split example visualizaiton pipeline

tests/test_finger_runtime.py

@@ -0,0 +1,180 @@
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+import orisys
+from orisys.finger import TactileProcessor, load_finger_export_bundle, resolve_export_paths
+from orisys.finger.exports import DEFAULT_FINGER_MAP_CACHE
+from orisys.finger.runtime import resolve_finger_geometry
+
+
+def _touch_bundle(root: Path):
+    for name in ("mesh.npz", "camera_intrinsics.npz", "world_to_cam.npy"):
+        (root / name).write_bytes(b"")
+
+
+def test_resolve_export_paths_returns_expected_bundle(tmp_path):
+    _touch_bundle(tmp_path)
+
+    bundle = resolve_export_paths(tmp_path)
+
+    assert bundle.export_dir == tmp_path.resolve()
+    assert bundle.mesh.name == "mesh.npz"
+    assert bundle.intrinsics.name == "camera_intrinsics.npz"
+    assert bundle.pose.name == "world_to_cam.npy"
+
+
+def test_load_finger_export_bundle_rehomes_default_map_cache(tmp_path, monkeypatch):
+    _touch_bundle(tmp_path)
+
+    import orisys.finger.exports as exports_mod
+
+    monkeypatch.setattr(
+        exports_mod,
+        "load_exported_data",
+        lambda *args: {"K": np.eye(3), "width": 1280, "height": 720},
+    )
+    monkeypatch.setattr(exports_mod, "compute_uv_distortion_metrics", lambda data: {"ok": True})
+    monkeypatch.setattr(exports_mod, "recommend_edge_expand", lambda _: 1.2)
+
+    bundle = load_finger_export_bundle(
+        tmp_path,
+        map_cache=DEFAULT_FINGER_MAP_CACHE,
+        source_scale=1.0,
+    )
+
+    assert Path(bundle.map_cache) == (tmp_path / "unroll_map_uv.npz").resolve()
+    assert bundle.edge_expand == 1.2
+
+
+def test_resolve_finger_geometry_uses_config_defaults(tmp_path, monkeypatch):
+    _touch_bundle(tmp_path)
+
+    import orisys.finger.exports as exports_mod
+    import orisys.finger.runtime as runtime_mod
+
+    monkeypatch.setattr(
+        runtime_mod,
+        "load_config",
+        lambda _: {"camera": {"resolution_stitch": [280, 300], "source_scale": 0.4}},
+    )
+    monkeypatch.setattr(
+        exports_mod,
+        "load_exported_data",
+        lambda *args: {"K": np.eye(3), "width": 1280, "height": 720},
+    )
+    monkeypatch.setattr(exports_mod, "compute_uv_distortion_metrics", lambda data: {"ok": True})
+    monkeypatch.setattr(exports_mod, "recommend_edge_expand", lambda _: 1.2)
+
+    geometry = resolve_finger_geometry(
+        export_dir=tmp_path,
+        config="dd02-ov",
+    )
+
+    assert geometry.out_width == 280
+    assert geometry.out_height == 300
+    assert geometry.source_scale == 0.4
+    assert geometry.source_width == 512
+    assert geometry.source_height == 288
+    assert Path(geometry.map_cache) == (tmp_path / "unroll_map_uv_s0.4.npz").resolve()
+
+
+def test_default_map_cache_rehomes_to_resolved_export_dir(tmp_path, monkeypatch):
+    _touch_bundle(tmp_path)
+
+    import orisys.finger.exports as exports_mod
+    import orisys.finger.runtime as runtime_mod
+
+    monkeypatch.setattr(
+        runtime_mod,
+        "load_config",
+        lambda _: {"camera": {"resolution_stitch": [280, 300], "source_scale": 1.0}},
+    )
+    monkeypatch.setattr(
+        exports_mod,
+        "load_exported_data",
+        lambda *args: {"K": np.eye(3), "width": 1280, "height": 720},
+    )
+    monkeypatch.setattr(exports_mod, "compute_uv_distortion_metrics", lambda data: {"ok": True})
+    monkeypatch.setattr(exports_mod, "recommend_edge_expand", lambda _: 1.2)
+
+    geometry = resolve_finger_geometry(
+        export_dir=tmp_path,
+        config="dd02-ov",
+        map_cache=DEFAULT_FINGER_MAP_CACHE,
+    )
+
+    assert Path(geometry.map_cache) == (tmp_path / "unroll_map_uv.npz").resolve()
+
+
+def test_orisys_root_exports_finger_module():
+    assert hasattr(orisys, "finger")
+
+
+def test_tactile_processor_push_frame_uses_default_valid_mask():
+    class DummySensor:
+        info = object()
+
+        def __init__(self):
+            self.calls = []
+            self.frame = None
+            self.img = None
+            self.flow = None
+            self.vnormal = None
+            self.vshear = None
+            self.depth_map = None
+            self.mask_stats = {}
+            self.valid_mask = None
+
+        def get_img(self, **kwargs):
+            self.calls.append(kwargs)
+            self.frame = kwargs["frame"]
+            self.valid_mask = kwargs["valid_mask"]
+            return "ok"
+
+    sensor = DummySensor()
+    default_mask = np.array([[True, False], [False, True]])
+    tactile = TactileProcessor(sensor, default_valid_mask=default_mask)
+    frame = np.zeros((2, 2), dtype=np.uint8)
+
+    result = tactile.push_frame(frame, already_gray=True)
+
+    assert result == "ok"
+    assert sensor.calls[0]["frame"] is frame
+    assert sensor.calls[0]["already_processed"] is True
+    assert sensor.calls[0]["already_gray"] is True
+    assert sensor.calls[0]["valid_mask"] is default_mask
+
+
+def test_finger_runtime_get_img_returns_none_on_capture_failure():
+    from orisys.finger.runtime import FingerRuntime
+
+    runtime = object.__new__(FingerRuntime)
+    runtime.grab_and_process = lambda *, color=False: (False, None)
+    assert runtime.get_img() is None
+
+
+def test_finger_runtime_get_img_returns_unrolled_frame_on_success():
+    from orisys.finger.runtime import FingerRuntime
+
+    frame = np.zeros((2, 2), dtype=np.uint8)
+    runtime = object.__new__(FingerRuntime)
+    runtime.grab_and_process = lambda *, color=False: (True, frame)
+    assert runtime.get_img(color=True) is frame
+
+
+@pytest.mark.parametrize(
+    "video,expected",
+    [
+        ("0", 0),
+        (" 1 ", 1),
+        (r".\data\dd02\0607_1.mp4" + "\\", r".\data\dd02\0607_1.mp4"),
+        (0, 0),
+        ("./clip.mp4", "./clip.mp4"),
+    ],
+)
+def test_normalize_video_source(video, expected):
+    from orisys.finger.runtime import normalize_video_source
+
+    assert normalize_video_source(video) == expected