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.gitattributes
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# Git LFS — enable after Gitea LFS_START_SERVER=true on the NAS
*.blend filter=lfs diff=lfs merge=lfs -text
*.blend1 filter=lfs diff=lfs merge=lfs -text
*.exr filter=lfs diff=lfs merge=lfs -text
*.hdr filter=lfs diff=lfs merge=lfs -text
*.png filter=lfs diff=lfs merge=lfs -text
*.jpg filter=lfs diff=lfs merge=lfs -text
*.jpeg filter=lfs diff=lfs merge=lfs -text
*.tif filter=lfs diff=lfs merge=lfs -text
*.tiff filter=lfs diff=lfs merge=lfs -text
*.npz filter=lfs diff=lfs merge=lfs -text
*.glb filter=lfs diff=lfs merge=lfs -text
*.gltf filter=lfs diff=lfs merge=lfs -text
.gitignore
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# Python
__pycache__/
*.py[cod]
.venv/
.venv-*/
*.egg-info/
dist/
build/export/
.pytest_cache/
# Blender
*.blend1
*.blend2
# Renders and caches
**/renders/
**/.cache/
*.tmp
# Editor
.vscode/
.idea/
README.md
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# orisys-sensor-design
Nominal sensor geometry and Blender authoring for Orisys. This repo is the **design**
source of truth. Measured calibration, unroll maps, and shipped runtime bundles live in
`orisys-sdk` and compiled `.oryscene` packages live in `orisys-app`.
For the full long-term workflow see `sensor-design-workflow.md` in the workspace root.
This repository intentionally implements a **minimal v1** for a small team.
## Two buckets (daily work)
| Bucket | Where | Contents |
|--------|-------|----------|
| **Design** | this repo | `.blend`, nominal export, release manifest |
| **Runtime** | `orisys-sdk` / `orisys-app` | measured cal, unroll map, wheel/App assets, `.oryscene` |
Never copy runtime NPZ files into this repo to “fix” a mismatch. Promote through a
manifest + lock file instead.
## Layout
```text
sensors/finger/
├── current.yaml # active revision pointer
└── r01/
├── design.yaml # units, frames, object names
├── source/geometry.blend # LFS: named collections + objects
├── profiles/
│ ├── compute.yaml # → SDK bundle layout (Studio runtime)
│ └── studio.yaml # inputs for orisys-app compile_scene
└── golden/ # optional preview + metrics
```
## Prerequisites
- Python 3.10+
- [Git LFS](https://git-lfs.com/) on every client (`git lfs install`)
- Blender version pinned in `blender.lock.json` (install separately)
### Finding Blender on Windows
The CLI looks for Blender in this order:
1. Env `ORISYS_BLENDER` or `BLENDER_EXE` (absolute path to `blender.exe`)
2. `blender` / `blender.exe` on `PATH`
3. Auto-scan `%ProgramFiles%\Blender Foundation\Blender *\blender.exe`
(prefers `blender.lock.json` version when installed, otherwise newest)
4. Optional `"executable"` in `blender.lock.json` (local only; do not commit machine paths)
```powershell
$env:ORISYS_BLENDER = "C:\Program Files\Blender Foundation\Blender 5.0\blender.exe"
```
Convenience launcher (auto-finds Blender for this process, then exports):
```powershell
.\tools\export-compute.bat
```
## Commands
Install the CLI (editable):
```powershell
cd D:\orisys_ws\orisys-sensor-design
python -m pip install -e .
```
Three commands for v1:
```powershell
# 1) Check revision metadata and (optionally) Blender scene conventions
orisys-design validate sensors/finger/r01
# 2) Export nominal geometry for a profile (compute → SDK layout)
orisys-design export sensors/finger/r01 --profile compute
# 3) Write release manifest with file hashes
orisys-design manifest sensors/finger/r01
```
Headless Blender export uses a JSON job file (stdlib `json` inside Blender — no
PyYAML required). `orisys-design export` writes it automatically from `design.yaml`:
```powershell
orisys-design export sensors/finger/r01 --profile compute
# writes build/export/finger/r01/_export_job.json then runs Blender
```
Manual Blender invocation with the same job:
```powershell
blender -b sensors/finger/r01/source/geometry.blend -P blender/scripts/export.py -- `
--job D:\orisys_ws\orisys-sensor-design\build\export\finger\r01\_export_job.json
```
Optional flag overrides (`--output`, `--mesh`, `--cam`, `--origin`) win over job values.
Export output is grouped by revision:
```text
build/export/finger/r01/
├── _export_job.json # Blender input, regenerated by export
├── manifest.json # release manifest from `orisys-design manifest`
└── compute/ # clean SDK-shaped payload
├── mesh.npz
├── camera_intrinsics.npz
└── world_to_cam.npy
```
Collection check:
```powershell
blender -b sensors/finger/r01/source/geometry.blend -P blender/scripts/validate.py -- sensors/finger/r01
```
## Profiles
- **`compute`** — `sensing_surface` + `cam_sensor` relative to `origin_sensor`. Writes
`mesh.npz`, `camera_intrinsics.npz`, `world_to_cam.npy` (here “world” means the
sensor frame). Studio and the wheel build consume this tree via `orisys-sdk` →
`assets_dir`.
- **`studio`** — documents how to compile a `.oryscene` from the **compute** export
plus the measured unroll map in SDK. Observation cameras in Studio are derived from
mesh bounds; no Blender `cam_viz` is required.
## Promotion (SDK / App)
After export:
1. Tag this repo, e.g. `finger-r01-assets-v1.0.0`.
2. Copy or attach the `build/export/finger/r01/compute/` folder to the SDK asset path
(or publish as a release artifact).
3. Keep `build/export/finger/r01/manifest.json` beside the payload, and update
optional `design-lock.json` in `orisys-sdk` with commit + bundle SHA256.
4. Run `orisys-app` `compile_scene.py` using the locked compute export + SDK unroll map.
Example lock file: `examples/design-lock.json`.
## Conventions
- **Units**: metres at export boundaries. Author in mm if you like; set
`meters_per_source_unit: 0.001` in `design.yaml`.
- **Collections**: `FRAMES`, `EXPORT_COMPUTE`, `ASSEMBLY`, `DESIGN_SIM`, `EXCLUDE`.
- **Objects**: `origin_sensor`, `sensing_surface`, `cam_sensor`.
- **Matrix names** must state direction; exported pose file remains `world_to_cam.npy`
for SDK compatibility (sensor frame → camera).
- **Git LFS**: `*.blend`, large textures, exported `*.npz` in `build/export/`.
## Git LFS on Gitea (NAS)
**Short answer: not difficult.** Gitea has built-in LFS; NAS hosting is common. Plan for
extra disk on the NAS volume that holds LFS objects, not just the git bare repos.
### Server (one-time, ~5 minutes)
1. **Enable LFS in Gitea** — edit `app.ini` (or Docker env):
```ini
[server]
LFS_START_SERVER = true
[lfs]
PATH = /data/git/lfs
```
Docker Compose equivalent:
```yaml
environment:
- GITEA__server__LFS_START_SERVER=true
```
Point `PATH` at persistent NAS storage (same volume as `/data` is fine).
2. **Restart Gitea** after changing config.
3. **Optional**: set `LFS_JWT_SECRET` in Docker/env for stable LFS auth across restarts
(generate once, keep in your NAS secrets).
4. **Reverse proxy**: LFS uploads use HTTP(S) batch API. Ensure your NAS proxy allows
large request bodies (nginx `client_max_body_size`, etc.). SSH git push still works
for normal objects; LFS file transfer is usually HTTPS unless you enable pure SSH LFS.
5. **Backup**: include the LFS directory in NAS backup — it is not inside git history.
Requirements: Git ≥ 2.1.2 on the server (Gitea’s embedded git is enough).
### Clients (each developer)
```powershell
git lfs install
git clone git@your-nas:team/orisys-sensor-design.git
cd orisys-sensor-design
git lfs pull
```
This repo’s `.gitattributes` already tracks `*.blend` and large binaries. After
`git lfs track`, always commit `.gitattributes`.
### Typical pitfalls
| Issue | Fix |
|-------|-----|
| Push succeeds but `.blend` is a tiny pointer file | Run `git lfs install` before commit; re-add file |
| LFS upload 413 / timeout | Increase proxy body size and Gitea `[server] LFS_HTTP_TIMEOUT` if needed |
| Wrong permissions on NAS volume | Match container `USER_UID` / `USER_GID` to volume owner |
| Repo already has large blobs in history | Do not rewrite history casually; use `git lfs migrate` only with team agreement |
Pure SSH LFS (`LFS_ALLOW_PURE_SSH`) is optional and still has client quirks; HTTPS LFS
behind your NAS reverse proxy is the path of least resistance.
## Phase plan
| Phase | Goal |
|-------|------|
| **A** (now) | Repo + LFS + r01 + headless compute export |
| **B** | Lock file in SDK/App + CI reproduces export hashes |
| **C** (later) | Markers, camera metrics, simulation datasets |
blender.lock.json
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{
"blender_version": "4.2.0",
"blender_lts": "4.2",
"executable": null,
"notes": "Pin the same major.minor across the team. Set ORISYS_BLENDER or optional 'executable' to the blender binary if it is not on PATH. Headless export: blender -b <file.blend> -P blender/scripts/export.py -- --output DIR --mesh sensing_surface --cam cam_sensor --origin origin_sensor"
}
blender/scripts/blender_export.py
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"""Deprecated interactive export helpers.
Use the headless script instead:
blender -b sensors/finger/r01/source/geometry.blend -P blender/scripts/export.py -- \\
--output <abs/output_dir> --mesh sensing_surface --cam cam_sensor --origin origin_sensor
Or: orisys-design export sensors/finger/r01 --profile compute
"""
raise SystemExit(
"blender_export.py is deprecated. Use blender/scripts/export.py (headless) "
"or: orisys-design export sensors/finger/r01 --profile compute"
)
blender/scripts/export.py
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"""Blender headless nominal compute export (YAML-free).
