the rest of the skeleton (and the compiler tool) can be written against
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them; the bodies arrive with the stage.
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Stage 2 in ``docs/architecture/studio-3d-stages.md``. The implementations live in
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:mod:`~orisys_app_shared.scene3d.legacy` (the Blender export),
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:mod:`~orisys_app_shared.scene3d.glb` (the housing model) and
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:mod:`~orisys_app_shared.scene3d.package` (the ``.oryscene`` container); this module
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is their public face, so an integrator does not have to know which file holds what.
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Two rules the implementation must keep, because violating them is invisible until
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a customer sees the wrong part move:
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Two rules the implementation keeps, because violating them is invisible until a
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customer sees the wrong part move:
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* the algorithm mesh and the display mesh are **different topologies** (1032 vs
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1005 vertices) and are never joined by array index;
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@@ -17,69 +19,56 @@ a customer sees the wrong part move:
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from __future__ import annotations
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from pathlib import Path
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from typing import Optional
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from typing import Any, Optional
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from orisys_app_shared.scene3d.contracts import (
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CompileOptions,
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CompileReport,
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Diagnostic,
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ExpectedGeometry,
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F64,
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KeyProvider,
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SceneAssets,
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error,
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validate_assets,
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)
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from orisys_app_shared.scene3d.glb import load_housing_glb, with_housing
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from orisys_app_shared.scene3d.legacy import LegacyFingerImporter
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from orisys_app_shared.scene3d.package import (
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ENVELOPE_VERSION,
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MAGIC,
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SCHEMA_VERSION,
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PackagedAssetLoader,
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PackageContents,
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build_manifest,
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describe_package,
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read_package,
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scene_from_contents,
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write_package,
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)
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_STAGE = "stage 2 (asset contracts)"
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class PackagedAssetLoader:
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"""Load and authenticate a ``.oryscene`` runtime package.
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CPU/IO thread. Verification order: envelope signature, then entry hashes, then
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geometry/domain/unit checks against ``expected``. There is no plaintext
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fallback: a package that fails authentication is refused, never retried.
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"""
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def load(
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self,
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path: Path,
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expected: ExpectedGeometry,
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keys: Optional[KeyProvider] = None,
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) -> SceneAssets:
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raise NotImplementedError(f"{_STAGE}: load a signed .oryscene package")
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def validate(
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self, assets: SceneAssets, expected: ExpectedGeometry
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) -> tuple[Diagnostic, ...]:
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raise NotImplementedError(f"{_STAGE}: validate a loaded scene")
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class LegacyFingerImporter:
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"""Convert ``sensors/finger/assets/30fps-0703`` into a scene (offline only).
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``meters_per_source_unit`` scales source lengths into metres first;
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``transform_sensor_from_source`` is then rigid (rotation and a translation in
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metres, no extra scale). Normals receive the rotation only. Missing coordinate
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evidence is a refusal, not a guess from a filename.
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"""
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def convert(
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self,
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export_dir: Path,
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map_path: Path,
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*,
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transform_sensor_from_source: F64,
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meters_per_source_unit: float,
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) -> SceneAssets:
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raise NotImplementedError(f"{_STAGE}: import the legacy NPZ export")
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#: Bumped when the container layout changes incompatibly.
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__all__ = [
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"ENVELOPE_VERSION",
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"MAGIC",
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"SCHEMA_VERSION",
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"LegacyFingerImporter",
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"PackagedAssetLoader",
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"PackageContents",
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"SceneCompiler",
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"build_manifest",
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"describe_package",
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"read_package",
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"scene_from_contents",
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"write_package",
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]
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class SceneCompiler:
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"""Package a scene (and an optional housing GLB) for release (offline).
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"""Package a scene (and an optional housing GLB) for release. Offline only.
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Signing happens with a key from the build environment; the private key is
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never part of the client runtime. Output is written to a temporary file and
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atomically renamed, so a failed build cannot leave a half package behind.
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The signing and encryption that :class:`CompileOptions` describes are stage 5:
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until then a request for an encrypted package is *refused*, rather than
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quietly producing a plain one that a release script would ship as protected.
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"""
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def compile(
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@@ -89,4 +78,77 @@ class SceneCompiler:
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output: Path,
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options: CompileOptions,
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) -> CompileReport:
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raise NotImplementedError(f"{_STAGE}: compile a runtime package")
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if options.encryption_key_id:
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raise error(
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"asset_auth_failed",
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"encrypted packages are stage 5; refusing rather than writing a "
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"plain package that claims to be protected",
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key_id=str(options.encryption_key_id),
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)
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scene = surface
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if housing_glb is not None:
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from orisys_app_shared.scene3d.glb import HousingLimits
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housing = load_housing_glb(
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Path(housing_glb),
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limits=HousingLimits(
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max_triangles=int(options.max_housing_triangles),
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max_vertices=max(int(options.max_surface_vertices), 1),
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),
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)
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scene = with_housing(surface, housing)
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if int(options.max_surface_vertices) > 0:
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sensing = scene.sensing_part()
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count = int(sensing.positions_sensor_m.shape[0])
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if count > int(options.max_surface_vertices):
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raise error(
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"gpu_budget_exceeded",
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f"the surface has {count} vertices (limit "
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f"{int(options.max_surface_vertices)}); export a lower LOD",
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)
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validate_assets(scene)
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report = write_package(
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scene,
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Path(output),
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sensor_model=options.expected.sensor_model,
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hardware_revisions=(options.expected.hardware_revision,),
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)
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return report
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def validate_report(
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self, assets: SceneAssets, expected: ExpectedGeometry
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) -> tuple[Diagnostic, ...]:
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return validate_assets(assets, expected)
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def load_or_import(
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path: Path,
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*,
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expected: ExpectedGeometry,
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keys: Optional[KeyProvider] = None,
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legacy_map: Optional[Path] = None,
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transform_source_from_sensor: Any = None,
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meters_per_source_unit: Optional[float] = None,
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) -> SceneAssets:
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"""Load a package, or import a legacy directory, behind one entry point.
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Keeping both paths reachable from one function is what lets the rest of the app
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stop caring which era an asset came from — and the legacy path still refuses to
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guess its units.
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"""
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path = Path(path)
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if path.is_file():
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return PackagedAssetLoader().load(path, expected, keys)
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if legacy_map is None or meters_per_source_unit is None or transform_source_from_sensor is None:
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raise error(
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"asset_rejected",
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"a legacy directory needs --map, --meters-per-source-unit and a transform",
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)
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assets = LegacyFingerImporter().convert(
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path,
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Path(legacy_map),
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transform_sensor_from_source=transform_source_from_sensor,
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meters_per_source_unit=float(meters_per_source_unit),
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)
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validate_assets(assets, expected)
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return assets
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@@ -2,50 +2,187 @@
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Stage 3 in ``docs/architecture/studio-3d-stages.md``.
