ykcheungab
7d1fca4c93
- What:
1. **采集侧声明每个派生数组的归属**（`acquisition/models.py`）：`SdkPacket` 新增
`flow_valid/flow_frame_id/depth_valid/depth_frame_id/forces_valid`（`None` = 未声明）。两个真实
生产者都填写：`finger_worker`/`sdk_worker` 逐帧记录"该数组实际算出来的 frame_id"，链失败时
`*_valid=False` 并把上一次成功帧号带出来。光流与形变链分开判定（力读取失败不等于光流失败），
但算法链失败时本帧的一切派生量都不可声明。
2. **adapter 按声明收数据**（`scene3d/adapters.py`）：`_field_validity()` 三态——未声明 → 拒绝并报
`field_unverified`（没声明就不算数）；声明为假 → `field_stale`（把 `invalid_reason` 带进诊断）；
声明帧号不是本帧 → `field_stale`（两个帧号都写进 details）。`_intersect_device_mask` 换成
`_device_mask`：设备 mask 形状不符**拒绝该帧**（`field_domain_mismatch`，两个形状都写进诊断），
既不拉伸也不静默忽略。发布的帧带 `computed_frame_id`，身份一路带到显示侧。
3. **契约**（`scene3d/contracts.py`）：`SceneState` 加 `"stale"`；诊断码加 `field_stale`/`field_unverified`
（warning）；`SurfaceFieldFrame.computed_frame_id` 与 `RenderFrame.computed_frame_id`（由 composer
原样透传）；`validate_surface_frame` 校验帧号非负且不晚于所属帧。新增 locale：
`scene3d.state_stale`（中英各一条）。
4. **协调器不再"边失败边报 live"**（`scene3d/coordinator.py`）：新增 `_stale_since` 宽限状态机与
`note_field_failure()`——字段被拒、帧被判 invalid、compose 抛错、或合成结果的 `computed_frame_id`
落后于本帧，都立即把状态改为 `stale` 并保留最后一帧；宽限（`stale_grace_s`，默认 1.0 s）到期后
回参考模型并转 `no_data`；收到好帧即回 `live` 并清掉宽限。顺带修掉"等待首帧时每个 tick 都把参考
模型重新 present 一次"（`_rest_presented`，16 ms 一次的无谓上传）。
5. **诊断真正到达界面**（`scene3d/view.py`）：`submit_packet()` 在 adapter 拒绝时把
`adapter.last_diagnostic` 交给 `note_field_failure()`；`tick()` 把协调器诊断的变化经已有
`diagnosticRaised` 冒泡（协调器自身仍然零 Qt 依赖）。新增 `_snapshot_diagnostic()` 与 `_adapter`
引用（后续"按能力禁用控件"也要问它）。
- Why: 审查报告 P1/R2：`FingerFrameAdapter.snapshot()` 从不读 `valid`/`stale_forces`/`invalid_reason`，
只看到有限的 `flow` 就当作新数据上色（复现：`valid=False, stale_forces=True` + 有限 flow → 仍有有效
着色点、diagnostic=None）；compose 抛错只写 `last_diagnostic`，画面与 `state` 保持不变；
`snapshot()` 返回 None 时诊断无人读取；mask 域不符时静默忽略会扩大可信范围。力读数失败不该机械地
判死三维，但算法失败也不能因为旧数组是有限值就当成新数据——所以按**字段级来源**处理，并让失效有
明确的、可见的状态而不是继续保持 live。
- Verification:
· `test_scene3d_adapters.py` 23 通过（+6 新增）：stale flow 被拒且带原因、未声明 flow → `field_unverified`、
帧号不符 → `field_stale`（details 两个帧号）、新帧记录 `computed_frame_id`、box 侧"形变链失败仍用光流"、
box 全部字段不可声明时拒绝；mask 域不符由"被忽略"改为"拒绝该帧"（原断言已改）。
· `test_scene3d_coordinator.py` 30 通过（+6 新增）：落后帧号的合成结果永不上屏且状态 stale、
字段被拒 → 宽限内保留画面/宽限后回参考模型/好帧回 live、compose 抛错不再保持 live、invalid 帧也计入
宽限。
· `test_scene3d_view.py`（+3 新增，offscreen 可跑）：adapter 拒绝 → 协调器 stale 且诊断经
`diagnosticRaised` 回到面板、`scene3d.state_stale` 不是裸键；未声明字段 → `field_unverified`；
新鲜字段照常上屏回到 live。
· 全量：apps/studio 228 项 0 失败 14 跳过；shared 301 项 0 失败 1 跳过（`--junitxml` 计数）。
- Not in this change: `docs/architecture/studio-3d-contracts.pyi` 与新契约的同步放在阶段 6 的文档提交里
一起做（本阶段契约改动较多，避免每提交改一次文档）；设备几何身份（R3）、资产加载请求号（R7）、
二维后端统一、限速与真实统计均未动；真机上"链失败时 VRAW 是否也过期"这一条仍需实测（若证明链失败
不影响 VRAW，`flow_valid` 放宽为只看读取结果是一行改动，已写进计划的风险项）。
500 lines
19 KiB
Python
500 lines
19 KiB
Python
"""Stage 3 acceptance for the frame adapters.