The host CLI (orisys-design export) reads design.yaml, writes a JSON job file,
and invokes this script. Blender only needs stdlib json — not PyYAML:
blender -b sensors/finger/r01/source/geometry.blend -P blender/scripts/export.py -- \\
--job <abs/build/export/finger/r01/_export_job.json>
Manual overrides (optional, win over job values):
--output DIR --mesh sensing_surface --cam cam_sensor --origin origin_sensor
Writes only the compute payload (mesh.npz, camera_intrinsics.npz, world_to_cam.npy)
under the job's output directory. Metadata such as _export_job.json and
manifest.json live one level above the payload directory.
"""
# pyright: reportMissingImports=false
from __future__ import annotations
import argparse
import json
import sys
from pathlib import Path
import bmesh
import bpy
import numpy as np
from mathutils import Matrix
_DEFAULT_OBJECTS = {
"sensing_surface": "sensing_surface",
"cam_sensor": "cam_sensor",
"origin_sensor": "origin_sensor",
}
def _argv_after_double_dash() -> list[str]:
if "--" not in sys.argv:
return []
return sys.argv[sys.argv.index("--") + 1 :]
def _require_object(name: str, expected_type: str | None = None) -> bpy.types.Object:
obj = bpy.data.objects.get(name)
if obj is None:
raise RuntimeError(f"Object not found: {name!r}")
if expected_type is not None and obj.type != expected_type:
raise RuntimeError(
f"Object {name!r} has type {obj.type!r}, expected {expected_type!r}"
)
return obj
def _load_job(path: Path) -> tuple[str | None, dict]:
"""Load output path and objects map from a JSON export job."""
data = json.loads(path.read_text(encoding="utf-8"))
if not isinstance(data, dict):
raise ValueError(f"Export job must be a JSON object: {path}")
objects = data.get("objects") or {}
if not isinstance(objects, dict):
raise ValueError(f"Export job 'objects' must be a mapping: {path}")
output = data.get("output")
return (str(output) if output else None), objects
def export_camera_intrinsics(camera_obj: bpy.types.Object, scene: bpy.types.Scene):
"""Return OpenCV-style K (3x3) and render width/height from Blender camera."""
cam = camera_obj.data
render = scene.render
res_x = int(render.resolution_x)
res_y = int(render.resolution_y)
if cam.sensor_fit == "HORIZONTAL":
sensor_width = float(cam.sensor_width)
sensor_height = sensor_width / (res_x / res_y)
else:
sensor_height = float(cam.sensor_height)
sensor_width = sensor_height * (res_x / res_y)
focal = float(cam.lens)
pixel_width = sensor_width / res_x
pixel_height = sensor_height / res_y
fx = focal / pixel_width
fy = focal / pixel_height
cx = res_x / 2.0
cy = res_y / 2.0
K = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]], dtype=np.float64)
return K, res_x, res_y
def _triangulated_mesh(
obj: bpy.types.Object,
) -> tuple[bpy.types.Mesh, Matrix, object]:
"""Return evaluated triangulated mesh, world matrix, and cleanup callback."""
depsgraph = bpy.context.evaluated_depsgraph_get()
eval_obj = obj.evaluated_get(depsgraph)
mesh = eval_obj.to_mesh()
world = eval_obj.matrix_world.copy()
bm = bmesh.new()
try:
bm.from_mesh(mesh)
bmesh.ops.triangulate(bm, faces=bm.faces[:])
bm.to_mesh(mesh)
finally:
bm.free()
mesh.update()
def _cleanup() -> None:
eval_obj.to_mesh_clear()
return mesh, world, _cleanup
def export_mesh_in_sensor_frame(
obj: bpy.types.Object,
t_sensor_from_world: Matrix,
filepath: Path,
) -> tuple[int, int]:
"""Export triangulated mesh vertices in the sensor frame."""
mesh, world, cleanup = _triangulated_mesh(obj)
try:
if not mesh.uv_layers.active:
raise RuntimeError(f"Mesh {obj.name!r} has no active UV layer")
t_sensor_from_object = t_sensor_from_world @ world
vertices = np.array(
[t_sensor_from_object @ v.co for v in mesh.vertices],
dtype=np.float32,
)
faces_list = [tuple(poly.vertices) for poly in mesh.polygons]
if not faces_list:
raise RuntimeError(f"Mesh {obj.name!r} has no faces")
if any(len(face) != 3 for face in faces_list):
raise RuntimeError(f"Mesh {obj.name!r} is not fully triangulated after export")
faces = np.asarray(faces_list, dtype=np.int32)
uv_layer = mesh.uv_layers.active.data
uv_data = np.array([uv_layer[i].uv[:] for i in range(len(uv_layer))], dtype=np.float32)
loop_to_vertex = np.array(
[mesh.loops[i].vertex_index for i in range(len(mesh.loops))],
dtype=np.int32,
)
np.savez_compressed(
filepath,
vertices=vertices,
faces=faces,
uv_data=uv_data,
loop_to_vertex=loop_to_vertex,
)
print(f"Mesh exported to {filepath} ({len(vertices)} verts, {len(faces)} tris)")
return int(len(vertices)), int(len(faces))
finally:
cleanup()
def export_camera_pose_sensor_frame(
camera_obj: bpy.types.Object,
t_sensor_from_world: Matrix,
filepath: Path,
) -> None:
"""Save world_to_cam.npy where 'world' means the sensor frame (origin_sensor)."""
t_sensor_from_cam = t_sensor_from_world @ camera_obj.matrix_world
cam_from_sensor = np.linalg.inv(np.array(t_sensor_from_cam, dtype=np.float64))
np.save(filepath, cam_from_sensor.astype(np.float32))
print(f"Camera pose exported to {filepath}")
def parse_args(argv: list[str]) -> argparse.Namespace:
parser = argparse.ArgumentParser(prog="export.py")
parser.add_argument(
"--job",
type=Path,
default=None,
help="JSON job written by orisys-design (output + object names)",
)
parser.add_argument(
"--output",
type=Path,
default=None,
help="Absolute output directory (overrides job)",
)
parser.add_argument(
"--mesh",
default=None,
help="Sensing surface mesh object name (overrides job)",
)
parser.add_argument(
"--cam",
default=None,
help="Sensor camera object name (overrides job)",
)
parser.add_argument(
"--origin",
default=None,
help="Sensor-frame empty object name (overrides job)",
)
return parser.parse_args(argv)
def _resolve_config(args: argparse.Namespace) -> tuple[Path, str, str, str]:
"""Merge --job JSON with explicit flag overrides. Explicit flags win."""
job_output: str | None = None
job_objects: dict = {}
if args.job is not None:
job_path = args.job.resolve()
if not job_path.is_file():
raise RuntimeError(f"Export job not found: {job_path}")
job_output, job_objects = _load_job(job_path)
output_raw = args.output or job_output
if not output_raw:
raise RuntimeError("Provide --job <path.json> and/or --output <dir>")
mesh = (
args.mesh
or job_objects.get("sensing_surface")
or _DEFAULT_OBJECTS["sensing_surface"]
)
cam = args.cam or job_objects.get("cam_sensor") or _DEFAULT_OBJECTS["cam_sensor"]
origin = (
args.origin
or job_objects.get("origin_sensor")
or _DEFAULT_OBJECTS["origin_sensor"]
)
return Path(output_raw).resolve(), str(mesh), str(cam), str(origin)
def main() -> int:
args = parse_args(_argv_after_double_dash())
try:
output_dir, mesh_name, cam_name, origin_name = _resolve_config(args)
except Exception as exc:
print(f"ERROR: {exc}", file=sys.stderr)
return 2
output_dir.mkdir(parents=True, exist_ok=True)
try:
mesh_obj = _require_object(mesh_name, "MESH")
cam_obj = _require_object(cam_name, "CAMERA")
origin_obj = _require_object(origin_name)
except RuntimeError as exc:
print(f"ERROR: {exc}", file=sys.stderr)
return 1
t_sensor_from_world = origin_obj.matrix_world.inverted()
scene = bpy.context.scene
mesh_path = output_dir / "mesh.npz"
intrinsics_path = output_dir / "camera_intrinsics.npz"
pose_path = output_dir / "world_to_cam.npy"
try:
export_mesh_in_sensor_frame(mesh_obj, t_sensor_from_world, mesh_path)
K, width, height = export_camera_intrinsics(cam_obj, scene)
np.savez(
intrinsics_path,
K=K,
width=np.int32(width),
height=np.int32(height),
)
print(f"Intrinsics exported to {intrinsics_path} ({width}x{height})")
export_camera_pose_sensor_frame(cam_obj, t_sensor_from_world, pose_path)
except Exception as exc:
print(f"ERROR: export failed: {exc}", file=sys.stderr)
return 1
print(f"Export complete: {output_dir}")
print(f" {mesh_path.name}")
print(f" {intrinsics_path.name}")
print(f" {pose_path.name}")
return 0
if __name__ == "__main__":
raise SystemExit(main())
blender/scripts/random_patch_dd02c.py
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"""
Texture Generator for Arbitrary 3D Surfaces (Blender Script)
- Mode: "patches" (colored patches), "checker" (black/white patches),
or "dots" (circular markers)
- Mesh UVs are filled white so that non‑visible parts become white.
- Texture background (no‑mesh areas) stays black.
"""
import bpy
import numpy as np
import os
import time
from mathutils import Vector
# ----------------------------------------------------------------------
# Common Utilities
# ----------------------------------------------------------------------
def draw_cross(pixels, width, height, cx_uv, cy_uv, length_px, thickness_px, color):
"""
Draw a cross (plus sign) in pixel space.
cx_uv, cy_uv: centre of cross in UV coordinates (0‑1), origin at bottom‑left.
length_px: total length of each arm (pixels).
thickness_px: line thickness (odd number gives symmetric result).