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This is the module that decides what a colour and a vertex position *mean*, so the
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rules from §3.2 of the design document are its reason to exist:
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This module decides what a colour and a vertex position *mean*, so the rules from
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§3.2 of the design document are its reason to exist:
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* ``scalar`` is never multiplied by the display gain — the colour scale describes
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the measurement, and the gain describes only how far the drawing is exaggerated;
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* a displacement whose quality is ``approximate`` is drawn as "relative
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deformation, ×N" and is never labelled in millimetres;
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* without a trustworthy displacement the surface is coloured in place, and the
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total force is never turned into a per-vertex height.
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* ``scalar`` is never multiplied by the display gain. The colour scale describes the
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measurement; the gain describes only how far the drawing is exaggerated. A gain
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that changed the numbers would quietly change what the colour bar means.
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* a displacement whose quality is ``approximate`` is drawn as "relative deformation,
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×N" and is never labelled in millimetres — the composer says so in a diagnostic
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instead of leaving the UI to guess.
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* without a trustworthy displacement the surface is coloured in place, and the total
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force is never turned into a per-vertex height.
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* a reference frame measures nothing: every validity flag is false and the scalar is
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absent, so the UI hides the colour bar rather than leaving the previous one on
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screen.
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"""
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from __future__ import annotations
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from dataclasses import dataclass
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from typing import Optional
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import numpy as np
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from orisys_app_shared.scene3d.contracts import (
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Diagnostic,
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DisplaySettings,
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FieldDescriptor,
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FrameIdentity,
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Quality,
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RenderFrame,
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SceneAssets,
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SurfaceFieldFrame,
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diagnostic,
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error,
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freeze,
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rest_descriptor,
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validate_render_frame,
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validate_surface_frame,
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)
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from orisys_app_shared.scene3d.legacy import vertex_normals
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from orisys_app_shared.scene3d.sampling import SurfaceSampler
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_STAGE = "stage 3 (live data)"
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#: Reported when a display gain is applied to a displacement that is only
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#: approximate. Informational: the picture is legitimate as an illustration, and
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#: must not be read as a measured displacement.
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DISPLAY_ILLUSTRATIVE = "display_illustrative"
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@dataclass
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class ComposeStats:
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"""What one compose cost, for the coordinator's statistics."""
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sample_ms: float = 0.0
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normals_ms: float = 0.0
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total_ms: float = 0.0
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class SceneComposer:
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"""CPU worker: one field frame in, one render frame out.
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Runs off the GUI thread and never touches Qt or GL. Recomputes normals from the
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deformed positions rather than transforming the rest normals, because the
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difference is exactly the deformation the operator is looking at.
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Runs off the GUI thread and never touches Qt or GL. Normals are recomputed from
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the deformed positions rather than transformed from the rest normals, because
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the difference between those two is exactly the deformation the operator is
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looking at.
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"""
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def __init__(self, sampler: Optional[SurfaceSampler] = None) -> None:
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self._sampler = sampler or SurfaceSampler()
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self.last_stats = ComposeStats()
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def compose(
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self,
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assets: SceneAssets,
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frame: SurfaceFieldFrame,
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settings: DisplaySettings,
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) -> RenderFrame:
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raise NotImplementedError(f"{_STAGE}: compose a render frame")
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import time
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started = time.perf_counter()
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self._check(assets, frame)
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for item in validate_surface_frame(frame):
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# A frame with, say, non-finite scalars marked valid is still usable:
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# the vertex ends up invalid. Reported rather than refused.
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if item.severity == "error":
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raise error(item.code, item.message, **dict(item.details))
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part = assets.sensing_part()
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sampling_started = time.perf_counter()
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fields = self._sampler.sample(frame, assets.binding)
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self.last_stats.sample_ms = (time.perf_counter() - sampling_started) * 1000.0
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rest_positions = np.asarray(part.positions_sensor_m, dtype=np.float64)
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diagnostics: list[Diagnostic] = []
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positions = rest_positions
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quality = frame.displacement_quality
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if settings.deform_enabled and fields.displacement_sensor_m is not None:
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gain = float(settings.display_gain)
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displacement = np.asarray(fields.displacement_sensor_m, dtype=np.float64)
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positions = rest_positions + gain * displacement
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if quality != "calibrated":
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diagnostics.append(
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diagnostic(
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DISPLAY_ILLUSTRATIVE,
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"the displayed deformation is an illustration (×"
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f"{gain:g}), not a measured displacement",
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quality=str(quality or "unspecified"),
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gain=f"{gain:g}",
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)
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)
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elif settings.deform_enabled and fields.displacement_sensor_m is None:
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diagnostics.append(
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diagnostic(
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"field_unavailable",
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"no displacement is available for this frame: colouring in place",
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)
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)
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normals_started = time.perf_counter()
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normals = vertex_normals(positions, np.asarray(part.triangles, dtype=np.int64))
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self.last_stats.normals_ms = (time.perf_counter() - normals_started) * 1000.0
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result = RenderFrame(
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identity=frame.identity,
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asset_hash=assets.asset_hash,
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geometry_id=assets.geometry_id,
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sensing_part_id=part.part_id,
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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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# The measurement, untouched by the display gain.
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scalar=fields.scalar,
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valid=fields.valid,
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scalar_descriptor=frame.scalar_descriptor,
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diagnostics=tuple(diagnostics),
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)
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validate_render_frame(result, vertices=int(rest_positions.shape[0]))
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self.last_stats.total_ms = (time.perf_counter() - started) * 1000.0
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return result
|
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def rest_frame(self, assets: SceneAssets, identity: FrameIdentity) -> RenderFrame:
|
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"""The static reference: nothing measured, so nothing coloured.
|
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"""The static reference: nothing measured, so nothing coloured."""
|
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return build_rest_frame(assets, identity)
|
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|
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The scalar is all-zero with an ``unavailable`` descriptor; the UI hides the
|
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measurement colour bar instead of leaving the previous one on screen.
|
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"""
|
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raise NotImplementedError(f"{_STAGE}: compose the reference frame")
|
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@staticmethod
|
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def _check(assets: SceneAssets, frame: SurfaceFieldFrame) -> None:
|
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if assets.geometry_id and frame.geometry_id != assets.geometry_id:
|
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raise error(
|
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"geometry_mismatch",
|
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"the frame belongs to a different geometry than the scene",
|
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frame=frame.geometry_id,
|
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scene=assets.geometry_id,
|
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)
|
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if assets.field_domain_id and frame.field_domain_id != assets.field_domain_id:
|
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raise error(
|
||||
"field_domain_mismatch",
|
||||
"the frame is on a different field domain than the scene",
|
||||
frame=frame.field_domain_id,
|
||||
scene=assets.field_domain_id,
|
||||
)
|
||||
if tuple(frame.scalar.shape) != tuple(assets.binding.shape_hw):
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
"the frame's shape does not match the scene's UV domain",
|
||||
frame=f"{frame.scalar.shape[0]}x{frame.scalar.shape[1]}",
|
||||
scene=f"{assets.shape_hw[0]}x{assets.shape_hw[1]}",
|
||||
)
|
||||
|
||||
|
||||
def build_rest_frame(assets: SceneAssets, identity: FrameIdentity) -> RenderFrame:
|
||||
"""The asset's own geometry at rest, with no measurement attached.