|
|
|
|
The adapters are the boundary between the acquisition thread's arrays and the
|
|
scene, so the tests are about *what they publish and what they refuse*: a field in
|
|
the right grid, read-only, with the right unit and quality — and nothing at all when
|
|
the grid does not match, with a diagnostic that says which shapes were seen.
|
|
"""
|
|
|
|
from __future__ import annotations
|
|
|
|
from dataclasses import dataclass
|
|
from typing import Optional
|
|
|
|
import numpy as np
|
|
import pytest
|
|
|
|
from orisys_app_shared.scene3d import synthetic
|
|
from orisys_app_shared.scene3d.contracts import (
|
|
ExpectedGeometry,
|
|
FrameIdentity,
|
|
ThreeDError,
|
|
validate_surface_frame,
|
|
)
|
|
from orisys_studio.scene3d.adapters import (
|
|
DEPTH_RESPONSE,
|
|
FLOW_MAGNITUDE,
|
|
BoxFrameAdapter,
|
|
FingerFrameAdapter,
|
|
flow_magnitude,
|
|
)
|
|
|
|
|
|
@dataclass
|
|
class FakePacket:
|
|
"""The parts of ``SdkPacket`` the adapters look at.
|
|
|
|
The provenance flags default to *stated fresh*: that is what both production
|
|
workers now write, and it keeps the older tests about grids and units about grids
|
|
and units. A test that wants a stale or unstated field says so — that is the
|
|
behaviour under test.
|
|
"""
|
|
|
|
flow: Optional[np.ndarray] = None
|
|
depth: Optional[np.ndarray] = None
|
|
valid_mask: Optional[np.ndarray] = None
|
|
frame_id: int = 1
|
|
invalid_reason: str = ""
|
|
flow_valid: Optional[bool] = True
|
|
flow_frame_id: Optional[int] = None
|
|
depth_valid: Optional[bool] = True
|
|
depth_frame_id: Optional[int] = None
|
|
forces_valid: Optional[bool] = True
|
|
|
|
|
|
def _identity(generation: int = 1) -> FrameIdentity:
|
|
return FrameIdentity("live", 1, 1, 0.1, generation=generation)
|
|
|
|
|
|
@pytest.fixture
|
|
def scene():
|
|
return synthetic.poc_scene()
|
|
|
|
|
|
# ------------------------------------------------------------------- flow helper
|
|
def test_the_flow_magnitude_handles_both_shapes():
|
|
flow = np.zeros((2, 3, 2), dtype=np.float32)
|
|
flow[..., 0] = 3.0
|
|
flow[..., 1] = 4.0
|
|
assert np.allclose(flow_magnitude(FakePacket(flow=flow)), 5.0)
|
|
planar = np.arange(4, dtype=np.float32).reshape(2, 2)
|
|
assert np.array_equal(flow_magnitude(FakePacket(flow=planar)), planar)
|
|
assert flow_magnitude(FakePacket()) is None
|
|
assert flow_magnitude(FakePacket(flow=np.zeros((2, 2, 3), dtype=np.float32))) is None
|
|
|
|
|
|
# ----------------------------------------------------------------- finger adapter
|
|
def test_the_finger_adapter_publishes_a_field_already_in_the_domain(scene):
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
flow = np.zeros((*scene.shape_hw, 2), dtype=np.float32)
|
|
flow[0, 0, 0] = 3.0
|
|
frame = adapter.snapshot(FakePacket(flow=flow), runtime=None, identity=_identity())
|
|
assert frame is not None
|
|
assert validate_surface_frame(frame) == ()
|
|
assert frame.geometry_id == scene.geometry_id
|
|
assert frame.field_domain_id == scene.field_domain_id
|
|
assert frame.scalar_descriptor == FLOW_MAGNITUDE
|
|
assert frame.scalar_descriptor.unit == "px"
|
|
assert frame.scalar_descriptor.quality == "approximate"
|
|
assert np.asarray(frame.scalar)[0, 0] == 3.0
