ykcheungab
483 lines
21 KiB
Python
483 lines
21 KiB
Python
"""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: 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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import numpy as np
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import pytest
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from orisys_app_shared.scene3d import synthetic
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from orisys_app_shared.scene3d.composer import DISPLAY_ILLUSTRATIVE, SceneComposer
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from orisys_app_shared.scene3d.contracts import (
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DisplaySettings,
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FieldDescriptor,
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FrameIdentity,
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SurfaceFieldFrame,
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ThreeDError,
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freeze,
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)
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from orisys_app_shared.scene3d.sampling import (
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remap_to_domain,
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sample_vertex_displacement,
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)
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# --------------------------------------------------------------------- helpers
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def _frame(scene, scalar, valid=None, *, displacement=None, quality=None,
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identity=None, domain=None, shape=None):
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scalar = np.asarray(scalar, dtype=np.float32)
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if valid is None:
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valid = np.ones(scalar.shape, dtype=bool)
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frame = SurfaceFieldFrame(
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identity=identity or FrameIdentity("live", 1, 1, 0.1, generation=1),
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geometry_id=scene.geometry_id,
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field_domain_id=domain or scene.field_domain_id,
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scalar=freeze(scalar, dtype=np.float32),
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scalar_descriptor=FieldDescriptor("flow_magnitude", "px", "approximate", False),
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valid=freeze(np.asarray(valid, dtype=bool), dtype=np.bool_),
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displacement_sensor_m=(
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freeze(np.asarray(displacement, dtype=np.float32), dtype=np.float32)
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if displacement is not None
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else None
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),
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displacement_quality=quality,
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)
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if shape is not None:
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object.__setattr__(frame, "scalar", freeze(np.asarray(shape, dtype=np.float32), dtype=np.float32))
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return frame
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def _binding(shape=(3, 3), indices=None, weights=None):
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"""The identity binding of the PoC scene, optionally overridden."""
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scene = synthetic.poc_scene()
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binding = scene.binding
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if indices is None and weights is None and shape == (3, 3):
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return binding
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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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# -------------------------------------------------------- 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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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_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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valid = np.ones((3, 3), dtype=bool)
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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] = 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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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_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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SceneComposer().compose(scene, frame, DisplaySettings())
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assert excinfo.value.diagnostic.code == "field_domain_mismatch"
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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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SceneComposer().compose(scene, frame, DisplaySettings())
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assert excinfo.value.diagnostic.code == "field_domain_mismatch"
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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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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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def test_a_remap_gathers_the_source_pixels_the_map_names():
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field = np.arange(12, dtype=np.float32).reshape(3, 4)
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map_x = np.array([[0, 1], [2, 3]])
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map_y = np.array([[0, 0], [2, 2]])
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values, valid = remap_to_domain(field, map_x=map_x, map_y=map_y, shape_hw=(2, 2))
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assert np.array_equal(np.asarray(values), [[0.0, 1.0], [10.0, 11.0]])
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assert np.asarray(valid).all()
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def test_a_remap_that_has_no_source_pixel_leaves_a_hole_not_a_zero():
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field = np.full((3, 3), 5.0, dtype=np.float32)
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map_x = np.array([[0, -1], [1, 1]])
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map_y = np.array([[0, -1], [1, 1]])
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values, valid = remap_to_domain(field, map_x=map_x, map_y=map_y, shape_hw=(2, 2))
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assert np.asarray(valid).tolist() == [[True, False], [True, True]]
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assert np.isnan(np.asarray(values)[0, 1]), "a hole must not read as zero"
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assert np.asarray(values)[0, 0] == 5.0
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def test_a_remap_keeps_a_trailing_axis_for_vector_fields():
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flow = np.zeros((3, 3, 2), dtype=np.float32)
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flow[..., 0] = 1.0
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flow[..., 1] = 2.0
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map_x = np.array([[0, 1]])
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map_y = np.array([[1, 2]])
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values, valid = remap_to_domain(flow, map_x=map_x, map_y=map_y, shape_hw=(1, 2))
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assert np.asarray(values).shape == (1, 2, 2)
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assert np.asarray(values)[0, 0].tolist() == [1.0, 2.0]
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assert np.asarray(valid).all()
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def test_a_remap_of_the_wrong_shape_is_refused():
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field = np.zeros((3, 3), dtype=np.float32)
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with pytest.raises(ThreeDError) as excinfo:
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remap_to_domain(
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field, map_x=np.zeros((2, 2)), map_y=np.zeros((2, 2)), shape_hw=(3, 3)
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)
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assert excinfo.value.diagnostic.code == "field_domain_mismatch"
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def test_a_remap_leaves_the_result_read_only():
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field = np.zeros((2, 2), dtype=np.float32)
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values, valid = remap_to_domain(
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field, map_x=np.zeros((2, 2)), map_y=np.zeros((2, 2)), shape_hw=(2, 2)
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)
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assert not np.asarray(values).flags["WRITEABLE"]
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assert not np.asarray(valid).flags["WRITEABLE"]
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# ------------------------------------------------------------------- composition
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def test_the_gain_moves_positions_and_never_the_measurement():
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"""The row the whole colour scale depends on."""