"""
# Convert UV centre to pixel coordinates (y from bottom)
cx = int(round(cx_uv * (width - 1)))
cy = int(round(cy_uv * (height - 1)))
half_len = length_px // 2
half_thick = thickness_px // 2
# Horizontal arm
x0 = max(0, cx - half_len)
x1 = min(width - 1, cx + half_len)
y0 = max(0, cy - half_thick)
y1 = min(height - 1, cy + half_thick)
for y in range(y0, y1 + 1):
for x in range(x0, x1 + 1):
idx = (y * width + x) * 4
pixels[idx:idx+4] = color
# Vertical arm
x0 = max(0, cx - half_thick)
x1 = min(width - 1, cx + half_thick)
y0 = max(0, cy - half_len)
y1 = min(height - 1, cy + half_len)
for y in range(y0, y1 + 1):
for x in range(x0, x1 + 1):
idx = (y * width + x) * 4
pixels[idx:idx+4] = color
def fill_background(pixels, width, height, color):
"""Fill the entire image with a solid RGBA color (0-1 floats)."""
r, g, b, a = color
for y in range(height):
for x in range(width):
idx = (y * width + x) * 4
pixels[idx] = r
pixels[idx+1] = g
pixels[idx+2] = b
pixels[idx+3] = a
def fill_polygon(image, pixels, width, height, polygon, color):
"""Fill a polygon in the pixel array (flattened, RGBA)."""
poly = [(int(round(x)), int(round(y))) for x, y in polygon]
if len(poly) < 3:
return
min_x = max(0, min(p[0] for p in poly))
max_x = min(width-1, max(p[0] for p in poly))
min_y = max(0, min(p[1] for p in poly))
max_y = min(height-1, max(p[1] for p in poly))
for y in range(min_y, max_y + 1):
intersections = []
for i in range(len(poly)):
x1, y1 = poly[i]
x2, y2 = poly[(i+1) % len(poly)]
if y1 == y2:
continue
if (y1 <= y < y2) or (y2 <= y < y1):
t = (y - y1) / (y2 - y1)
x = x1 + t * (x2 - x1)
intersections.append(x)
intersections.sort()
for k in range(0, len(intersections), 2):
if k+1 >= len(intersections):
break
x_start = int(round(intersections[k]))
x_end = int(round(intersections[k+1]))
x_start = max(0, min(width-1, x_start))
x_end = max(0, min(width-1, x_end))
for x in range(x_start, x_end + 1):
idx = (y * width + x) * 4
pixels[idx:idx+4] = color
def fill_polygon_value(grid, width, height, polygon, value):
"""Fill a polygon into a 2D scalar grid."""
poly = [(int(round(x)), int(round(y))) for x, y in polygon]
if len(poly) < 3:
return
min_x = max(0, min(p[0] for p in poly))
max_x = min(width - 1, max(p[0] for p in poly))
min_y = max(0, min(p[1] for p in poly))
max_y = min(height - 1, max(p[1] for p in poly))
for y in range(min_y, max_y + 1):
intersections = []
for i in range(len(poly)):
x1, y1 = poly[i]
x2, y2 = poly[(i + 1) % len(poly)]
if y1 == y2:
continue
if (y1 <= y < y2) or (y2 <= y < y1):
t = (y - y1) / (y2 - y1)
x = x1 + t * (x2 - x1)
intersections.append(x)
intersections.sort()
for k in range(0, len(intersections), 2):
if k + 1 >= len(intersections):
break
x_start = int(round(intersections[k]))
x_end = int(round(intersections[k + 1]))
x_start = max(0, min(width - 1, x_start))
x_end = max(0, min(width - 1, x_end))
grid[y, x_start:x_end + 1] = value
def unwrap_periodic_values(values):
"""
Unwrap periodic UV coordinates so points straddling the 0/1 seam stay local.
"""
arr = np.asarray(values, dtype=np.float64).copy()
if arr.size == 0:
return arr
if arr.max() - arr.min() > 0.5:
arr[arr < 0.5] += 1.0
return arr
def wrap_uv_polygon_for_raster(uv_poly):
"""
Return a seam-aware version of a UV polygon.
UV islands may cross the 0/1 seam. If we rasterize those raw coordinates as a
single polygon, Blender's repeated UVs turn into a long diagonal triangle
across the texture. We unwrap seam-crossing polygons first, then draw wrapped
copies in the texture tile(s) they overlap.
"""
if len(uv_poly) < 3:
return []
uv_arr = np.array([(float(u), float(v)) for u, v in uv_poly], dtype=np.float64)
uv_arr[:, 0] = unwrap_periodic_values(uv_arr[:, 0])
uv_arr[:, 1] = unwrap_periodic_values(uv_arr[:, 1])
return [tuple(pt) for pt in uv_arr]
def uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
"""
Convert one UV polygon into one or more pixel polygons, duplicating seam-
crossing polygons into adjacent tiles so rasterization stays local.
"""
unwrapped = wrap_uv_polygon_for_raster(uv_poly)
if len(unwrapped) < 3:
return []
u_vals = [u for u, _ in unwrapped]
v_vals = [v for _, v in unwrapped]
u_shift_start = int(np.floor(min(u_vals)))
u_shift_end = int(np.floor(max(u_vals)))
v_shift_start = int(np.floor(min(v_vals)))
v_shift_end = int(np.floor(max(v_vals)))
pixel_polys = []
for u_shift in range(u_shift_start, u_shift_end + 1):
for v_shift in range(v_shift_start, v_shift_end + 1):
shifted = [(u - u_shift, v - v_shift) for u, v in unwrapped]
shifted_u = [u for u, _ in shifted]
shifted_v = [v for _, v in shifted]
if max(shifted_u) < 0.0 or min(shifted_u) > 1.0:
continue
if max(shifted_v) < 0.0 or min(shifted_v) > 1.0:
continue
pixel_polys.append([
(u * (tex_width - 1), v * (tex_height - 1))
for u, v in shifted
])
return pixel_polys
def draw_ellipse(pixels, width, height, cx, cy, a, b, angle, color):
"""Filled ellipse with semi‑axes a,b (pixels), rotation angle (rad)."""
cos_a = np.cos(angle)
sin_a = np.sin(angle)
rx = abs(a * cos_a) + abs(b * sin_a)
ry = abs(a * sin_a) + abs(b * cos_a)
x_min = int(max(0, cx - rx))
x_max = int(min(width-1, cx + rx))
y_min = int(max(0, cy - ry))
y_max = int(min(height-1, cy + ry))
for y in range(y_min, y_max + 1):
for x in range(x_min, x_max + 1):
dx = x - cx
dy = y - cy
u = dx * cos_a + dy * sin_a
v = -dx * sin_a + dy * cos_a
if (u/a)**2 + (v/b)**2 <= 1.0:
idx = (y * width + x) * 4
pixels[idx:idx+4] = color
def get_uv_from_face(obj, face_index, location):
"""World‑space location → UV coordinate on the mesh face."""
me = obj.data
local_loc = obj.matrix_world.inverted() @ location
poly = me.polygons[face_index]
vert_indices = poly.vertices
loop_indices = poly.loop_indices
if len(vert_indices) < 3:
return None
v0 = me.vertices[vert_indices[0]].co
v1 = me.vertices[vert_indices[1]].co
v2 = me.vertices[vert_indices[2]].co
uv_layer = me.uv_layers.active.data
uv0 = uv_layer[loop_indices[0]].uv
uv1 = uv_layer[loop_indices[1]].uv
uv2 = uv_layer[loop_indices[2]].uv
def tri_area(a, b, c):
return 0.5 * ((b - a).cross(c - a)).length
total_area = tri_area(v0, v1, v2)
if total_area == 0:
return None
w0 = tri_area(local_loc, v1, v2) / total_area
w1 = tri_area(local_loc, v2, v0) / total_area
w2 = 1.0 - w0 - w1
uv = w0 * uv0 + w1 * uv1 + w2 * uv2
return Vector((uv.x, uv.y))
def raycast_from_camera(scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width, frame_height):
"""Camera raycast through normalised sensor coordinates (0‑1)."""
sx = (u_ndc - 0.5) * frame_width
sy = (v_ndc - 0.5) * frame_height
direction_cam = Vector((sx, sy, -1.0))
direction_world = cam.matrix_world.to_quaternion() @ direction_cam
direction_world.normalize()
origin = cam.matrix_world.translation
hit, location, normal, face_index, hit_obj, matrix = scene.ray_cast(
depsgraph, origin, direction_world)
if hit and hit_obj == obj:
return location, face_index
return None, None
def raycast_uv_from_camera(scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width, frame_height):
"""Camera raycast through normalized sensor coordinates and return UV."""
loc, face_idx = raycast_from_camera(
scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width, frame_height
)
if loc is None:
return None
return get_uv_from_face(obj, face_idx, loc)
def convex_hull_uv(points):
"""Return UV points ordered around their 2D convex hull."""
unwrapped = wrap_uv_polygon_for_raster([(p.x, p.y) for p in points])
unique = sorted(set(unwrapped))
if len(unique) < 3:
return None
def cross(o, a, b):
return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
lower = []
for p in unique:
while len(lower) >= 2 and cross(lower[-2], lower[-1], p) <= 0:
lower.pop()
lower.append(p)
upper = []
for p in reversed(unique):
while len(upper) >= 2 and cross(upper[-2], upper[-1], p) <= 0:
upper.pop()
upper.append(p)
hull = lower[:-1] + upper[:-1]
if len(hull) < 3:
return None
return [Vector((u, v)) for u, v in hull]
def sample_patch_uv_polygon(
scene, depsgraph, cam, obj,
u_start, u_end, v_start, v_end,
frame_width, frame_height,
edge_sample_grid=5
):
"""
Build a UV polygon for one camera-space patch.