|
||||
|
||||
Shared by the composer and by the GL layer, which needs it to *clear* a stale
|
||||
measurement after a refused frame or a disconnect.
|
||||
"""
|
||||
part = assets.sensing_part()
|
||||
count = int(part.positions_sensor_m.shape[0])
|
||||
return RenderFrame(
|
||||
identity=identity,
|
||||
asset_hash=assets.asset_hash,
|
||||
geometry_id=assets.geometry_id,
|
||||
sensing_part_id=part.part_id,
|
||||
positions_sensor_m=part.positions_sensor_m,
|
||||
normals_sensor=part.normals_sensor,
|
||||
scalar=freeze(np.full(count, np.nan, dtype=np.float32), dtype=np.float32),
|
||||
valid=freeze(np.zeros(count, dtype=bool), dtype=np.bool_),
|
||||
scalar_descriptor=rest_descriptor(),
|
||||
)
|
||||
|
||||
@@ -60,6 +60,9 @@ DIAGNOSTIC_SEVERITY: Mapping[str, Severity] = {
|
||||
"gpu_budget_exceeded": "error",
|
||||
"asset_rejected": "error",
|
||||
"no_data": "info",
|
||||
#: An illustrative display deformation was applied. Informational by design:
|
||||
#: the picture is legitimate, and the point is that it is *labelled*.
|
||||
"display_illustrative": "info",
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -74,6 +74,21 @@ class LegacyFieldDomain:
|
||||
index_order: str = "row-major"
|
||||
mapping_digest: str = ""
|
||||
world_xyz: Optional[np.ndarray] = None # float32 [H,W,3], for verification only
|
||||
#: The unroll map itself: for every output pixel, the source pixel it came from
|
||||
#: (``-1`` where there is none). The adapters need it to bring a live field into
|
||||
#: this domain, and the digest above already covers it.
|
||||
map_x: Optional[np.ndarray] = None
|
||||
map_y: Optional[np.ndarray] = None
|
||||
#: The grid the map samples from, as the file states it (0 when unstated).
|
||||
source_width: int = 0
|
||||
source_height: int = 0
|
||||
|
||||
@property
|
||||
def source_hw(self) -> Optional[tuple[int, int]]:
|
||||
"""The grid the map samples from, when the file states it."""
|
||||
if self.source_width <= 0 or self.source_height <= 0:
|
||||
return None
|
||||
return (int(self.source_height), int(self.source_width))
|
||||
|
||||
@property
|
||||
def valid_ratio(self) -> float:
|
||||
@@ -137,6 +152,20 @@ def load_legacy_domain(map_path: Path) -> LegacyFieldDomain:
|
||||
source_scale=source_scale,
|
||||
mapping_digest=mapping_digest,
|
||||
)
|
||||
|
||||
def _optional_array(name: str) -> Optional[np.ndarray]:
|
||||
value = data.get(name)
|
||||
return None if value is None else np.asarray(value)
|
||||
|
||||
def _optional_int(name: str) -> int:
|
||||
value = data.get(name)
|
||||
if value is None:
|
||||
return 0
|
||||
try:
|
||||
return int(np.asarray(value).reshape(-1)[0])
|
||||
except (TypeError, ValueError):
|
||||
return 0
|
||||
|
||||
return LegacyFieldDomain(
|
||||
shape_hw=(shape[0], shape[1]),
|
||||
flip_v=flip_v,
|
||||
@@ -149,6 +178,12 @@ def load_legacy_domain(map_path: Path) -> LegacyFieldDomain:
|
||||
if world is not None
|
||||
else None
|
||||
),
|
||||
# Kept for the adapters: this is the map that brings a live field into this
|
||||
# domain, and the domain digest above already covers its content.
|
||||
map_x=_optional_array("map_x"),
|
||||
map_y=_optional_array("map_y"),
|
||||
source_width=_optional_int("source_width"),
|
||||
source_height=_optional_int("source_height"),
|
||||
)
|
||||
|
||||
|
||||
|
||||
@@ -2,30 +2,172 @@
|
||||
|
||||
Stage 3 in ``docs/architecture/studio-3d-stages.md``.
|
||||
|
||||
The sampling table is built once, at load time, from the UV field's own domain
|
||||
(shape, crop, scale, flip). It is never rebuilt per frame and never repaired by
|
||||
searching for the nearest triangle: a vertex whose samples are not all valid is
|
||||
invalid, and the mask is not crossed.
|
||||
The sampling table is built once, at load time, from the field's own domain. It is
|
||||
never rebuilt per frame, and a vertex is never repaired by searching for the nearest
|
||||
triangle: if any tap that carries weight is invalid, the vertex is invalid.
|
||||
|
||||
Three details that decide whether a measurement is honest:
|
||||
|
||||
* **an invalid tap is not zero.** Weighting a gap with weight 0 would still poison
|
||||
the sum, because ``0 * NaN`` is ``NaN``; invalid taps are therefore excluded from
|
||||
the sum and the *vertex* is marked invalid, which is what the shader draws as the
|
||||
neutral colour.
|
||||
* **validity is a separate array from the value.** A vertex whose scalar happens to
|
||||
be 0.0 is a measurement of zero; a vertex that is invalid has no value at all, and
|
||||
the value is left as ``NaN`` so nobody can mistake one for the other.
|
||||
* **the domain is checked, not assumed.** A frame whose domain or shape does not
|
||||
match the binding is refused with ``field_domain_mismatch`` rather than sampled
|
||||
into a plausible-looking but wrong picture.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import numpy as np
|
||||
|
||||
from orisys_app_shared.scene3d.contracts import (
|
||||
SurfaceBinding,
|
||||
SurfaceFieldFrame,
|
||||
VertexFields,
|
||||
error,
|
||||
freeze,
|
||||
)
|
||||
|
||||
_STAGE = "stage 3 (live data)"
|
||||
#: A weight below this is treated as "not used": the binding builder never emits
|
||||
#: one, and a rounding-level weight must not be able to invalidate a vertex.
|
||||
WEIGHT_EPS = 1e-7
|
||||
|
||||
|
||||
class SurfaceSampler:
|
||||
"""Bilinear sampling through a precomputed binding.