|
|
assert np.asarray(frame.valid).all()
|
|
assert not np.asarray(frame.scalar).flags["WRITEABLE"]
|
|
assert frame.displacement_sensor_m is None, (
|
|
"an uncalibrated displacement must not be invented"
|
|
)
|
|
|
|
|
|
def test_the_finger_adapter_remaps_through_the_unroll_map():
|
|
map_x = np.array([[0, 1, 2], [0, 1, 2], [0, 1, 2]], dtype=np.float32)
|
|
map_y = np.array([[2, 2, 2], [1, 1, 1], [0, 0, 0]], dtype=np.float32)
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id="g", field_domain_id="d", shape_hw=(3, 3),
|
|
map_x=map_x, map_y=map_y,
|
|
)
|
|
flow = np.zeros((3, 3, 2), dtype=np.float32)
|
|
flow[..., 0] = 2.0
|
|
frame = adapter.snapshot(FakePacket(flow=flow), runtime=None, identity=_identity())
|
|
assert frame is not None
|
|
assert np.allclose(np.asarray(frame.scalar), 2.0)
|
|
assert np.asarray(frame.valid).all()
|
|
|
|
|
|
def test_a_remap_with_a_hole_is_invalid_there_and_does_not_read_as_zero():
|
|
map_x = np.array([[0, -1], [0, 0]], dtype=np.float32)
|
|
map_y = np.array([[0, -1], [0, 0]], dtype=np.float32)
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id="g", field_domain_id="d", shape_hw=(2, 2),
|
|
map_x=map_x, map_y=map_y,
|
|
)
|
|
flow = np.full((2, 2, 2), 1.0, dtype=np.float32)
|
|
frame = adapter.snapshot(FakePacket(flow=flow), runtime=None, identity=_identity())
|
|
assert frame is not None
|
|
assert np.asarray(frame.valid).tolist() == [[True, False], [True, True]]
|
|
assert np.isnan(np.asarray(frame.scalar)[0, 1])
|
|
|
|
|
|
def test_the_finger_adapter_refuses_a_grid_it_cannot_place(scene):
|
|
"""No remap and the wrong grid: say which shapes were seen, and publish nothing."""
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
flow = np.zeros((40, 30, 2), dtype=np.float32)
|
|
frame = adapter.snapshot(FakePacket(flow=flow), runtime=None, identity=_identity())
|
|
assert frame is None
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_domain_mismatch"
|
|
assert item.details["flow"] == "40x30"
|
|
assert item.details["domain"] == f"{scene.shape_hw[0]}x{scene.shape_hw[1]}"
|
|
|
|
|
|
def test_the_finger_adapter_without_flow_says_so(scene):
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
assert adapter.snapshot(FakePacket(), runtime=None, identity=_identity()) is None
|
|
assert adapter.last_diagnostic is not None
|
|
assert adapter.last_diagnostic.code == "field_unavailable"
|
|
|
|
|
|
def test_the_finger_adapter_can_be_built_from_a_domain(scene):
|
|
from orisys_app_shared.scene3d.legacy import load_legacy_domain
|
|
|
|
map_path = _run_map()
|
|
if map_path is None:
|
|
pytest.skip("the shipped unroll map is not present")
|
|
domain = load_legacy_domain(map_path)
|
|
adapter = FingerFrameAdapter.from_domain(domain, geometry_id="geom")
|
|
assert adapter.shape_hw == domain.shape_hw
|
|
assert adapter.field_domain_id == domain.domain_id
|
|
assert adapter.map_x is not None and adapter.map_y is not None, (
|
|
"the domain must carry the unroll map for the adapter to use"
|
|
)
|
|
assert domain.source_hw == (288, 512), domain.source_hw
|
|
|
|
|
|
def test_the_shipped_map_cannot_be_applied_to_the_shipped_flow():
|
|
"""Why the app must not remap the finger's flow: the map is domain→*source*.