Full interior cells use the four corners. Edge cells that only partially hit
the mesh are sampled more densely and converted to a convex hull so they are
not dropped just because some corners miss the silhouette.
"""
corners_ndc = [
(u_start, v_start),
(u_end, v_start),
(u_end, v_end),
(u_start, v_end),
]
corner_uvs = []
for u_ndc, v_ndc in corners_ndc:
uv = raycast_uv_from_camera(
scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width, frame_height
)
if uv is not None:
corner_uvs.append(uv)
if len(corner_uvs) >= 3:
return corner_uvs
sampled_uvs = list(corner_uvs)
for sy in range(edge_sample_grid):
v_ndc = v_start + (v_end - v_start) * sy / (edge_sample_grid - 1)
for sx in range(edge_sample_grid):
u_ndc = u_start + (u_end - u_start) * sx / (edge_sample_grid - 1)
uv = raycast_uv_from_camera(
scene, depsgraph, cam, obj, u_ndc, v_ndc, frame_width, frame_height
)
if uv is not None:
sampled_uvs.append(uv)
return convex_hull_uv(sampled_uvs)
def rasterize_mesh_uvs(obj, pixels, tex_width, tex_height, color=(1,1,1,1)):
"""
Fill all triangles of the active UV map with 'color' (default white).
This marks every part of the mesh, visible or not, as white.
"""
me = obj.data
uv_layer = me.uv_layers.active
if not uv_layer:
print("Warning: No active UV layer – mesh rasterization skipped.")
return
uv_data = uv_layer.data
for poly in me.polygons:
# Get loop indices for this polygon
loops = poly.loop_indices
# Build UV polygon
uv_poly = []
for loop_idx in loops:
uv = uv_data[loop_idx].uv
uv_poly.append((uv.x, uv.y))
# Convert UV (0‑1) to pixel coordinates
for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
fill_polygon(None, pixels, tex_width, tex_height, pixel_poly, color)
def rasterize_mesh_mask(obj, tex_width, tex_height):
"""Rasterize the active UV map to a boolean mesh mask."""
mask = np.zeros((tex_height, tex_width), dtype=bool)
me = obj.data
uv_layer = me.uv_layers.active
if not uv_layer:
return mask
uv_data = uv_layer.data
for poly in me.polygons:
uv_poly = []
for loop_idx in poly.loop_indices:
uv = uv_data[loop_idx].uv
uv_poly.append((uv.x, uv.y))
for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, tex_width, tex_height):
fill_polygon_value(mask, tex_width, tex_height, pixel_poly, True)
return mask
def paint_mask_color(pixels, width, height, mask, color):
"""Paint all True pixels of a boolean mask with an RGBA color."""
r, g, b, a = color
ys, xs = np.nonzero(mask)
for y, x in zip(ys, xs):
idx = (y * width + x) * 4
pixels[idx:idx+4] = (r, g, b, a)
def complete_checker_gaps(pixels, width, height, mesh_mask, patch_state, max_gap_px=6):
"""
Fill small white slivers inside the mesh by expanding nearby checker colors.
`patch_state`: -1 = unassigned, 0 = black patch, 1 = white patch.
"""
for _ in range(max_gap_px):
candidate = mesh_mask & (patch_state < 0)
if not np.any(candidate):
break
black_counts = np.zeros_like(patch_state, dtype=np.uint8)
white_counts = np.zeros_like(patch_state, dtype=np.uint8)
for dy in (-1, 0, 1):
for dx in (-1, 0, 1):
if dx == 0 and dy == 0:
continue
src_y0 = max(0, -dy)
src_y1 = height - max(0, dy)
src_x0 = max(0, -dx)
src_x1 = width - max(0, dx)
dst_y0 = max(0, dy)
dst_y1 = height - max(0, -dy)
dst_x0 = max(0, dx)
dst_x1 = width - max(0, -dx)
neighbor_vals = patch_state[src_y0:src_y1, src_x0:src_x1]
black_counts[dst_y0:dst_y1, dst_x0:dst_x1] += (neighbor_vals == 0)
white_counts[dst_y0:dst_y1, dst_x0:dst_x1] += (neighbor_vals == 1)
fillable = candidate & ((black_counts + white_counts) > 0)
if not np.any(fillable):
break
patch_state[fillable] = np.where(
black_counts[fillable] > white_counts[fillable], 0, 1
).astype(np.int8)
paint_mask_color(pixels, width, height, patch_state == 0, (0.0, 0.0, 0.0, 1.0))
paint_mask_color(pixels, width, height, patch_state == 1, (1.0, 1.0, 1.0, 1.0))
# ----------------------------------------------------------------------
# Color generation (for patch mode)
# ----------------------------------------------------------------------
def merge_intervals(intervals):
if not intervals: return []
intervals.sort(key=lambda x: x[0])
merged = [intervals[0]]
for current in intervals[1:]:
last = merged[-1]
if current[0] <= last[1]:
merged[-1] = (last[0], max(last[1], current[1]))
else:
merged.append(current)
return merged
def get_allowed_intervals(neighbor_values, delta):
forbidden = []
for c in neighbor_values:
low = max(0, c - delta)
high = min(1, c + delta)
forbidden.append((low, high))
merged = merge_intervals(forbidden)
allowed = []
if merged:
if merged[0][0] > 0:
allowed.append((0, merged[0][0]))
for i in range(1, len(merged)):
allowed.append((merged[i-1][1], merged[i][0]))
if merged[-1][1] < 1:
allowed.append((merged[-1][1], 1))
else:
allowed.append((0, 1))
return allowed
def sample_from_allowed(allowed):
lengths = [end - start for start, end in allowed]
total_length = sum(lengths)
if total_length <= 0: return None
point = np.random.rand() * total_length
cumulative = 0
for (start, end), length in zip(allowed, lengths):
cumulative += length
if point <= cumulative:
return np.random.uniform(start, end)
return allowed[-1][0]
def sample_channel(neighbor_values, delta):
allowed = get_allowed_intervals(neighbor_values, delta)
if not allowed: return None
return sample_from_allowed(allowed)
def generate_valid_color(neighbors, r):
delta = np.sqrt(r)
color = np.zeros(3)
for channel in range(3):
neighbor_channel = [n[channel] for n in neighbors]
sampled = sample_channel(neighbor_channel, delta)
if sampled is None:
sampled = np.random.rand()
color[channel] = sampled
return color
def checker_patch_color(i, j):
"""Return a black/white checker color for patch index (i, j)."""
if (i + j) % 2 == 0:
return np.array([1.0, 1.0, 1.0], dtype=np.float32)
return np.array([0.0, 0.0, 0.0], dtype=np.float32)
# ----------------------------------------------------------------------
# Mode 1: Colored Patches
# ----------------------------------------------------------------------
def generate_patch_texture(
obj, cam, scene, depsgraph,
nx=40, ny=30, r=0.05,
texture_width=2048, texture_height=2048,
output_path="//patch_texture.png", uv_centre=None, cross_length=40,
cross_thickness=3, cross_color=(1,0,0,1), edge_sample_grid=5
):
cam_data = cam.data
render = scene.render
res_x = render.resolution_x
res_y = render.resolution_y
if cam_data.sensor_fit == 'HORIZONTAL':
sensor_width = cam_data.sensor_width
sensor_height = sensor_width / (res_x / res_y)
else:
sensor_height = cam_data.sensor_height
sensor_width = sensor_height * (res_x / res_y)
focal = cam_data.lens
frame_width = sensor_width / focal
frame_height = sensor_height / focal
edge_sample_grid = max(2, int(edge_sample_grid))
patch_uv_polygons = []
patch_colors = np.zeros((ny, nx, 3), dtype=np.float32)
skipped_patches = 0
print(f"Raycasting {nx*ny} patches...")
for j in range(ny):
v_start = j / ny
v_end = (j+1) / ny
for i in range(nx):
u_start = i / nx
u_end = (i+1) / nx
uv_poly = sample_patch_uv_polygon(
scene, depsgraph, cam, obj,
u_start, u_end, v_start, v_end,
frame_width, frame_height,
edge_sample_grid=edge_sample_grid
)
if uv_poly is None:
patch_uv_polygons.append(None)
skipped_patches += 1
continue
patch_uv_polygons.append(uv_poly)
neighbors = []
if j > 0: neighbors.append(patch_colors[j-1, i])
if i > 0: neighbors.append(patch_colors[j, i-1])
color = np.random.rand(3) if len(neighbors)==0 else generate_valid_color(neighbors, r)
patch_colors[j, i] = color
print(f"Skipped {skipped_patches} patches with fewer than 3 mesh samples.")
