orisys-sdk/tests/test_finger_runtime.py

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