|
|
|
|
The unroll map is the same size as the UV domain, but its values are pixel
|
|
coordinates in the 512x288 source image — not in the 300x280 domain. The live
|
|
flow is already computed on the unrolled frame, so feeding it through this map
|
|
would be a double remap: it would index the flow at source-pixel coordinates.
|
|
This test pins the reason the app passes no map, so a later "improvement" has to
|
|
argue with it.
|
|
|
|
Note the asymmetry that makes the mistake look plausible: in x the map exceeds
|
|
the domain's column count (so it would read out of range), while in y it stays
|
|
below the row count (so it would silently read the wrong rows). Half of a
|
|
double remap crashes and half of it lies.
|
|
"""
|
|
map_path = _run_map()
|
|
if map_path is None:
|
|
pytest.skip("the shipped unroll map is not present")
|
|
from orisys_app_shared.scene3d.legacy import load_legacy_domain
|
|
|
|
domain = load_legacy_domain(map_path)
|
|
assert domain.map_x is not None and domain.map_y is not None
|
|
rows, columns = domain.shape_hw
|
|
source_rows, source_columns = domain.source_hw
|
|
assert (rows, columns) == (300, 280) and (source_rows, source_columns) == (288, 512)
|
|
|
|
# Bounded by the source, not by the domain: that is what makes them source pixels.
|
|
assert 0.0 <= float(domain.map_x[domain.map_x >= 0].max()) <= source_columns - 1
|
|
assert 0.0 <= float(domain.map_y[domain.map_y >= 0].max()) <= source_rows - 1
|
|
assert float(domain.map_x.max()) > columns - 1, (
|
|
"x would index past the last column of a 280-wide flow field"
|
|
)
|
|
assert float(domain.map_y.max()) > rows - 1 or source_rows <= rows, (
|
|
"y stays inside the 300-row field: the y half of the mistake is silent"
|
|
)
|
|
|
|
|
|
def test_the_live_flow_is_already_the_scene_domain():
|
|
"""The measurement behind that decision, taken from the shipping config.
|
|
|
|
``camera.resolution_stitch`` is what ``Sensor`` sizes its flow buffer from and
|
|
what the unroll stage outputs, so the flow grid *is* the UV domain. If a future
|
|
config changes that, this test fails and the adapter wiring has to be revisited
|
|
rather than the numbers quietly not matching.
|
|
"""
|
|
import json
|
|
from pathlib import Path
|
|
|
|
config = Path(__file__).resolve().parents[1] / "config" / "sensors" / "finger"
|
|
map_path = _run_map()
|
|
if not (config / "sensor.json").is_file() or map_path is None:
|
|
pytest.skip("the finger config and the unroll map are needed")
|
|
camera = json.loads((config / "sensor.json").read_text(encoding="utf-8"))["camera"]
|
|
resolution = camera["resolution_stitch"]
|
|
# Sensor builds `flow` as (resolution_stitch[1], resolution_stitch[0]).
|
|
flow_hw = (int(resolution[1]), int(resolution[0]))
|
|
from orisys_app_shared.scene3d.legacy import load_legacy_domain
|
|
|
|
domain = load_legacy_domain(map_path)
|
|
assert flow_hw == tuple(domain.shape_hw) == (300, 280)
|
|
|
|
|
|
def test_the_finger_adapter_does_not_colour_outside_the_uv_island(scene):
|
|
"""The device mask is what says where the surface is; outside it there is none."""