# Create image – start with black background
img_name = "PatchTexture"
if img_name in bpy.data.images:
bpy.data.images.remove(bpy.data.images[img_name])
image = bpy.data.images.new(img_name, width=texture_width, height=texture_height, alpha=True)
pixels = list(image.pixels)
# Fill entire image with black (no mesh areas)
fill_background(pixels, texture_width, texture_height, (0,0,0,1))
# Rasterize all mesh UVs in white (visible + non‑visible parts)
rasterize_mesh_uvs(obj, pixels, texture_width, texture_height, color=(1,1,1,1))
# Now draw the visible patches on top
idx = 0
for j in range(ny):
for i in range(nx):
uv_poly = patch_uv_polygons[idx]; idx += 1
if uv_poly is None: continue
color = patch_colors[j,i]
rgba = (color[0], color[1], color[2], 1.0)
for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, texture_width, texture_height):
fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)
# (after drawing all patches)
if uv_centre is not None:
draw_cross(pixels, texture_width, texture_height,
uv_centre[0], uv_centre[1],
cross_length, cross_thickness, cross_color)
image.pixels[:] = pixels
image.update()
abs_path = bpy.path.abspath(output_path)
image.filepath_raw = abs_path
image.file_format = 'PNG'
image.save()
print(f"Patch texture saved to {abs_path}")
return image
# ----------------------------------------------------------------------
# Mode 2: Black/White Checker Patches
# ----------------------------------------------------------------------
def generate_checker_texture(
obj, cam, scene, depsgraph,
nx=40, ny=40,
texture_width=2048, texture_height=2048,
output_path="//checker_texture.png", uv_centre=None, cross_length=40,
cross_thickness=3, cross_color=(1,0,0,1), edge_sample_grid=5,
gap_fill_px=6
):
cam_data = cam.data
render = scene.render
res_x = render.resolution_x
res_y = render.resolution_y
if cam_data.sensor_fit == 'HORIZONTAL':
sensor_width = cam_data.sensor_width
sensor_height = sensor_width / (res_x / res_y)
else:
sensor_height = cam_data.sensor_height
sensor_width = sensor_height * (res_x / res_y)
focal = cam_data.lens
frame_width = sensor_width / focal
frame_height = sensor_height / focal
edge_sample_grid = max(2, int(edge_sample_grid))
patch_uv_polygons = []
patch_colors = np.zeros((ny, nx, 3), dtype=np.float32)
skipped_patches = 0
print(f"Raycasting {nx*ny} checker patches...")
for j in range(ny):
v_start = j / ny
v_end = (j+1) / ny
for i in range(nx):
u_start = i / nx
u_end = (i+1) / nx
uv_poly = sample_patch_uv_polygon(
scene, depsgraph, cam, obj,
u_start, u_end, v_start, v_end,
frame_width, frame_height,
edge_sample_grid=edge_sample_grid
)
if uv_poly is None:
patch_uv_polygons.append(None)
skipped_patches += 1
continue
patch_uv_polygons.append(uv_poly)
patch_colors[j, i] = checker_patch_color(i, j)
print(f"Skipped {skipped_patches} checker patches with fewer than 3 mesh samples.")
img_name = "CheckerTexture"
if img_name in bpy.data.images:
bpy.data.images.remove(bpy.data.images[img_name])
image = bpy.data.images.new(img_name, width=texture_width, height=texture_height, alpha=True)
pixels = list(image.pixels)
mesh_mask = rasterize_mesh_mask(obj, texture_width, texture_height)
patch_state = np.full((texture_height, texture_width), -1, dtype=np.int8)
fill_background(pixels, texture_width, texture_height, (0,0,0,1))
paint_mask_color(pixels, texture_width, texture_height, mesh_mask, (1,1,1,1))
idx = 0
for j in range(ny):
for i in range(nx):
uv_poly = patch_uv_polygons[idx]; idx += 1
if uv_poly is None:
continue
color = patch_colors[j,i]
rgba = (color[0], color[1], color[2], 1.0)
patch_value = 1 if np.mean(color) >= 0.5 else 0
for pixel_poly in uv_polygon_to_pixel_polygons(uv_poly, texture_width, texture_height):
fill_polygon(image, pixels, texture_width, texture_height, pixel_poly, rgba)
fill_polygon_value(
patch_state,
texture_width,
texture_height,
pixel_poly,
patch_value,
)
complete_checker_gaps(
pixels, texture_width, texture_height, mesh_mask, patch_state, max_gap_px=gap_fill_px
)
if uv_centre is not None:
draw_cross(pixels, texture_width, texture_height,
uv_centre[0], uv_centre[1],
cross_length, cross_thickness, cross_color)
image.pixels[:] = pixels
image.update()
abs_path = bpy.path.abspath(output_path)
image.filepath_raw = abs_path
image.file_format = 'PNG'
image.save()
print(f"Checker texture saved to {abs_path}")
return image
# ----------------------------------------------------------------------
# Mode 3: Circular Dot Markers
# ----------------------------------------------------------------------
def generate_dot_texture(
obj, cam, scene, depsgraph,
dot_diameter_pixels=12,
spacing_pixels=40,
dot_color=(0,0,0,1), # RGBA 0-1
texture_width=2048, texture_height=2048,
output_path="//dot_texture.png",uv_centre=None, cross_length=40, cross_thickness=3, cross_color=(1,0,0,1)
):
render = scene.render
res_x = render.resolution_x
res_y = render.resolution_y
cam_data = cam.data
if cam_data.sensor_fit == 'HORIZONTAL':
sensor_width = cam_data.sensor_width
sensor_height = sensor_width / (res_x / res_y)
else:
sensor_height = cam_data.sensor_height
sensor_width = sensor_height * (res_x / res_y)
focal = cam_data.lens
frame_width = sensor_width / focal
frame_height = sensor_height / focal
margin = spacing_pixels // 2
x_centers = np.arange(margin, res_x, spacing_pixels)
y_centers = np.arange(margin, res_y, spacing_pixels)
offset_pix = max(2, dot_diameter_pixels // 4)
du_ndc = offset_pix / res_x
dv_ndc = offset_pix / res_y
dots = [] # (cx_uv, cy_uv, a_uv, b_uv, angle_uv)
print(f"Raycasting {len(x_centers)*len(y_centers)} dot centers...")
for y_pix in y_centers:
v_ndc = y_pix / res_y
for x_pix in x_centers:
u_ndc = x_pix / res_x
center_loc, face_idx = raycast_from_camera(scene, depsgraph, cam, obj,
u_ndc, v_ndc, frame_width, frame_height)
if center_loc is None: continue
center_uv = get_uv_from_face(obj, face_idx, center_loc)
if center_uv is None: continue
offsets = [
( u_ndc + du_ndc, v_ndc),
( u_ndc - du_ndc, v_ndc),
( u_ndc, v_ndc + dv_ndc),
( u_ndc, v_ndc - dv_ndc)
]
uv_offsets = []
for (u_off, v_off) in offsets:
uv_off = raycast_uv_from_camera(
scene, depsgraph, cam, obj,
u_off, v_off, frame_width, frame_height
)
uv_offsets.append(uv_off)
scale_u = 1.0 / res_x
scale_v = 1.0 / res_y
r_pix = dot_diameter_pixels / 2.0
right_uv, left_uv, up_uv, down_uv = uv_offsets
if right_uv is not None and left_uv is not None:
du_dx = (right_uv - left_uv) / (2 * offset_pix * scale_u)
a_uv = r_pix * du_dx.length * scale_u
elif right_uv is not None:
du_dx = (right_uv - center_uv) / (offset_pix * scale_u)
a_uv = r_pix * du_dx.length * scale_u
elif left_uv is not None:
du_dx = (center_uv - left_uv) / (offset_pix * scale_u)
a_uv = r_pix * du_dx.length * scale_u
else:
du_dx = Vector((1.0, 0.0))
a_uv = r_pix / texture_width
if up_uv is not None and down_uv is not None:
dv_dx = (up_uv - down_uv) / (2 * offset_pix * scale_v)
b_uv = r_pix * dv_dx.length * scale_v
elif up_uv is not None:
dv_dx = (up_uv - center_uv) / (offset_pix * scale_v)
b_uv = r_pix * dv_dx.length * scale_v
elif down_uv is not None:
dv_dx = (center_uv - down_uv) / (offset_pix * scale_v)
b_uv = r_pix * dv_dx.length * scale_v
else:
b_uv = r_pix / texture_height
a_uv = max(a_uv, 1.0 / texture_width)
b_uv = max(b_uv, 1.0 / texture_height)
angle = np.arctan2(du_dx.y, du_dx.x) if du_dx.length > 0 else 0.0
dots.append((center_uv.x, center_uv.y, a_uv, b_uv, angle))
print(f"Found {len(dots)} valid dots.")
# Create image
img_name = "DotTexture"
if img_name in bpy.data.images:
bpy.data.images.remove(bpy.data.images[img_name])
image = bpy.data.images.new(img_name, width=texture_width, height=texture_height, alpha=True)
pixels = list(image.pixels)
# Black background (no mesh)
fill_background(pixels, texture_width, texture_height, (0,0,0,1))
# White for all mesh areas
rasterize_mesh_uvs(obj, pixels, texture_width, texture_height, color=(1,1,1,1))
# Draw dots
for (cx_uv, cy_uv, a_uv, b_uv, angle_uv) in dots:
cx_px = cx_uv * (texture_width - 1)
cy_px = cy_uv * (texture_height - 1)
a_px = a_uv * texture_width
b_px = b_uv * texture_height
draw_ellipse(pixels, texture_width, texture_height,
cx_px, cy_px, a_px, b_px, angle_uv, dot_color)
if uv_centre is not None:
draw_cross(pixels, texture_width, texture_height,
uv_centre[0], uv_centre[1],
cross_length, cross_thickness, cross_color)
image.pixels[:] = pixels
image.update()
abs_path = bpy.path.abspath(output_path)
image.filepath_raw = abs_path
image.file_format = 'PNG'
image.save()
print(f"Dot texture saved to {abs_path}")
return image
# ----------------------------------------------------------------------
# Main
# ----------------------------------------------------------------------
def main():
# ==================== CONFIGURATION ====================
MODE = "patches" # "patches", "checker", or "dots"
OBJ_NAME = "FingerMesh0525.001"
CAM_NAME = "Camera0607"
TEXTURE_WIDTH = 1640*2
TEXTURE_HEIGHT = 1600*2
OUTPUT_NAMES = {
"patches": "patch_texture.png",
"checker": "checker_texture.png",
"dots": "dot_texture.png",
}
OUTPUT_PATH = "//" + OUTPUT_NAMES.get(MODE, "texture.png")
# Patch mode
PATCH_NX = 80; PATCH_NY = 45; COLOR_R = 0.05
EDGE_SAMPLE_GRID = 5
# Checker mode
CHECKER_NX = 40; CHECKER_NY = 40; CHECKER_GAP_FILL_PX = 6
# Dot mode
DOT_DIAMETER_PIX = 12; DOT_SPACING_PIX = 40; DOT_COLOR = (0,0,0,1)
# Cross
CROSS_LENGTH_PX = 40
CROSS_THICKNESS_PX = 3
CROSS_COLOR = (1, 0, 0, 1) # red cross
# ======================================================
start_time = time.time()
scene = bpy.context.scene
depsgraph = bpy.context.evaluated_depsgraph_get()
if OBJ_NAME:
obj = bpy.data.objects.get(OBJ_NAME)
else:
obj = bpy.context.active_object
if obj is None or obj.type != 'MESH':
raise ValueError("No valid mesh object found.")