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scene = synthetic.poc_scene()
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count = 9
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field = np.linspace(0.0, 1.0, count, dtype=np.float32).reshape(3, 3)
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displacement = np.zeros((3, 3, 3), dtype=np.float32)
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displacement[:, :, 2] = 0.001 # a millimetre of illustrative relief
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frame = _frame(scene, field, displacement=displacement, quality="approximate")
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composer = SceneComposer()
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quiet = composer.compose(scene, frame, DisplaySettings(deform_enabled=False))
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small = composer.compose(
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=1.0)
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)
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large = composer.compose(
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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.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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rest_scene = np.asarray(scene.sensing_part().positions_sensor_m)
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assert np.allclose((rest - rest_scene)[:, :2], 0.0, atol=1e-7), "the gain moved sideways"
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assert np.allclose((rest - rest_scene)[:, 2], 0.001, atol=1e-7)
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assert np.allclose((moved - rest_scene)[:, 2], 0.05, atol=1e-7)
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def test_an_illustrative_deformation_says_so():
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scene = synthetic.poc_scene()
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displacement = np.zeros((3, 3, 3), dtype=np.float32)
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displacement[:, :, 2] = 0.001
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
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quality="approximate")
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composed = SceneComposer().compose(
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=3.0)
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)
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codes = [item.code for item in composed.diagnostics]
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assert DISPLAY_ILLUSTRATIVE in codes, codes
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note = next(item for item in composed.diagnostics if item.code == DISPLAY_ILLUSTRATIVE)
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assert note.severity == "info"
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assert "illustration" in note.message and "×3" in note.message
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def test_a_calibrated_displacement_does_not_need_the_caveat():
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scene = synthetic.poc_scene()
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displacement = np.zeros((3, 3, 3), dtype=np.float32)
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displacement[:, :, 2] = 0.0005
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
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quality="calibrated")
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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 DISPLAY_ILLUSTRATIVE not in [item.code for item in composed.diagnostics]
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def test_deformation_without_a_displacement_colours_in_place_and_says_so():
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scene = synthetic.poc_scene()
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frame = _frame(scene, np.full((3, 3), 2.0, dtype=np.float32))
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composed = SceneComposer().compose(
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=10.0)
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)
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assert np.allclose(
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np.asarray(composed.positions_sensor_m),
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np.asarray(scene.sensing_part().positions_sensor_m),
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)
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assert any(item.code == "field_unavailable" for item in composed.diagnostics)
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def test_normals_are_recomputed_from_the_deformed_positions():
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"""A bump must change the shading on its slopes."""
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scene = synthetic.poc_scene()
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displacement = np.zeros((3, 3, 3), dtype=np.float32)
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# Only the centre vertex is lifted: the slopes around it have to tilt. (The
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# apex itself stays vertical, which is the correct normal for a symmetric
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# peak — asserting otherwise would be asserting a bug.)
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displacement[1, 1, 2] = 0.004
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frame = _frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=displacement,
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quality="approximate")
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composed = SceneComposer().compose(
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scene, frame, DisplaySettings(deform_enabled=True, display_gain=1.0)
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)
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normals = np.asarray(composed.normals_sensor)
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assert np.allclose(np.linalg.norm(normals, axis=1), 1.0, atol=1e-5)
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rest_normals = np.asarray(scene.sensing_part().normals_sensor)
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assert not np.allclose(normals, rest_normals), "the normals ignored the deformation"
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# Only the vertices whose triangles touch the lifted one change; the two
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# diagonal corners (2 and 6) share no triangle with it and correctly stay flat.
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neighbours = [0, 1, 3, 5, 7, 8]
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untouched = [2, 6]
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tilted = np.array([float(normals[index, 2]) for index in neighbours])
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assert (tilted < 0.999).all(), f"the slopes did not tilt: {tilted}"
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flat = np.array([float(normals[index, 2]) for index in untouched])
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assert np.allclose(flat, 1.0, atol=1e-6), flat
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assert normals[4, 2] == pytest.approx(1.0, abs=1e-3), (
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"the apex of a symmetric bump is vertical"
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)
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# ...and the reverse bump tilts the other way.