|
||||
|
||||
Vectorised over vertices: gather ``[N,4]`` taps, weight them, and treat any
|
||||
positive-weight invalid tap as a reason to invalidate the whole vertex. A
|
||||
scalar that is not finite is "no measurement", not a zero.
|
||||
"""
|
||||
"""Vectorised bilinear sampling through a precomputed binding."""
|
||||
|
||||
def sample(self, frame: SurfaceFieldFrame, binding: SurfaceBinding) -> VertexFields:
|
||||
raise NotImplementedError(f"{_STAGE}: sample a UV field onto the vertices")
|
||||
self._check_domains(frame, binding)
|
||||
indices = np.asarray(binding.sample_indices, dtype=np.int64) # [N,4]
|
||||
weights = np.asarray(binding.sample_weights, dtype=np.float64) # [N,4]
|
||||
used = indices >= 0
|
||||
if not used.any() and len(indices):
|
||||
raise error("field_domain_mismatch", "the binding samples nothing at all")
|
||||
# ``-1`` -> index 0 for the gather; the weight there is 0 by contract and the
|
||||
# ``used`` mask keeps it out of both the sum and the validity test.
|
||||
safe = np.where(used, indices, 0)
|
||||
height, width = frame.scalar.shape
|
||||
flat_scalar = np.asarray(frame.scalar, dtype=np.float64).reshape(-1)
|
||||
flat_valid = np.asarray(frame.valid, dtype=bool).reshape(-1)
|
||||
if safe.size and int(safe.max()) >= flat_scalar.size:
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
"a binding index falls outside the frame's field",
|
||||
index=int(safe.max()),
|
||||
size=int(flat_scalar.size),
|
||||
)
|
||||
gathered_scalar = flat_scalar[safe]
|
||||
gathered_valid = flat_valid[safe]
|
||||
finite = np.isfinite(gathered_scalar)
|
||||
# A tap counts only where it is used, in range, finite and valid.
|
||||
contributed = used & gathered_valid & finite
|
||||
valid = contributed | ~used
|
||||
valid = valid.all(axis=1)
|
||||
contribution = np.where(contributed, gathered_scalar, 0.0) * weights
|
||||
scalar = contribution.sum(axis=1)
|
||||
# No measurement: the value is absent, not zero.
|
||||
scalar = np.where(valid, scalar, np.nan)
|
||||
|
||||
displacement = None
|
||||
if frame.displacement_sensor_m is not None:
|
||||
flat_displacement = np.asarray(
|
||||
frame.displacement_sensor_m, dtype=np.float64
|
||||
).reshape(-1, 3)
|
||||
if flat_displacement.shape[0] != flat_scalar.shape[0]:
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
"the displacement field does not match the scalar field",
|
||||
)
|
||||
gathered = flat_displacement[safe] # [N,4,3]
|
||||
finite_disp = np.isfinite(gathered).all(axis=2)
|
||||
contributed_disp = used & gathered_valid & finite_disp
|
||||
displacement = np.where(contributed_disp[:, :, None], gathered, 0.0)
|
||||
displacement = (displacement * weights[:, :, None]).sum(axis=1)
|
||||
displacement = np.where(valid[:, None], displacement, np.nan)
|
||||
displacement = freeze(displacement, dtype=np.float32)
|
||||
del height, width
|
||||
return VertexFields(
|
||||
scalar=freeze(scalar, dtype=np.float32),
|
||||
valid=freeze(valid, dtype=np.bool_),
|
||||
displacement_sensor_m=displacement,
|
||||
)
|
||||
|
||||
@staticmethod
|
||||
def _check_domains(frame: SurfaceFieldFrame, binding: SurfaceBinding) -> None:
|
||||
if binding.geometry_id and frame.geometry_id != binding.geometry_id:
|
||||
raise error(
|
||||
"geometry_mismatch",
|
||||
"the frame belongs to a different geometry than the binding",
|
||||
frame=frame.geometry_id,
|
||||
binding=binding.geometry_id,
|
||||
)
|
||||
if binding.field_domain_id and frame.field_domain_id != binding.field_domain_id:
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
"the frame is on a different field domain than the binding",
|
||||
frame=frame.field_domain_id,
|
||||
binding=binding.field_domain_id,
|
||||
)
|
||||
if tuple(frame.scalar.shape) != tuple(binding.shape_hw):
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
"the frame's shape does not match the binding's domain",
|
||||
frame=f"{frame.scalar.shape[0]}x{frame.scalar.shape[1]}",
|
||||
binding=f"{binding.shape_hw[0]}x{binding.shape_hw[1]}",
|
||||
)
|
||||
if frame.scalar.shape != frame.valid.shape:
|
||||
raise error(
|
||||
"field_domain_mismatch", "the frame's scalar and validity disagree"
|
||||
)
|
||||
|
||||
|
||||
def sample_field(frame: SurfaceFieldFrame, binding: SurfaceBinding) -> VertexFields:
|
||||
"""Convenience wrapper: one sampler, no state to keep."""
|
||||
return SurfaceSampler().sample(frame, binding)
|
||||
|
||||
|
||||
def remap_to_domain(
|
||||
field: np.ndarray,
|
||||
*,
|
||||
map_x: np.ndarray,
|
||||
map_y: np.ndarray,
|
||||
shape_hw: tuple[int, int],
|
||||
) -> tuple[np.ndarray, np.ndarray]:
|
||||
"""Resample a field from its own grid onto the scene's UV domain.
|
||||
|
||||
The legacy unroll map is exactly this: for every output pixel it stores the
|
||||
source pixel it came from (``-1`` where there is none). Remapping is therefore
|
||||
a gather, not an interpolation — the map already chose the sample.
|
||||
|
||||
Returns ``(values, valid)`` where ``values`` keeps the trailing axes of the
|
||||
input (so ``[H,W,2]`` flow becomes ``[h,w,2]``) and ``values`` is ``NaN``
|
||||
wherever the map has no source pixel. Nothing is invented for a gap: a remap
|
||||
that filled holes would put measurements where the sensor has no surface.
|
||||
"""
|
||||
values = np.asarray(field)
|
||||
if values.ndim < 2:
|
||||
raise error("field_domain_mismatch", "a field to remap must be at least 2-D")
|
||||
height, width = int(shape_hw[0]), int(shape_hw[1])
|
||||
xs = np.asarray(map_x)
|
||||
ys = np.asarray(map_y)
|
||||
if xs.shape != (height, width) or ys.shape != (height, width):
|
||||
raise error(
|
||||
"field_domain_mismatch",
|
||||
f"the remap is {xs.shape} but the domain is {height}x{width}",
|
||||
)
|
||||
source_height, source_width = values.shape[0], values.shape[1]
|
||||
usable = (xs >= 0) & (ys >= 0) & (xs < source_width) & (ys < source_height)
|
||||
safe_x = np.where(usable, xs, 0).astype(np.int64)
|
||||
safe_y = np.where(usable, ys, 0).astype(np.int64)
|
||||
gathered = values[safe_y, safe_x] # [h,w] or [h,w,...]