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
flow = np.zeros((*scene.shape_hw, 2), dtype=np.float32)
|
|
flow[..., 0] = 1.0
|
|
mask = np.zeros(scene.shape_hw, dtype=bool)
|
|
mask[1, 1] = True
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow, valid_mask=mask), runtime=None, identity=_identity()
|
|
)
|
|
assert frame is not None
|
|
valid = np.asarray(frame.valid)
|
|
assert valid.sum() == 1 and bool(valid[1, 1])
|
|
assert np.asarray(frame.scalar)[0, 0] == 1.0, (
|
|
"the scalar is kept as measured; only validity says it is not a measurement"
|
|
)
|
|
|
|
|
|
def test_a_device_mask_from_another_grid_refuses_the_frame(scene):
|
|
"""Neither stretching it nor ignoring it is honest — so the frame is refused."""
|
|
adapter = FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
flow = np.ones((*scene.shape_hw, 2), dtype=np.float32)
|
|
wrong = np.zeros((7, 7), dtype=bool)
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow, valid_mask=wrong), runtime=None, identity=_identity()
|
|
)
|
|
assert frame is None, "a mask from another grid must not widen the trusted area"
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_domain_mismatch"
|
|
assert item.details["mask"] == "7x7"
|
|
assert item.details["domain"] == f"{scene.shape_hw[0]}x{scene.shape_hw[1]}"
|
|
|
|
|
|
# ------------------------------------------------- field provenance (stage 6, R2)
|
|
def _finger(scene) -> FingerFrameAdapter:
|
|
return FingerFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
|
|
|
|
def test_a_stale_flow_is_refused_instead_of_coloured(scene):
|
|
"""R2: the array is still finite, but it is not this frame's measurement.
|
|
|
|
This is the audit's reproduction: a packet with ``valid=False``/``stale_forces``
|
|
and a filled ``flow`` used to be coloured as valid data with no diagnostic.
|
|
"""
|
|
adapter = _finger(scene)
|
|
flow = np.full((*scene.shape_hw, 2), 4.0, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(
|
|
flow=flow,
|
|
flow_valid=False,
|
|
invalid_reason="compute: ValueError: boom",
|
|
),
|
|
runtime=None,
|
|
identity=_identity(),
|
|
)
|
|
assert frame is None, "a failed chain's leftover flow was coloured as current"
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_stale"
|
|
assert "boom" in item.message
|
|
|
|
|
|
def test_an_unstated_flow_is_unverified_not_fresh(scene):
|
|
"""No statement is not the same as "it is mine"."""
|
|
adapter = _finger(scene)
|
|
flow = np.full((*scene.shape_hw, 2), 1.0, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow, flow_valid=None), runtime=None, identity=_identity()
|
|
)
|
|
assert frame is None
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_unverified"
|
|
|
|
|
|
def test_flow_computed_for_another_frame_is_refused(scene):
|
|
adapter = _finger(scene)
|
|
flow = np.full((*scene.shape_hw, 2), 2.0, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow, flow_frame_id=3),
|
|
runtime=None,
|
|
identity=_identity(), # frame_id == 1
|
|
)
|
|
assert frame is None
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_stale"
|
|
assert item.details["computed"] == "3" and item.details["frame"] == "1"
|
|
|
|
|
|
def test_a_fresh_flow_records_the_frame_it_belongs_to(scene):
|
|
"""The identity travels with the frame, so the display side can re-check it."""
|
|
adapter = _finger(scene)
|
|
flow = np.full((*scene.shape_hw, 2), 3.0, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow, flow_frame_id=1), runtime=None, identity=_identity()
|
|
)
|
|
assert frame is not None
|
|
assert frame.computed_frame_id == 1
|
|
assert validate_surface_frame(frame) == ()
|
|
|
|
|
|
def test_the_box_adapter_skips_a_stale_depth_and_uses_the_flow(scene):
|
|
"""A failed deformation chain does not have to cost the flow as well."""
