From fb72dabecdf26c4937036f6283ccea4fdb90d394 Mon Sep 17 00:00:00 2001 From: ykcheungab Date: Mon, 19 Oct 2026 09:47:44 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A1=A5=E5=85=85=20Finger=20=E6=A8=A1?= =?UTF-8?q?=E5=9E=8B=E5=88=87=E6=8D=A2=E4=B8=8E=E9=80=90=E5=B8=A7=E6=8E=A5?= =?UTF-8?q?=E8=A7=A6=E7=8A=B6=E6=80=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 按实际几何和处理参数校验切换模型，并保留帧内接触状态。88 项相关测试通过。 --- docs/calibration-model-contract.zh.md | 2 ++ src/orisys/finger/runtime.py | 26 ++++++++++++++++++ src/orisys/pipeline.py | 2 ++ tests/test_model_runtime.py | 39 +++++++++++++++++++++++++++ 4 files changed, 69 insertions(+) diff --git a/docs/calibration-model-contract.zh.md b/docs/calibration-model-contract.zh.md index cc1696c..61f3098 100644 --- a/docs/calibration-model-contract.zh.md +++ b/docs/calibration-model-contract.zh.md @@ -3,6 +3,8 @@ Purpose: reference. Scope: SDK 标定文件选择、SN 绑定和推断接口。 状态：2026-10-18 已实现 schema 3 的空间/全局增益；ML 后端仅保留契约，尚未实现。 保持 `cal_path` 与现有单点文件；新增空间模型和机器学习模型使用同一入口。 +运行中的 Finger 可调用 `runtime.set_calibration(file, device_id=sn)`；调用者须在处理线程的帧边界执行。 +该接口按实际几何、展开域及处理参数重新校验，成功切换后清除会话零点；校验失败保留原模型。 ## 现状与边界 diff --git a/src/orisys/finger/runtime.py b/src/orisys/finger/runtime.py index 47edcde..ce6fd7c 100644 --- a/src/orisys/finger/runtime.py +++ b/src/orisys/finger/runtime.py @@ -1,6 +1,7 @@ from __future__ import annotations from dataclasses import dataclass +from pathlib import Path import numpy as np @@ -386,6 +387,31 @@ class FingerRuntime: """Set an explicitly measured unloaded reference for this finger stream.""" self.tactile.raw_sensor.set_calibration_reference(raw, reference_id=reference_id) + def set_calibration(self, calibration, *, device_id=None): + """Replace the model at a caller-owned frame boundary, validating actual geometry.""" + from .. import calibration as cal_mod + from ..calibration_context import build_context, domain_fingerprint, sha256_file + + sensor = self.tactile.raw_sensor + selected = cal_mod.load(calibration, strict=True) if isinstance(calibration, (str, Path)) else calibration + serial = device_id or sensor.device_id + if selected is not None and serial: + selected = cal_mod.validate_for_device(selected, "finger", serial) + context = None + if getattr(selected, "schema_version", None) == 3: + if selected.input_profile == "fn_delta_autocal_uv/1": + uv_map = selected.coordinate_map + if uv_map is None or uv_map.shape[:2] != (self.geometry.out_height, self.geometry.out_width): + raise ValueError("calibration coordinate map does not match finger output shape") + context = build_context( + self.geometry.config, sensor.filters_state(), + geometry_sha256=sha256_file(self.geometry.export_paths.mesh), + source_scale=self.geometry.source_scale, coordinates=selected.pipeline.get("coordinates"), + output_domain_sha256=domain_fingerprint(self.domain), processing_backend="uv_unroll", + preprocessing={"flip_source_vertical": self.frame_processor.flip_source_vertical, + "mirror": sensor.mirror}) + sensor.set_calibration(selected, context=context) + @property def calibration_status(self): """Copy the current per-axis calibration validity state.""" diff --git a/src/orisys/pipeline.py b/src/orisys/pipeline.py index 96ef2ff..e1faad8 100644 --- a/src/orisys/pipeline.py +++ b/src/orisys/pipeline.py @@ -156,6 +156,7 @@ class FrameSnapshot: source_metadata: Any = None force_units: tuple[str, str, str] | None = None calibration_status: dict[str, str] | None = None + contact_found: bool | None = None @dataclass @@ -658,6 +659,7 @@ class StreamPipeline: torque=float(getattr(sensor, "ftor", 0.0)), force_units=tuple(getattr(sensor, "force_units", (getattr(sensor, "force_unit", "raw"),) * 3)), calibration_status=dict(getattr(sensor, "calibration_status", {})), + contact_found=bool(getattr(sensor, "centroid_found", False)), # Both already private per-frame copies owned by this snapshot. image=frame if "image" in include else None, flow=flow if "flow" in include else None, diff --git a/tests/test_model_runtime.py b/tests/test_model_runtime.py index 37076f5..4b483ba 100644 --- a/tests/test_model_runtime.py +++ b/tests/test_model_runtime.py @@ -55,6 +55,45 @@ def make_sensor(*, median=1): return sensor +def test_finger_model_swap_validates_actual_runtime_and_invalidates_zero(monkeypatch, tmp_path): + import orisys.calibration_context as context_mod + from orisys.finger.runtime import FingerRuntime + + sensor = make_sensor() + sensor.device_id = None + sensor.mirror = False + sensor.set_calibration_reference({"fn": 10}, reference_id="old-zero") + runtime = FingerRuntime.__new__(FingerRuntime) + runtime.tactile = SimpleNamespace(raw_sensor=sensor) + mesh = tmp_path / "mesh.npz" + mesh.write_bytes(b"actual geometry") + runtime.geometry = SimpleNamespace(config={}, export_paths=SimpleNamespace(mesh=mesh), + source_scale=.42, out_height=2, out_width=2) + runtime.domain = object() + runtime.frame_processor = SimpleNamespace(flip_source_vertical=True) + monkeypatch.setattr(context_mod, "domain_fingerprint", lambda domain: "domain") + contexts = [] + + def context(config, filters, **kwargs): + contexts.append(kwargs) + return {"signature": "actual"} + + monkeypatch.setattr(context_mod, "build_context", context) + selected = RecordingModel() + selected.pipeline = {"coordinates": {"frame": "autocal_flat"}} + runtime.set_calibration(selected) + assert sensor.calibration is selected + assert sensor.calibration_status == {"fn": "zero_unavailable"} + assert contexts[0]["geometry_sha256"] == context_mod.sha256_file(mesh) + assert contexts[0]["output_domain_sha256"] == "domain" + wrong_shape = RecordingModel() + wrong_shape.pipeline = selected.pipeline + wrong_shape.coordinate_map = np.zeros((1, 1, 2)) + with pytest.raises(ValueError, match="shape"): + runtime.set_calibration(wrong_shape) + assert sensor.calibration is selected + + def predict(sensor, frame, fn, *, contact=True, mapped=True): return sensor.apply_calibration_frame(frame_id=frame, timestamp_s=frame / 30., raw=(fn, 20., 30.), uv=(0., 0.),