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/finger/runtime.py

@@ -105,6 +105,17 @@ class TactileProcessor:
     def force_units(self) -> tuple[str, str, str]:
         return self._sensor.force_units
 
+    @property
+    def calibration_status(self):
+        return self._sensor.calibration_status
+
+    @property
+    def calibration_result(self):
+        return self._sensor.calibration_result
+
+    def set_calibration_reference(self, raw, *, reference_id):
+        return self._sensor.set_calibration_reference(raw, reference_id=reference_id)
+
     def push_frame(self, frame, *, already_gray=False, valid_mask=None):
         """Feed one processed tactile frame into the analysis pipeline."""
         mask = self._default_valid_mask if valid_mask is None else valid_mask
@@ -305,6 +316,26 @@ class FingerRuntime:
             calibration_dir=calibration_dir, device_id=device_id,
             verbose=verbose, mirror=mirror,
         )
+        if getattr(getattr(sensor, "calibration", None), "schema_version", None) == 3:
+            from ..calibration_context import (
+                build_context,
+                domain_fingerprint,
+                sha256_file,
+            )
+
+            model = sensor.calibration
+            uv_map = getattr(model, "coordinate_map", None)
+            if model.input_profile == "fn_delta_autocal_uv/1":
+                if uv_map is None or uv_map.shape[:2] != (geometry.out_height, geometry.out_width):
+                    raise ValueError("calibration coordinate map does not match finger output shape")
+            sensor.bind_calibration_context(build_context(
+                sensor._config, sensor.filters_state(),
+                geometry_sha256=sha256_file(mesh_path), source_scale=geometry.source_scale,
+                coordinates=model.pipeline.get("coordinates"),
+                output_domain_sha256=domain_fingerprint(domain),
+                processing_backend="uv_unroll",
+                preprocessing={"flip_source_vertical": flip_source_vertical, "mirror": mirror},
+            ))
 
         capture_config = CaptureConfig.from_camera_dict(
             video,
@@ -351,6 +382,15 @@ class FingerRuntime:
     def valid_mask(self):
         return self.frame_processor.valid_mask
 
+    def set_calibration_reference(self, raw, *, reference_id):
+        """Set an explicitly measured unloaded reference for this finger stream."""
+        self.tactile.raw_sensor.set_calibration_reference(raw, reference_id=reference_id)
+
+    @property
+    def calibration_status(self):
+        """Copy the current per-axis calibration validity state."""
+        return dict(self.tactile.raw_sensor.calibration_status)
+
     def read_source(self):
         if self.capture_source is not None and self.capture_source.running:
             return self.capture_source.read(copy=True, wait_s=1.0)