|
||||
finite = np.isfinite(np.asarray(gathered, dtype=np.float64))
|
||||
if gathered.ndim > 2:
|
||||
finite = finite.all(axis=tuple(range(2, gathered.ndim)))
|
||||
valid = usable & finite
|
||||
out = np.array(gathered, dtype=np.float32, copy=True)
|
||||
out[~valid] = np.nan
|
||||
return freeze(out, dtype=np.float32), freeze(valid, dtype=np.bool_)
|
||||
|
||||
@@ -11,6 +11,7 @@ from __future__ import annotations
|
||||
|
||||
import sys
|
||||
import threading
|
||||
from pathlib import Path
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
@@ -397,18 +398,51 @@ def test_the_contract_layer_imports_without_qt_or_opengl():
|
||||
)
|
||||
|
||||
|
||||
def test_the_cpu_skeleton_is_importable_and_says_which_stage_it_needs():
|
||||
from orisys_app_shared.scene3d import assets, composer, sampling
|
||||
def test_the_cpu_layer_is_importable_and_works_without_a_gpu():
|
||||
"""The acquisition thread imports this package; it must not drag Qt or GL in.
|
||||
|
||||
with pytest.raises(NotImplementedError) as sampler:
|
||||
sampling.SurfaceSampler().sample(_frame(), _binding())
|
||||
assert "stage 3" in str(sampler.value)
|
||||
with pytest.raises(NotImplementedError) as composer_error:
|
||||
composer.SceneComposer().rest_frame(_assets(), c.FrameIdentity("live-A", 1, 0, 0.0, 1))
|
||||
assert "stage 3" in str(composer_error.value)
|
||||
with pytest.raises(NotImplementedError) as loader:
|
||||
assets.PackagedAssetLoader().load(None, None) # type: ignore[arg-type]
|
||||
assert "stage 2" in str(loader.value)
|
||||
Stages 2 and 3 filled in the CPU pieces, so this checks they are reachable and
|
||||
usable here — the sampler and the composer run on a machine with no GPU, which
|
||||
is the whole reason the contracts layer is separate from the view.
|
||||
"""
|
||||
from orisys_app_shared.scene3d import assets, composer, sampling, synthetic
|
||||
|
||||
scene = synthetic.poc_scene()
|
||||
frame = _frame()
|
||||
fields = sampling.sample_field(frame, _binding())
|
||||
assert np.asarray(fields.scalar).shape == (4,)
|
||||
composed = composer.SceneComposer().compose(
|
||||
scene, c.SurfaceFieldFrame(
|
||||
identity=frame.identity,
|
||||
geometry_id=scene.geometry_id,
|
||||
field_domain_id=scene.field_domain_id,
|
||||
scalar=c.freeze(np.zeros(scene.shape_hw, dtype=np.float32), dtype=np.float32),
|
||||
scalar_descriptor=c.FieldDescriptor("flow_magnitude", "px", "approximate", False),
|
||||
valid=c.freeze(np.ones(scene.shape_hw, dtype=bool), dtype=np.bool_),
|
||||
),
|
||||
c.DisplaySettings(),
|
||||
)
|
||||
assert composed.scalar.shape == (9,)
|
||||
# The loading facade is real too (stage 2), and the compiler refuses what it
|
||||
# cannot yet do rather than writing something unprotected.
|
||||
assert callable(assets.PackagedAssetLoader().load)
|
||||
with pytest.raises(c.ThreeDError) as excinfo:
|
||||
assets.SceneCompiler().compile(
|
||||
scene,
|
||||
None,
|
||||
Path("unused.oryscene"),
|
||||
c.CompileOptions(
|
||||
asset_id="x",
|
||||
version="0",
|
||||
expected=synthetic.poc_expected(),
|
||||
transform_sensor_from_glb=np.eye(4),
|
||||
max_surface_vertices=0,
|
||||
max_housing_triangles=1000,
|
||||
signing_key_reference="build-key",
|
||||
encryption_key_id="customer-1",
|
||||
),
|
||||
)
|
||||
assert "stage 5" in excinfo.value.diagnostic.message
|
||||
|
||||
|
||||
def test_summarize_parts_counts_vertices_per_part():
|
||||
|
||||
@@ -0,0 +1,405 @@
|
||||
"""Stage 3 acceptance: sampling, composition, and the frame schedule.
|
||||
|
||||
The three rows that matter most are the ones that are easy to get subtly wrong and
|
||||
impossible to notice on screen: an invalid tap must invalidate the *vertex* rather
|
||||
than read as zero, the display gain must not touch the measurement, and a producer
|
||||
must never be able to make the display queue grow.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import threading
|
||||
import time
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
|
||||
import numpy as np
|
||||
import pytest
|
||||
|
||||
from orisys_app_shared.scene3d import synthetic
|
||||
from orisys_app_shared.scene3d.composer import DISPLAY_ILLUSTRATIVE, SceneComposer
|
||||
from orisys_app_shared.scene3d.contracts import (
|
||||
ColorScale,
|
||||
DisplaySettings,
|
||||
FieldDescriptor,
|
||||
FrameIdentity,
|
||||
Quality,
|
||||
RenderFrame,
|
||||
SurfaceFieldFrame,
|
||||
ThreeDError,
|
||||
freeze,
|
||||
rest_descriptor,
|
||||
)
|
||||
from orisys_app_shared.scene3d.sampling import (
|
||||
SurfaceSampler,
|
||||
remap_to_domain,
|
||||
sample_field,
|
||||
)
|
||||
|
||||
|
||||
# --------------------------------------------------------------------- helpers
|
||||
def _frame(scene, scalar, valid=None, *, displacement=None, quality=None,
|
||||
identity=None, domain=None, shape=None):
|
||||
scalar = np.asarray(scalar, dtype=np.float32)
|
||||
if valid is None:
|
||||
valid = np.ones(scalar.shape, dtype=bool)
|
||||
frame = SurfaceFieldFrame(
|
||||
identity=identity or FrameIdentity("live", 1, 1, 0.1, generation=1),
|
||||
geometry_id=scene.geometry_id,
|
||||
field_domain_id=domain or scene.field_domain_id,
|
||||
scalar=freeze(scalar, dtype=np.float32),
|
||||
scalar_descriptor=FieldDescriptor("flow_magnitude", "px", "approximate", False),
|
||||
valid=freeze(np.asarray(valid, dtype=bool), dtype=np.bool_),
|
||||
displacement_sensor_m=(
|
||||
freeze(np.asarray(displacement, dtype=np.float32), dtype=np.float32)
|
||||
if displacement is not None
|
||||
else None
|
||||
),
|
||||
displacement_quality=quality,
|
||||
)
|
||||
if shape is not None:
|
||||
object.__setattr__(frame, "scalar", freeze(np.asarray(shape, dtype=np.float32), dtype=np.float32))
|
||||
return frame
|
||||
|
||||
|
||||
def _binding(shape=(3, 3), indices=None, weights=None):
|
||||
"""The identity binding of the PoC scene, optionally overridden."""