cam = bpy.data.objects.get(CAM_NAME) if CAM_NAME else scene.camera
if cam is None or cam.type != 'CAMERA':
raise ValueError("No camera found.")
if not obj.data.uv_layers.active:
obj.data.uv_layers.new(name="UVMap")
# Compute UV centre
uv_layer = obj.data.uv_layers.active
uv_coords = np.array([uv_layer.data[i].uv.to_tuple() for i in range(len(uv_layer.data))])
uv_min = uv_coords.min(axis=0)
uv_max = uv_coords.max(axis=0)
uv_centre = (uv_min + uv_max) / 2.0
print(f"UV centre: ({uv_centre[0]:.4f}, {uv_centre[1]:.4f})")
# Compute UV bounding box centre
me = obj.data
uv_layer = me.uv_layers.active
uv_coords = np.array([uv_layer.data[i].uv.to_tuple() for i in range(len(uv_layer.data))])
uv_min = uv_coords.min(axis=0)
uv_max = uv_coords.max(axis=0)
uv_centre = (uv_min + uv_max) / 2.0
print(f"UV centre: {uv_centre[0]:.4f}, {uv_centre[1]:.4f}")
if MODE == "patches":
generate_patch_texture(
obj, cam, scene, depsgraph,
nx=PATCH_NX, ny=PATCH_NY, r=COLOR_R,
texture_width=TEXTURE_WIDTH, texture_height=TEXTURE_HEIGHT,
output_path=OUTPUT_PATH,
uv_centre=uv_centre,
cross_length=CROSS_LENGTH_PX,
cross_thickness=CROSS_THICKNESS_PX,
cross_color=CROSS_COLOR,
edge_sample_grid=EDGE_SAMPLE_GRID
)
elif MODE == "checker":
generate_checker_texture(
obj, cam, scene, depsgraph,
nx=CHECKER_NX, ny=CHECKER_NY,
texture_width=TEXTURE_WIDTH, texture_height=TEXTURE_HEIGHT,
output_path=OUTPUT_PATH,
uv_centre=uv_centre,
cross_length=CROSS_LENGTH_PX,
cross_thickness=CROSS_THICKNESS_PX,
cross_color=CROSS_COLOR,
edge_sample_grid=EDGE_SAMPLE_GRID,
gap_fill_px=CHECKER_GAP_FILL_PX
)
elif MODE == "dots":
generate_dot_texture(
obj, cam, scene, depsgraph,
dot_diameter_pixels=DOT_DIAMETER_PIX,
spacing_pixels=DOT_SPACING_PIX,
dot_color=DOT_COLOR,
texture_width=TEXTURE_WIDTH, texture_height=TEXTURE_HEIGHT,
output_path=OUTPUT_PATH,
uv_centre=uv_centre,
cross_length=CROSS_LENGTH_PX,
cross_thickness=CROSS_THICKNESS_PX,
cross_color=CROSS_COLOR
)
else:
raise ValueError(f"Unknown MODE: {MODE!r}. Use 'patches', 'checker', or 'dots'.")
print(f"Completed in {time.time()-start_time:.2f} seconds.")
if __name__ == "__main__":
main()
blender/scripts/validate.py
+82
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@@ -0,0 +1,82 @@
"""Blender headless scene validation (collections and naming).
Usage (from repo root):
blender -b sensors/finger/r01/source/geometry.blend -P blender/scripts/validate.py -- sensors/finger/r01
Note: this script loads design.yaml with PyYAML. Prefer installing PyYAML into
Blender's Python, or run metadata-only checks via: orisys-design validate <revision>
"""
from __future__ import annotations
import sys
from pathlib import Path
import bpy
try:
import yaml
except ImportError:
yaml = None
def _argv_after_double_dash() -> list[str]:
if "--" not in sys.argv:
return []
return sys.argv[sys.argv.index("--") + 1 :]
def _load_design(revision_dir: Path) -> dict:
if yaml is None:
raise RuntimeError(
"PyYAML is not installed in Blender's Python. "
"Run: orisys-design validate <revision> without --blender, "
"or pip install PyYAML into Blender's Python."
)
with (revision_dir / "design.yaml").open(encoding="utf-8") as handle:
data = yaml.safe_load(handle)
if not isinstance(data, dict):
raise ValueError("design.yaml must be a mapping")
return data
def main() -> int:
args = _argv_after_double_dash()
if not args:
print("validate.py: pass revision directory after --", file=sys.stderr)
return 2
revision_dir = Path(args[0]).resolve()
try:
design = _load_design(revision_dir)
except Exception as exc:
print(f"ERROR: {exc}", file=sys.stderr)
return 1
collections = design.get("collections", {})
objects = design.get("objects", {})
errors: list[str] = []
present = {col.name for col in bpy.data.collections}
for key, expected_name in collections.items():
if expected_name not in present:
errors.append(f"Missing collection {expected_name!r} (design key: {key})")
for key, expected_name in objects.items():
obj = bpy.data.objects.get(expected_name)
if obj is None:
errors.append(f"Missing object {expected_name!r} (design key: {key})")
if errors:
for message in errors:
print(f"ERROR: {message}", file=sys.stderr)
print(f"Present collections: {sorted(present)}", file=sys.stderr)
return 1
print(f"OK: Blender scene matches conventions for {revision_dir.name}")
return 0
if __name__ == "__main__":
raise SystemExit(main())
examples/design-lock.json
+11
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@@ -0,0 +1,11 @@
{
"sensor": "finger",
"revision": "r01",
"design_repo": "git@your-nas:team/orisys-sensor-design.git",
"design_tag": "finger-r01-assets-v1.0.0",
"design_commit": "0000000000000000000000000000000000000000",
"bundle_sha256": "0000000000000000000000000000000000000000000000000000000000000000",
"exported_at": "2026-09-16T00:00:00Z",
"sdk_assets_dir": "assets/30fps-0703",
"notes": "Copy into orisys-sdk/sensors/finger/design-lock.json after promotion"
}
pyproject.toml
+27
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@@ -0,0 +1,27 @@
[build-system]
requires = ["setuptools>=68"]
build-backend = "setuptools.build_meta"
[project]
name = "orisys-sensor-design"
version = "0.1.0"
description = "Nominal Orisys sensor geometry design and export tooling"
readme = "README.md"
requires-python = ">=3.10"
dependencies = [
"PyYAML>=6.0",
]
[project.optional-dependencies]
dev = [
"pytest>=7.0",
]
[project.scripts]
orisys-design = "orisys_sensor_design.cli:main"
[tool.setuptools.packages.find]
where = ["src"]
[tool.pytest.ini_options]
testpaths = ["tests"]
sensors/finger-xynova/current.yaml
+3
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@@ -0,0 +1,3 @@
sensor: finger
revision: r01
status: draft
sensors/finger-xynova/r01/design.yaml
+28
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@@ -0,0 +1,28 @@
sensor: finger
revision: r01
status: draft
# Authoring unit in Blender (mm). Export converts using meters_per_source_unit.
authoring_unit: mm
meters_per_source_unit: 0.001
source_blend: source/assembly.blend
# Expected sensing surface topology for r01 (from shipped 30fps-0703 runtime).
expected:
sensing_vertices: 1032
sensing_triangles: 1974
frames:
world: world
camera: camera
collections:
sensing_surface: SENSOR_SURFACE
housing: SENSOR_HOUSING
marker_pattern: MARKER_PATTERN
camera_rig: CAMERA_RIG
notes: |
Legacy bootstrap blend is vtbs-blender/thumb.blend copied to source/assembly.blend.
Split into sensing-surface.blend + housing.blend when two people edit geometry.
sensors/finger-xynova/r01/golden/README.md
+4
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@@ -0,0 +1,4 @@
Optional golden outputs for regression:
- `preview.png` — viewport or render still
- `expected-metrics.json` — vertex counts, UV residual, bounding box in metres
sensors/finger-xynova/r01/profiles/compute.yaml
+20
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@@ -0,0 +1,20 @@
profile: compute
description: Runtime sensing bundle consumed by orisys-sdk assets_dir
output_dir: build/export/finger/r01/compute
# Files must match orisys-sdk / Studio runtime layout.
artifacts:
- mesh.npz
- camera_intrinsics.npz
- world_to_cam.npy
# Measured unroll maps stay in SDK (not overwritten by nominal export).
runtime_owned_by_sdk:
- unroll_map_uv_s0.4.npz
validation:
# orisys-app validate_scene.py --legacy-dir <output_dir> --map <sdk unroll map>
require_sensing_surface_only: true
expected_vertices: 1032
expected_triangles: 1974
sensors/finger-xynova/r01/profiles/studio.yaml
+20
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@@ -0,0 +1,20 @@
profile: studio
description: Compile a Studio .oryscene from compute export + SDK unroll map
# Always compile from compute export, never from visualization/ pose mesh.
compute_export_dir: build/export/finger/r01/compute
# Measured field domain — lives in orisys-sdk, not this repo.
unroll_map: orisys-sdk/sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz
compile:
tool: orisys-app/tools/scene_assets/compile_scene.py
meters_per_source_unit: 0.001
output: orisys-app/apps/studio/config/sensors/finger/scene/finger-display-1.0.0.oryscene
validate:
tool: orisys-app/tools/scene_assets/validate_scene.py
notes: |
visualization/world_to_cam.npy is for SDK Dashboard viz_pose only.
