接入力标定 schema 3 与多点空间增益模型

保留旧格式和 cal_path，校验 SN、特征身份及坐标附件，按帧返回逐轴状态。相关测试 263 项通过，已核对存量预测并实测 180 帧录像。

src/orisys/calibration_context.py

@@ -0,0 +1,75 @@
+"""Measurement identities shared by SDK runtime and offline calibration exporters."""
+
+from __future__ import annotations
+
+import hashlib
+import json
+from pathlib import Path
+
+import numpy as np
+
+from .calibration import filters_fingerprint
+
+
+def sha256_file(path) -> str:
+    return hashlib.sha256(Path(path).read_bytes()).hexdigest()
+
+
+def domain_fingerprint(domain) -> str:
+    """Bind a coordinate lookup to the actual unroll, not just its dimensions."""
+    data = domain.to_dict() if hasattr(domain, "to_dict") else domain
+    digest = hashlib.sha256()
+    for key, dtype in (("map_x", "<f4"), ("map_y", "<f4"), ("valid_mask", "u1"), ("world_xyz", "<f4")):
+        array = np.ascontiguousarray(data[key], dtype=dtype)
+        digest.update(key.encode("ascii"))
+        digest.update(str(array.shape).encode("ascii"))
+        digest.update(array.tobytes())
+    return digest.hexdigest()
+
+
+def build_context(config, filters=None, *, geometry_sha256=None, source_scale=None,
+                  coordinates=None, output_domain_sha256=None, processing_backend=None,
+                  preprocessing=None) -> dict:
+    """Build the closed v1 feature identity from effective values, excluding readout filters."""
+    camera = config.get("camera", {})
+    tracker = dict(config.get("tracker", {}))
+    raw_downsample = tracker.get("hhd_downsample", 1)
+    try:
+        downsample = max(1, int(raw_downsample)) if raw_downsample is not None else 1
+    except (TypeError, ValueError):
+        downsample = 1
+    tracker["hhd_downsample"] = downsample
+    if source_scale is not None:
+        source_scale = float(source_scale)
+    measurement = filters_fingerprint(config.get("filters", {}) if filters is None else filters).get("measurement", {})
+    # A missing EMA setting has the same effective meaning as the SDK default.
+    measurement.setdefault("flow_ema_alpha", 1.0)
+    result = {
+        "stitch_resolution": camera.get("resolution_stitch"),
+        "dis_mode": tracker.get("dis_mode"),
+        "hhd_downsample": downsample,
+        "filters": {"measurement": measurement},
+    }
+    if geometry_sha256 is not None:
+        result["geometry_sha256"] = geometry_sha256
+    if source_scale is not None:
+        result["source_scale"] = float(source_scale)
+    if coordinates is not None:
+        result["coordinates"] = coordinates
+    if output_domain_sha256 is not None:
+        result["output_domain_sha256"] = output_domain_sha256
+    effective = {
+        "feature_version": "orisys_hhd_raw/1",
+        "processing_backend": processing_backend or config.get("type", "compound_eye"),
+        "camera": {key: camera.get(key) for key in ("resolution_raw", "resolution_stitch")},
+        "tracker": tracker,
+        "contact": config.get("contact", {}),
+        "measurement": measurement,
+        "geometry_sha256": geometry_sha256,
+        "output_domain_sha256": output_domain_sha256,
+        "source_scale": source_scale,
+        "preprocessing": preprocessing or {},
+    }
+    encoded = json.dumps(effective, sort_keys=True, separators=(",", ":"), allow_nan=False)
+    result["feature_signature_sha256"] = hashlib.sha256(encoded.encode("utf-8")).hexdigest()
+    return result