|
||||
scene = synthetic.poc_scene()
|
||||
binding = scene.binding
|
||||
if indices is None and weights is None and shape == (3, 3):
|
||||
return binding
|
||||
from orisys_app_shared.scene3d.contracts import SurfaceBinding
|
||||
|
||||
count = int(indices.shape[0]) if indices is not None else shape[0] * shape[1]
|
||||
return SurfaceBinding(
|
||||
part_id="sensing_surface",
|
||||
geometry_id=scene.geometry_id,
|
||||
field_domain_id=scene.field_domain_id,
|
||||
shape_hw=shape,
|
||||
sample_indices=freeze(np.asarray(indices, dtype=np.int32), dtype=np.int32),
|
||||
sample_weights=freeze(np.asarray(weights, dtype=np.float32), dtype=np.float32),
|
||||
)
|
||||
|
||||
|
||||
# --------------------------------------------------------------------- sampling
|
||||
def test_a_constant_field_samples_to_the_same_constant():
|
||||
scene = synthetic.poc_scene()
|
||||
fields = sample_field(_frame(scene, np.full((3, 3), 7.5)), scene.binding)
|
||||
assert np.allclose(np.asarray(fields.scalar), 7.5)
|
||||
assert np.asarray(fields.valid).all()
|
||||
|
||||
|
||||
def test_a_ramp_field_samples_exactly_like_the_reference():
|
||||
"""Every vertex samples its own cell, so the sampled value is the cell value."""
|
||||
scene = synthetic.poc_scene()
|
||||
ramp = np.arange(9, dtype=np.float32).reshape(3, 3)
|
||||
fields = sample_field(_frame(scene, ramp), scene.binding)
|
||||
assert np.array_equal(np.asarray(fields.scalar), ramp.reshape(-1))
|
||||
|
||||
|
||||
def test_a_single_sample_spike_reaches_exactly_one_vertex():
|
||||
scene = synthetic.poc_scene()
|
||||
field = np.zeros((3, 3), dtype=np.float32)
|
||||
field[1, 1] = 5.0
|
||||
fields = sample_field(_frame(scene, field), scene.binding)
|
||||
scalar = np.asarray(fields.scalar)
|
||||
assert int((scalar > 0).sum()) == 1
|
||||
assert scalar[4] == 5.0
|
||||
|
||||
|
||||
def test_bilinear_sampling_averages_the_four_taps():
|
||||
"""A vertex between pixels gets the weighted average, computed by hand."""
|
||||
scene = synthetic.poc_scene()
|
||||
indices = np.array([[0, 1, 3, 4]], dtype=np.int32)
|
||||
weights = np.array([[0.25, 0.25, 0.25, 0.25]], dtype=np.float32)
|
||||
binding = _binding(indices=indices, weights=weights)
|
||||
field = np.array([[1.0, 2.0, 0.0], [3.0, 4.0, 0.0], [0.0, 0.0, 0.0]], dtype=np.float32)
|
||||
fields = sample_field(_frame(scene, field), binding)
|
||||
assert np.asarray(fields.scalar)[0] == pytest.approx((1 + 2 + 3 + 4) / 4)
|
||||
assert bool(np.asarray(fields.valid)[0])
|
||||
|
||||
|
||||
def test_one_invalid_tap_invalidates_the_vertex_and_is_not_read_as_zero():
|
||||
"""A gap is not a measurement of zero: the value must be absent."""
|
||||
scene = synthetic.poc_scene()
|
||||
indices = np.array([[0, 1, 3, 4]], dtype=np.int32)
|
||||
weights = np.array([[0.25, 0.25, 0.25, 0.25]], dtype=np.float32)
|
||||
binding = _binding(indices=indices, weights=weights)
|
||||
field = np.array([[1.0, 2.0, 0.0], [3.0, 4.0, 0.0], [0.0, 0.0, 0.0]], dtype=np.float32)
|
||||
valid = np.ones((3, 3), dtype=bool)
|
||||
valid[1, 1] = False # index 4 is a positive-weight tap
|
||||
fields = sample_field(_frame(scene, field, valid), binding)
|
||||
assert not bool(np.asarray(fields.valid)[0])
|
||||
assert np.isnan(np.asarray(fields.scalar)[0]), (
|
||||
"an invalid vertex must carry no value at all, not a sum with a zero in it"
|
||||
)
|
||||
|
||||
|
||||
def test_an_unused_tap_is_neither_a_contribution_nor_a_reason_to_invalidate():
|
||||
scene = synthetic.poc_scene()
|
||||
indices = np.array([[4, -1, -1, -1]], dtype=np.int32)
|
||||
weights = np.array([[1.0, 0.0, 0.0, 0.0]], dtype=np.float32)
|
||||
binding = _binding(indices=indices, weights=weights)
|
||||
field = np.zeros((3, 3), dtype=np.float32)
|
||||
field[1, 1] = 3.0
|
||||
valid = np.ones((3, 3), dtype=bool)
|
||||
valid[0, 0] = False # unused, so it must not matter
|
||||
fields = sample_field(_frame(scene, field, valid), binding)
|
||||
assert bool(np.asarray(fields.valid)[0])
|
||||
assert np.asarray(fields.scalar)[0] == pytest.approx(3.0)
|
||||
|
||||
|
||||
def test_a_non_finite_scalar_invalidates_rather_than_colouring_nan():
|
||||
scene = synthetic.poc_scene()
|
||||
field = np.full((3, 3), 1.0, dtype=np.float32)
|
||||
field[2, 2] = np.nan
|
||||
fields = sample_field(_frame(scene, field), scene.binding)
|
||||
assert not bool(np.asarray(fields.valid)[8])
|
||||
assert np.isnan(np.asarray(fields.scalar)[8])
|
||||
|
||||
|
||||
def test_a_zero_measurement_is_valid_and_stays_zero():
|
||||
"""Zero is a value. Only `valid` decides whether it means anything."""