Do not point Studio compile at assets/visualization/.
sensors/finger-xynova/r01/source/README.md
+14
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@@ -0,0 +1,14 @@
# Source blends (Git LFS)
Place `assembly.blend` here. Bootstrap from legacy:
```powershell
Copy-Item D:\orisys_ws\vtbs-blender\thumb.blend .\assembly.blend
```
Ensure Git LFS is installed before the first commit:
```powershell
git lfs install
git add assembly.blend
```
sensors/finger-xynova/r01/source/assembly.blend
+3
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4d88cd2e6604e95c44dd483ec5380797dcebdd02ff584b68fb2182bd8e24b511
size 8256170
sensors/finger/current.yaml
+3
View File
@@ -0,0 +1,3 @@
sensor: finger
revision: r01
status: draft
sensors/finger/r01/design.yaml
+35
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@@ -0,0 +1,35 @@
sensor: finger
revision: r01
status: draft
# Authoring unit in Blender (mm). Export converts using meters_per_source_unit.
authoring_unit: mm
meters_per_source_unit: 0.001
source_blend: source/geometry.blend
# Expected sensing surface topology for r01 (from shipped 30fps-0703 runtime).
# First exports from geometry.blend may differ until topology is locked.
expected:
sensing_vertices: 1032
sensing_triangles: 1974
frames:
sensor: origin_sensor
objects:
sensing_surface: sensing_surface
cam_sensor: cam_sensor
origin_sensor: origin_sensor
collections:
frames: FRAMES
export_compute: EXPORT_COMPUTE
assembly: ASSEMBLY
design_sim: DESIGN_SIM
exclude: EXCLUDE
notes: |
Canonical source is geometry.blend with named collections and objects.
Compute export uses sensing_surface + cam_sensor relative to origin_sensor.
Studio observation cameras are derived from mesh bounds; no cam_viz required.
sensors/finger/r01/golden/README.md
+4
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@@ -0,0 +1,4 @@
Optional golden outputs for regression:
- `preview.png` — viewport or render still
- `expected-metrics.json` — vertex counts, UV residual, bounding box in metres
sensors/finger/r01/profiles/compute.yaml
+20
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@@ -0,0 +1,20 @@
profile: compute
description: Runtime sensing bundle consumed by orisys-sdk assets_dir
output_dir: build/export/finger/r01/compute
# Files must match orisys-sdk / Studio runtime layout.
artifacts:
- mesh.npz
- camera_intrinsics.npz
- world_to_cam.npy
# Measured unroll maps stay in SDK (not overwritten by nominal export).
runtime_owned_by_sdk:
- unroll_map_uv_s0.4.npz
validation:
# orisys-app validate_scene.py --legacy-dir <output_dir> --map <sdk unroll map>
require_sensing_surface_only: true
expected_vertices: 1032
expected_triangles: 1974
sensors/finger/r01/profiles/studio.yaml
+20
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@@ -0,0 +1,20 @@
profile: studio
description: Compile a Studio .oryscene from compute export + SDK unroll map
# Always compile from compute export, never from visualization/ pose mesh.
compute_export_dir: build/export/finger/r01/compute
# Measured field domain — lives in orisys-sdk, not this repo.
unroll_map: orisys-sdk/sensors/finger/assets/30fps-0703/unroll_map_uv_s0.4.npz
compile:
tool: orisys-app/tools/scene_assets/compile_scene.py
meters_per_source_unit: 0.001
output: orisys-app/apps/studio/config/sensors/finger/scene/finger-display-1.0.0.oryscene
validate:
tool: orisys-app/tools/scene_assets/validate_scene.py
notes: |
visualization/world_to_cam.npy is for SDK Dashboard viz_pose only.
Do not point Studio compile at assets/visualization/.
sensors/finger/r01/source/README.md
+16
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@@ -0,0 +1,16 @@
# Source blends (Git LFS)
Canonical file: `geometry.blend`
Required objects (by name):
- `sensing_surface` — in `EXPORT_COMPUTE`
- `cam_sensor` — in `DESIGN_SIM`
- `origin_sensor` — Empty in `FRAMES` (sensor-frame datum)
Ensure Git LFS is installed before the first commit:
```powershell
git lfs install
git add geometry.blend
```
sensors/finger/r01/source/dd02c_0703.blend
+3
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@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:928a0012a17b68f3de9bab42bd9314fa8661f62f624d6460f6c1918ba17813f5
size 769866
sensors/finger/r01/source/geometry.blend
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:cdceb6bb091a7f8e1f820063c18b84ea9fa686949381f6d7b1cee74d63c27c18
size 677092
sensors/finger/r01/source/patch_texture_0703_X80Y45_print.png
+3
View File
@@ -0,0 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:c92c9d800d22e37f161a9ee4a29b53ff514b7c1d224575a91c5144237cf39963
size 650206
src/orisys_sensor_design/__init__.py
+3
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@@ -0,0 +1,3 @@
"""Orisys nominal sensor design tooling (minimal v1)."""
__version__ = "0.1.0"
src/orisys_sensor_design/cli.py
+281
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@@ -0,0 +1,281 @@
"""orisys-design CLI — validate, export, manifest."""
from __future__ import annotations
import argparse
import json
import os
import shutil
import subprocess
import sys
from pathlib import Path
from orisys_sensor_design import __version__
from orisys_sensor_design.manifest import (
RevisionPaths,
build_export_job,
build_manifest,
default_manifest_path,
export_revision_dir,
export_output_dir,
load_profile,
repo_root,
validate_revision_metadata,
write_export_job,
write_manifest,
)
def _blender_from_lock(root: Path) -> Path | None:
lock_path = root / "blender.lock.json"
if not lock_path.is_file():
return None
try:
data = json.loads(lock_path.read_text(encoding="utf-8"))
except (OSError, json.JSONDecodeError):
return None
raw = data.get("executable")
if not raw:
return None
path = Path(str(raw)).expanduser()
if path.is_file():
return path.resolve()
return None
def _lock_preferred_versions(root: Path | None) -> list[str]:
"""Return preferred version tokens from blender.lock.json (lts then full)."""
if root is None:
return []
lock_path = root / "blender.lock.json"
if not lock_path.is_file():
return []
try:
data = json.loads(lock_path.read_text(encoding="utf-8"))
except (OSError, json.JSONDecodeError):
return []
preferred: list[str] = []
for key in ("blender_lts", "blender_version"):
value = data.get(key)
if isinstance(value, str) and value.strip():
preferred.append(value.strip())
return preferred
def _blender_install_candidates() -> list[Path]:
"""Collect blender.exe under Program Files / Blender Foundation."""
roots: list[Path] = []
for env_name in ("ProgramFiles", "ProgramFiles(x86)"):
raw = os.environ.get(env_name)
if raw:
roots.append(Path(raw))
# Fallbacks when env is missing (some sandboxed shells).
for fallback in (r"C:\Program Files", r"C:\Program Files (x86)"):
path = Path(fallback)
if path not in roots:
roots.append(path)
found: list[Path] = []
seen: set[Path] = set()
for root in roots:
base = root / "Blender Foundation"
if not base.is_dir():
continue
for child in sorted(base.glob("Blender *"), key=lambda p: p.name, reverse=True):
exe = child / "blender.exe"
if not exe.is_file():
continue
resolved = exe.resolve()
if resolved not in seen:
seen.add(resolved)
found.append(resolved)
return found
def _blender_from_program_files(root: Path | None = None) -> Path | None:
"""Pick a Blender install from Program Files; prefer lock version, else newest."""
candidates = _blender_install_candidates()
if not candidates:
return None
for preferred in _lock_preferred_versions(root):
for exe in candidates:
# Folder names look like "Blender 4.2" or "Blender 5.0".
if preferred in exe.parent.name:
return exe
# Newest by folder name (already sorted descending in candidates).
return candidates[0]
def resolve_blender_executable(root: Path | None = None) -> Path | None:
"""Find Blender without hard-coding a machine path.
Order: ORISYS_BLENDER / BLENDER_EXE → PATH → Program Files scan →
optional blender.lock.json executable.
"""
for env_name in ("ORISYS_BLENDER", "BLENDER_EXE"):
raw = os.environ.get(env_name)
if raw:
path = Path(raw).expanduser()
if path.is_file():
return path.resolve()
for name in ("blender", "blender.exe"):
found = shutil.which(name)
if found:
return Path(found).resolve()
from_pf = _blender_from_program_files(root)
if from_pf is not None:
return from_pf
if root is not None:
return _blender_from_lock(root)
return None
def _run_blender_script(script: str, blend: Path, extra_args: list[str]) -> int:
root = repo_root()
blender = resolve_blender_executable(root)
script_path = root / "blender" / "scripts" / script
if blender is None:
manual = (
f"blender -b {blend} -P {script_path} -- {' '.join(extra_args)}"
)
print(
"Blender not found. Set ORISYS_BLENDER (or BLENDER_EXE) to blender.exe, "
"add Blender to PATH, install under Program Files\\Blender Foundation, "
"or set optional 'executable' in blender.lock.json.\n"
f"Manual command:\n {manual}",
file=sys.stderr,
)
return 2
cmd = [
str(blender),
"-b",
str(blend),
"-P",
str(script_path),
"--",
*extra_args,
]
print("Running:", " ".join(cmd))
return subprocess.call(cmd)
def cmd_validate(revision_dir: Path, blender: bool) -> int:
paths = RevisionPaths.from_revision_dir(revision_dir)
errors = validate_revision_metadata(paths)
if errors:
for message in errors:
print(f"ERROR: {message}", file=sys.stderr)
return 1
print(f"OK: metadata for {paths.root}")
if not blender:
print("Tip: pass --blender to run in-scene collection checks.")