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upside_down = -displacement
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flipped = SceneComposer().compose(
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scene,
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_frame(scene, np.zeros((3, 3), dtype=np.float32), displacement=upside_down,
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quality="approximate"),
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DisplaySettings(deform_enabled=True, display_gain=1.0),
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)
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flipped_normals = np.asarray(flipped.normals_sensor)
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assert np.allclose(
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flipped_normals[neighbours, 0], -normals[neighbours, 0], atol=1e-6
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), "the reverse bump must tilt the slopes the other way"
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def test_the_composer_refuses_a_frame_from_another_geometry():
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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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object.__setattr__(frame, "geometry_id", "someone-elses")
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with pytest.raises(ThreeDError) as excinfo:
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SceneComposer().compose(scene, frame, DisplaySettings())
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assert excinfo.value.diagnostic.code == "geometry_mismatch"
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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.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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)
|
||
|
||
|
||
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"):
|
||
value = getattr(composed, name)
|
||
assert not value.flags["WRITEABLE"], f"{name} is writable"
|
||
assert value.flags["C_CONTIGUOUS"]
|
||
for name in ("scalar", "valid"):
|
||
value = getattr(composed.field, name)
|
||
assert not value.flags["WRITEABLE"], f"field.{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
|
||
|
||
|
||
# --------------------------------------------- stage 9: reuse and real numbers
|
||
def test_colouring_in_place_reuses_the_assets_own_geometry():
|
||
"""No displacement to draw means the picture *is* the asset: nothing to recompute.
|
||
|
||
Normals were recomputed from the same untouched positions on every frame, and the
|
||
measured cost was the bulk of a 20k-vertex compose. The reused arrays are the
|
||
asset's own (frozen) ones, so nothing is copied either.
|
||
"""
|
||
scene = synthetic.poc_scene()
|
||
part = scene.sensing_part()
|
||
composer = SceneComposer()
|
||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
|
||
composed = composer.compose(scene, frame, DisplaySettings())
|
||
assert composed.positions_sensor_m is part.positions_sensor_m
|
||
assert composed.normals_sensor is part.normals_sensor
|
||
# A deform request with nothing to deform is the same case, and says so.
|
||
composed = composer.compose(
|
||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=5.0)
|
||
)
|
||
assert composed.positions_sensor_m is part.positions_sensor_m
|
||
assert any(item.code == "field_unavailable" for item in composed.diagnostics)
|
||
|
||
|
||
def test_a_calibrated_displacement_still_recomputes_positions_and_normals():
|
||
"""The cache is for the colour-in-place case only, never for a deformed surface."""
|
||
scene = synthetic.poc_scene()
|
||
part = scene.sensing_part()
|
||
displacement = np.zeros((3, 3, 3), dtype=np.float32)
|
||
displacement[1, 1, 2] = 0.5
|
||
frame = _frame(
|
||
scene,
|
||
np.ones((3, 3), dtype=np.float32),
|
||
displacement=displacement,
|
||
quality="calibrated",
|
||
)
|
||
composed = SceneComposer().compose(
|
||
scene, frame, DisplaySettings(deform_enabled=True, display_gain=2.0)
|
||
)
|
||
assert composed.deformed
|
||
assert composed.positions_sensor_m is not part.positions_sensor_m
|
||
assert composed.normals_sensor is not part.normals_sensor
|
||
assert not np.allclose(
|
||
np.asarray(composed.positions_sensor_m), np.asarray(part.positions_sensor_m)
|
||
)
|
||
|
||
|
||
def test_the_composed_frame_carries_its_own_cost():
|
||
"""The panel's "compose ms" reads this, not the composer's shared counter."""
|
||
scene = synthetic.poc_scene()
|
||
composer = SceneComposer()
|
||
frame = _frame(scene, np.zeros((3, 3), dtype=np.float32))
|
||
composed = composer.compose(scene, frame, DisplaySettings())
|
||
assert composed.compose_ms > 0.0
|
||
assert composed.compose_ms == pytest.approx(composer.last_stats.total_ms)
|
||
# A second compose rewrites ``last_stats``; the first frame's number must not move.
|
||
first = composed.compose_ms
|
||
composer.compose(scene, frame, DisplaySettings())
|
||
assert composed.compose_ms == first
|