|
||||
scene = synthetic.poc_scene()
|
||||
fields = sample_field(_frame(scene, np.zeros((3, 3), dtype=np.float32)), scene.binding)
|
||||
assert np.asarray(fields.valid).all()
|
||||
assert np.all(np.asarray(fields.scalar) == 0.0)
|
||||
assert not np.isnan(np.asarray(fields.scalar)).any()
|
||||
|
||||
|
||||
def test_the_sampler_refuses_a_frame_from_another_domain():
|
||||
scene = synthetic.poc_scene()
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), domain="some-other-domain")
|
||||
with pytest.raises(ThreeDError) as excinfo:
|
||||
sample_field(frame, scene.binding)
|
||||
assert excinfo.value.diagnostic.code == "field_domain_mismatch"
|
||||
|
||||
|
||||
def test_the_sampler_refuses_a_frame_of_the_wrong_shape():
|
||||
scene = synthetic.poc_scene()
|
||||
frame = _frame(scene, np.zeros((4, 4), dtype=np.float32), shape=np.zeros((4, 4), dtype=np.float32))
|
||||
with pytest.raises(ThreeDError) as excinfo:
|
||||
sample_field(frame, scene.binding)
|
||||
assert "shape does not match" in excinfo.value.diagnostic.message
|
||||
|
||||
|
||||
def test_sampling_is_vectorised_enough_for_a_large_mesh():
|
||||
"""A full-resolution binding is ~10^5 vertices; sampling must not crawl."""
|
||||
scene = synthetic.poc_scene()
|
||||
count = 20_000
|
||||
rng = np.random.default_rng(7)
|
||||
indices = rng.integers(0, 9, size=(count, 4)).astype(np.int32)
|
||||
weights = rng.random((count, 4)).astype(np.float32)
|
||||
weights /= weights.sum(axis=1, keepdims=True)
|
||||
binding = _binding(indices=indices, weights=weights)
|
||||
frame = _frame(scene, rng.random((3, 3)).astype(np.float32))
|
||||
started = time.perf_counter()
|
||||
fields = sample_field(frame, binding)
|
||||
elapsed = (time.perf_counter() - started) * 1000.0
|
||||
assert np.asarray(fields.scalar).shape == (count,)
|
||||
assert elapsed < 150.0, f"sampling {count} vertices took {elapsed:.1f} ms"
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------- remap
|
||||
def test_a_remap_gathers_the_source_pixels_the_map_names():
|
||||
field = np.arange(12, dtype=np.float32).reshape(3, 4)
|
||||
map_x = np.array([[0, 1], [2, 3]])
|
||||
map_y = np.array([[0, 0], [2, 2]])
|
||||
values, valid = remap_to_domain(field, map_x=map_x, map_y=map_y, shape_hw=(2, 2))
|
||||
assert np.array_equal(np.asarray(values), [[0.0, 1.0], [10.0, 11.0]])
|
||||
assert np.asarray(valid).all()
|
||||
|
||||
|
||||
def test_a_remap_that_has_no_source_pixel_leaves_a_hole_not_a_zero():
|
||||
field = np.full((3, 3), 5.0, dtype=np.float32)
|
||||
map_x = np.array([[0, -1], [1, 1]])
|
||||
map_y = np.array([[0, -1], [1, 1]])
|
||||
values, valid = remap_to_domain(field, map_x=map_x, map_y=map_y, shape_hw=(2, 2))
|
||||
assert np.asarray(valid).tolist() == [[True, False], [True, True]]
|
||||
assert np.isnan(np.asarray(values)[0, 1]), "a hole must not read as zero"
|
||||
assert np.asarray(values)[0, 0] == 5.0
|
||||
|
||||
|
||||
def test_a_remap_keeps_a_trailing_axis_for_vector_fields():
|
||||
flow = np.zeros((3, 3, 2), dtype=np.float32)
|
||||
flow[..., 0] = 1.0
|
||||
flow[..., 1] = 2.0
|
||||
map_x = np.array([[0, 1]])
|
||||
map_y = np.array([[1, 2]])
|
||||
values, valid = remap_to_domain(flow, map_x=map_x, map_y=map_y, shape_hw=(1, 2))
|
||||
assert np.asarray(values).shape == (1, 2, 2)
|
||||
assert np.asarray(values)[0, 0].tolist() == [1.0, 2.0]
|
||||
assert np.asarray(valid).all()
|
||||
|
||||
|
||||
def test_a_remap_of_the_wrong_shape_is_refused():
|
||||
field = np.zeros((3, 3), dtype=np.float32)
|
||||
with pytest.raises(ThreeDError) as excinfo:
|
||||
remap_to_domain(
|
||||
field, map_x=np.zeros((2, 2)), map_y=np.zeros((2, 2)), shape_hw=(3, 3)
|
||||
)
|
||||
assert excinfo.value.diagnostic.code == "field_domain_mismatch"
|
||||
|
||||
|
||||
def test_a_remap_leaves_the_result_read_only():
|
||||
field = np.zeros((2, 2), dtype=np.float32)
|
||||
values, valid = remap_to_domain(
|
||||
field, map_x=np.zeros((2, 2)), map_y=np.zeros((2, 2)), shape_hw=(2, 2)
|
||||
)
|
||||
assert not np.asarray(values).flags["WRITEABLE"]
|
||||
assert not np.asarray(valid).flags["WRITEABLE"]
|
||||
|
||||
|
||||
# ------------------------------------------------------------------- composition
|
||||
def test_the_gain_moves_positions_and_never_the_measurement():
|
||||
"""The row the whole colour scale depends on."""
|
||||
scene = synthetic.poc_scene()
|
||||
count = 9
|
||||
field = np.linspace(0.0, 1.0, count, dtype=np.float32).reshape(3, 3)
|
||||
displacement = np.zeros((3, 3, 3), dtype=np.float32)
|
||||
displacement[:, :, 2] = 0.001 # a millimetre of illustrative relief
|
||||
frame = _frame(scene, field, displacement=displacement, quality="approximate")
|
||||
composer = SceneComposer()
|
||||
quiet = composer.compose(scene, frame, DisplaySettings(deform_enabled=False))
|
||||
small = composer.compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=1.0)
|
||||
)
|
||||
large = composer.compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=50.0)
|
||||
)
|
||||
# The measurement is identical in all three.
|
||||
assert np.array_equal(np.asarray(quiet.scalar), np.asarray(small.scalar))
|
||||
assert np.array_equal(np.asarray(small.scalar), np.asarray(large.scalar))
|
||||
assert np.array_equal(np.asarray(quiet.valid), np.asarray(large.valid))