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
depth = np.full(scene.shape_hw, 0.5, dtype=np.float32)
|
|
flow = np.zeros((*scene.shape_hw, 2), dtype=np.float32)
|
|
flow[..., 0] = 1.0
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=depth, depth_valid=False, flow=flow),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is not None and frame.scalar_descriptor == FLOW_MAGNITUDE
|
|
assert np.allclose(np.asarray(frame.scalar), 1.0)
|
|
|
|
|
|
def test_the_box_adapter_refuses_when_no_field_is_its_own(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
depth = np.full(scene.shape_hw, 0.5, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=depth, depth_valid=False),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is None
|
|
item = adapter.last_diagnostic
|
|
assert item is not None and item.code == "field_stale"
|
|
|
|
|
|
def _run_map():
|
|
from pathlib import Path
|
|
|
|
root = Path(__file__).resolve().parents[1] / "config" / "sensors" / "finger" / "assets"
|
|
for name in ("30fps-0703", "visualization"):
|
|
path = root / name / "unroll_map_uv_s0.4.npz"
|
|
if path.is_file():
|
|
return path
|
|
for path in sorted(root.glob("*/unroll_map_uv*.npz")):
|
|
return path
|
|
return None
|
|
|
|
|
|
# -------------------------------------------------------------------- box adapter
|
|
def test_the_box_adapter_prefers_the_depth_response(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
depth = np.full(scene.shape_hw, 0.25, dtype=np.float32)
|
|
flow = np.ones((*scene.shape_hw, 2), dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=depth, flow=flow),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is not None
|
|
assert frame.scalar_descriptor == DEPTH_RESPONSE
|
|
assert frame.scalar_descriptor.unit == "1", "a deformation response is not a length"
|
|
assert np.allclose(np.asarray(frame.scalar), 0.25)
|
|
|
|
|
|
def test_the_box_adapter_falls_back_to_the_flow_magnitude(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
flow = np.zeros((*scene.shape_hw, 2), dtype=np.float32)
|
|
flow[..., 0] = 1.0
|
|
frame = adapter.snapshot(
|
|
FakePacket(flow=flow),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is not None and frame.scalar_descriptor == FLOW_MAGNITUDE
|
|
assert np.allclose(np.asarray(frame.scalar), 1.0)
|
|
|
|
|
|
def test_the_device_mask_wins_over_the_finiteness_test(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
depth = np.ones(scene.shape_hw, dtype=np.float32)
|
|
mask = np.ones(scene.shape_hw, dtype=bool)
|
|
mask[0, 0] = False
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=depth, valid_mask=mask),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is not None
|
|
assert not bool(np.asarray(frame.valid)[0, 0])
|
|
assert np.asarray(frame.valid).sum() == mask.sum()
|
|
|
|
|
|
def test_the_box_adapter_refuses_a_device_with_another_domain(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=np.ones(scene.shape_hw, dtype=np.float32)),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, (9, 9)),
|
|
)
|
|
assert frame is None
|
|
assert adapter.last_diagnostic is not None
|
|
assert adapter.last_diagnostic.code == "field_domain_mismatch"
|
|
|
|
|
|
def test_the_box_adapter_with_nothing_usable_says_what_it_saw(scene):
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=np.ones((5, 5), dtype=np.float32)),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is None
|
|
assert adapter.last_diagnostic is not None
|
|
assert adapter.last_diagnostic.details["depth"] == "5x5"
|
|
|
|
|
|
def test_a_published_frame_must_not_share_memory_with_the_packet(scene):
|
|
"""The producer keeps writing its arrays; the frame must not alias them."""
|
|
adapter = BoxFrameAdapter(
|
|
geometry_id=scene.geometry_id,
|
|
field_domain_id=scene.field_domain_id,
|
|
shape_hw=scene.shape_hw,
|
|
)
|
|
depth = np.zeros(scene.shape_hw, dtype=np.float32)
|
|
frame = adapter.snapshot(
|
|
FakePacket(depth=depth),
|
|
_identity(),
|
|
ExpectedGeometry("box", "rev", scene.geometry_id, scene.field_domain_id, scene.shape_hw),
|
|
)
|
|
assert frame is not None
|
|
assert not frame.scalar.flags["WRITEABLE"]
|
|
with pytest.raises(ValueError):
|
|
np.asarray(frame.scalar)[0, 0] = 5.0
|