|
||||
# The positions are not.
|
||||
rest = np.asarray(small.positions_sensor_m)
|
||||
moved = np.asarray(large.positions_sensor_m)
|
||||
rest_scene = np.asarray(scene.sensing_part().positions_sensor_m)
|
||||
assert np.allclose((rest - rest_scene)[:, :2], 0.0, atol=1e-7), "the gain moved sideways"
|
||||
assert np.allclose((rest - rest_scene)[:, 2], 0.001, atol=1e-7)
|
||||
assert np.allclose((moved - rest_scene)[:, 2], 0.05, atol=1e-7)
|
||||
|
||||
|
||||
def test_an_illustrative_deformation_says_so():
|
||||
scene = synthetic.poc_scene()
|
||||
displacement = np.zeros((3, 3, 3), dtype=np.float32)
|
||||
displacement[:, :, 2] = 0.001
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
|
||||
quality="approximate")
|
||||
composed = SceneComposer().compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=3.0)
|
||||
)
|
||||
codes = [item.code for item in composed.diagnostics]
|
||||
assert DISPLAY_ILLUSTRATIVE in codes, codes
|
||||
note = next(item for item in composed.diagnostics if item.code == DISPLAY_ILLUSTRATIVE)
|
||||
assert note.severity == "info"
|
||||
assert "illustration" in note.message and "×3" in note.message
|
||||
|
||||
|
||||
def test_a_calibrated_displacement_does_not_need_the_caveat():
|
||||
scene = synthetic.poc_scene()
|
||||
displacement = np.zeros((3, 3, 3), dtype=np.float32)
|
||||
displacement[:, :, 2] = 0.0005
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
|
||||
quality="calibrated")
|
||||
composed = SceneComposer().compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=2.0)
|
||||
)
|
||||
assert DISPLAY_ILLUSTRATIVE not in [item.code for item in composed.diagnostics]
|
||||
|
||||
|
||||
def test_deformation_without_a_displacement_colours_in_place_and_says_so():
|
||||
scene = synthetic.poc_scene()
|
||||
frame = _frame(scene, np.full((3, 3), 2.0, dtype=np.float32))
|
||||
composed = SceneComposer().compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=10.0)
|
||||
)
|
||||
assert np.allclose(
|
||||
np.asarray(composed.positions_sensor_m),
|
||||
np.asarray(scene.sensing_part().positions_sensor_m),
|
||||
)
|
||||
assert any(item.code == "field_unavailable" for item in composed.diagnostics)
|
||||
|
||||
|
||||
def test_normals_are_recomputed_from_the_deformed_positions():
|
||||
"""A bump must change the shading on its slopes."""
|
||||
scene = synthetic.poc_scene()
|
||||
displacement = np.zeros((3, 3, 3), dtype=np.float32)
|
||||
# Only the centre vertex is lifted: the slopes around it have to tilt. (The
|
||||
# apex itself stays vertical, which is the correct normal for a symmetric
|
||||
# peak — asserting otherwise would be asserting a bug.)
|
||||
displacement[1, 1, 2] = 0.004
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
|
||||
quality="approximate")
|
||||
composed = SceneComposer().compose(
|
||||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=1.0)
|
||||
)
|
||||
normals = np.asarray(composed.normals_sensor)
|
||||
assert np.allclose(np.linalg.norm(normals, axis=1), 1.0, atol=1e-5)
|
||||
rest_normals = np.asarray(scene.sensing_part().normals_sensor)
|
||||
assert not np.allclose(normals, rest_normals), "the normals ignored the deformation"
|
||||
# Only the vertices whose triangles touch the lifted one change; the two
|
||||
# diagonal corners (2 and 6) share no triangle with it and correctly stay flat.
|
||||
neighbours = [0, 1, 3, 5, 7, 8]
|
||||
untouched = [2, 6]
|
||||
tilted = np.array([float(normals[index, 2]) for index in neighbours])
|
||||
assert (tilted < 0.999).all(), f"the slopes did not tilt: {tilted}"
|
||||
flat = np.array([float(normals[index, 2]) for index in untouched])
|
||||
assert np.allclose(flat, 1.0, atol=1e-6), flat
|
||||
assert normals[4, 2] == pytest.approx(1.0, abs=1e-3), (
|
||||
"the apex of a symmetric bump is vertical"
|
||||
)
|
||||
# ...and the reverse bump tilts the other way.
|
||||
upside_down = -displacement
|
||||
flipped = SceneComposer().compose(
|
||||
scene,
|
||||
_frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=upside_down,
|
||||
quality="approximate"),
|
||||
DisplaySettings(deform_enabled=True, display_gain=1.0),
|
||||
)
|
||||
flipped_normals = np.asarray(flipped.normals_sensor)
|
||||
assert np.allclose(
|
||||
flipped_normals[neighbours, 0], -normals[neighbours, 0], atol=1e-6
|
||||
), "the reverse bump must tilt the slopes the other way"
|
||||
|
||||
|
||||
def test_the_composer_refuses_a_frame_from_another_geometry():
|
||||
scene = synthetic.poc_scene()
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
|
||||
object.__setattr__(frame, "geometry_id", "someone-elses")
|
||||
with pytest.raises(ThreeDError) as excinfo:
|
||||
SceneComposer().compose(scene, frame, DisplaySettings())
|
||||
assert excinfo.value.diagnostic.code == "geometry_mismatch"
|
||||
|
||||
|
||||
def test_a_reference_frame_measures_nothing():
|
||||
scene = synthetic.poc_scene()
|
||||
rest = SceneComposer().rest_frame(scene, FrameIdentity("live", 1, 0, 0.0, 1))
|
||||
assert not np.asarray(rest.valid).any()
|
||||
assert np.isnan(np.asarray(rest.scalar)).all()
|
||||
assert rest.scalar_descriptor.quantity == "unavailable"
|
||||
assert rest.scalar_descriptor.quality == "display_only"
|
||||
assert np.allclose(
|
||||
np.asarray(rest.positions_sensor_m),
|
||||
np.asarray(scene.sensing_part().positions_sensor_m),
|
||||
)
|
||||
|
||||
|
||||
def test_the_composed_frame_carries_read_only_arrays():
|
||||
scene = synthetic.poc_scene()
|
||||
composed = SceneComposer().compose(
|
||||
scene, _frame(scene, np.zeros((3, 3), dtype=np.float32)), DisplaySettings()
|
||||
)
|
||||
for name in ("positions_sensor_m", "normals_sensor", "scalar", "valid"):
|
||||
value = getattr(composed, name)
|
||||
assert not value.flags["WRITEABLE"], f"{name} is writable"
|
||||
assert value.flags["C_CONTIGUOUS"]
|
||||
|
||||
|
||||
def test_the_composer_does_not_rebuild_the_binding_or_the_indices():
|
||||
"""Composition must be cheap enough to run per frame."""
|
||||
scene = synthetic.poc_scene()
|
||||
composer = SceneComposer()
|
||||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
|
||||
for _ in range(3):
|
||||
composer.compose(scene, frame, DisplaySettings())
|
||||
assert composer.last_stats.total_ms < 50.0, composer.last_stats
|
||||
Reference in New Issue
Block a user