return 0
return _run_blender_script("validate.py", paths.source_blend, [str(revision_dir.resolve())])
def cmd_export(revision_dir: Path, profile: str) -> int:
root = repo_root(revision_dir)
paths = RevisionPaths.from_revision_dir(revision_dir)
errors = validate_revision_metadata(paths)
if errors:
for message in errors:
print(f"ERROR: {message}", file=sys.stderr)
return 1
load_profile(paths, profile)
output_dir = export_output_dir(root, paths, profile)
output_dir.mkdir(parents=True, exist_ok=True)
job = build_export_job(paths, output_dir, profile)
job_path = write_export_job(job, export_revision_dir(root, paths, profile))
print(f"Wrote export job: {job_path}")
code = _run_blender_script(
"export.py",
paths.source_blend,
["--job", str(job_path)],
)
if code != 0:
return code
print(f"Export target: {output_dir}")
missing = []
for name in load_profile(paths, profile).get("artifacts", []):
if not (output_dir / name).is_file():
missing.append(name)
if missing:
print(
f"ERROR: export finished but artifacts are missing: {', '.join(missing)}",
file=sys.stderr,
)
return 3
print("OK: all profile artifacts present")
return 0
def cmd_manifest(revision_dir: Path, out: Path | None, profile: str) -> int:
root = repo_root(revision_dir)
paths = RevisionPaths.from_revision_dir(revision_dir)
errors = validate_revision_metadata(paths, require_blend=False)
if errors:
for message in errors:
print(f"ERROR: {message}", file=sys.stderr)
return 1
manifest = build_manifest(root=root, revision_dir=revision_dir, profile=profile)
if out is None:
out = default_manifest_path(root, paths, profile)
write_manifest(out, manifest)
print(f"Wrote {out}")
if "bundle_sha256" in manifest:
print(f"bundle_sha256: {manifest['bundle_sha256']}")
else:
print("WARN: export directory empty — run export before promoting", file=sys.stderr)
return 0
def main(argv: list[str] | None = None) -> None:
parser = argparse.ArgumentParser(prog="orisys-design")
parser.add_argument("--version", action="version", version=f"%(prog)s {__version__}")
sub = parser.add_subparsers(dest="command", required=True)
validate_p = sub.add_parser("validate", help="Check revision metadata and optional Blender scene")
validate_p.add_argument("revision_dir", type=Path)
validate_p.add_argument(
"--blender",
action="store_true",
help="Run blender/scripts/validate.py headless",
)
export_p = sub.add_parser("export", help="Export nominal geometry for a profile")
export_p.add_argument("revision_dir", type=Path)
export_p.add_argument("--profile", default="compute", choices=["compute"])
manifest_p = sub.add_parser("manifest", help="Write release manifest with file hashes")
manifest_p.add_argument("revision_dir", type=Path)
manifest_p.add_argument(
"--out",
type=Path,
default=None,
help="Manifest path (default: build/export/<sensor>/<revision>/manifest.json)",
)
manifest_p.add_argument("--profile", default="compute")
args = parser.parse_args(argv)
if args.command == "validate":
code = cmd_validate(args.revision_dir, args.blender)
elif args.command == "export":
code = cmd_export(args.revision_dir, args.profile)
elif args.command == "manifest":
code = cmd_manifest(args.revision_dir, args.out, args.profile)
else:
parser.error(f"Unknown command: {args.command}")
return
raise SystemExit(code)
if __name__ == "__main__":
main()
src/orisys_sensor_design/manifest.py
+229
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"""Release manifest and revision metadata helpers."""
from __future__ import annotations
import hashlib
import json
import subprocess
from dataclasses import dataclass
from datetime import datetime, timezone
from pathlib import Path
from typing import Any
import yaml
@dataclass(frozen=True)
class RevisionPaths:
root: Path
design_yaml: Path
source_blend: Path
profiles_dir: Path
@classmethod
def from_revision_dir(cls, revision_dir: Path) -> RevisionPaths:
revision_dir = revision_dir.resolve()
design_yaml = revision_dir / "design.yaml"
if not design_yaml.is_file():
raise FileNotFoundError(f"Missing design.yaml: {design_yaml}")
design = load_yaml(design_yaml)
blend_rel = design.get("source_blend", "source/assembly.blend")
return cls(
root=revision_dir,
design_yaml=design_yaml,
source_blend=(revision_dir / blend_rel).resolve(),
profiles_dir=revision_dir / "profiles",
)
def repo_root(start: Path | None = None) -> Path:
here = (start or Path.cwd()).resolve()
for candidate in [here, *here.parents]:
if (candidate / "pyproject.toml").is_file() and (candidate / "sensors").is_dir():
return candidate
raise FileNotFoundError("Could not locate orisys-sensor-design repository root")
def load_yaml(path: Path) -> dict[str, Any]:
with path.open(encoding="utf-8") as handle:
data = yaml.safe_load(handle)
if not isinstance(data, dict):
raise ValueError(f"Expected mapping in {path}")
return data
def git_head_commit(root: Path) -> str | None:
try:
result = subprocess.run(
["git", "-C", str(root), "rev-parse", "HEAD"],
check=True,
capture_output=True,
text=True,
)
except (OSError, subprocess.CalledProcessError):
return None
return result.stdout.strip() or None
def sha256_file(path: Path) -> str:
digest = hashlib.sha256()
with path.open("rb") as handle:
for chunk in iter(lambda: handle.read(1024 * 1024), b""):
digest.update(chunk)
return digest.hexdigest()
GENERATED_EXPORT_METADATA = frozenset({"_export_job.json", "manifest.json"})
def _is_generated_metadata(path: Path) -> bool:
return path.name in GENERATED_EXPORT_METADATA
def sha256_directory(directory: Path) -> str:
if not directory.is_dir():
raise FileNotFoundError(f"Export directory not found: {directory}")
parts: list[str] = []
for path in sorted(directory.rglob("*")):
if path.is_file() and not _is_generated_metadata(path):
rel = path.relative_to(directory).as_posix()
parts.append(f"{rel}\0{sha256_file(path)}")
digest = hashlib.sha256()
digest.update("\n".join(parts).encode("utf-8"))
return digest.hexdigest()
def validate_revision_metadata(paths: RevisionPaths, *, require_blend: bool = True) -> list[str]:
errors: list[str] = []
design = load_yaml(paths.design_yaml)
for key in ("sensor", "revision", "meters_per_source_unit"):
if key not in design:
errors.append(f"design.yaml missing required key: {key}")
if require_blend and not paths.source_blend.is_file():
errors.append(f"Source blend not found: {paths.source_blend}")
if not paths.profiles_dir.is_dir():
errors.append(f"Profiles directory not found: {paths.profiles_dir}")
else:
for name in ("compute.yaml", "studio.yaml"):
if not (paths.profiles_dir / name).is_file():
errors.append(f"Missing profile: {paths.profiles_dir / name}")
return errors
def load_profile(paths: RevisionPaths, profile: str) -> dict[str, Any]:
profile_path = paths.profiles_dir / f"{profile}.yaml"
if not profile_path.is_file():
raise FileNotFoundError(f"Unknown profile: {profile_path}")
data = load_yaml(profile_path)
if data.get("profile") != profile:
raise ValueError(f"Profile name mismatch in {profile_path}")
return data
DEFAULT_EXPORT_OBJECTS = {
"sensing_surface": "sensing_surface",
"cam_sensor": "cam_sensor",
"origin_sensor": "origin_sensor",
}
def export_object_names(paths: RevisionPaths) -> dict[str, str]:
"""Resolve Blender object names for headless export (design.yaml overrides)."""
design = load_yaml(paths.design_yaml)
objects = design.get("objects") or {}
if not isinstance(objects, dict):
raise ValueError("design.yaml 'objects' must be a mapping")
return {
key: str(objects.get(key, default))
for key, default in DEFAULT_EXPORT_OBJECTS.items()
}
EXPORT_JOB_SCHEMA = "orisys-sensor-design/export-job-v1"
EXPORT_JOB_FILENAME = "_export_job.json"
MANIFEST_FILENAME = "manifest.json"
def build_export_job(
paths: RevisionPaths,
output_dir: Path,
profile: str,
) -> dict[str, Any]:
"""Build the JSON job dict that Blender's export.py consumes (stdlib JSON)."""
return {
"schema": EXPORT_JOB_SCHEMA,
"output": str(output_dir.resolve()),
"profile": profile,
"objects": export_object_names(paths),
}
def export_revision_dir(root: Path, paths: RevisionPaths, profile: str) -> Path:
"""Return the revision export folder that contains profile payload dirs."""
return export_output_dir(root, paths, profile).parent
def default_manifest_path(root: Path, paths: RevisionPaths, profile: str) -> Path:
"""Default release manifest path beside profile payload directories."""
return export_revision_dir(root, paths, profile) / MANIFEST_FILENAME
def write_export_job(job: dict[str, Any], export_root: Path) -> Path:
"""Write _export_job.json beside profile output dirs; return its path."""
export_root.mkdir(parents=True, exist_ok=True)
job_path = export_root / EXPORT_JOB_FILENAME
job_path.write_text(json.dumps(job, indent=2) + "\n", encoding="utf-8")
return job_path
def export_output_dir(root: Path, paths: RevisionPaths, profile: str) -> Path:
profile_data = load_profile(paths, profile)
output_rel = profile_data.get("output_dir")
if not output_rel:
raise ValueError(f"Profile {profile} missing output_dir")
return (root / output_rel).resolve()
def build_manifest(
*,
root: Path,
revision_dir: Path,
profile: str = "compute",
) -> dict[str, Any]:
paths = RevisionPaths.from_revision_dir(revision_dir)
design = load_yaml(paths.design_yaml)
profile_data = load_profile(paths, profile)
export_dir = export_output_dir(root, paths, profile)
files: dict[str, str] = {}
if export_dir.is_dir():
for path in sorted(export_dir.rglob("*")):
if path.is_file() and not _is_generated_metadata(path):
rel = path.relative_to(export_dir).as_posix()
files[rel] = sha256_file(path)
manifest: dict[str, Any] = {
"schema": "orisys-sensor-design/manifest-v1",
"generated_at": datetime.now(timezone.utc).replace(microsecond=0).isoformat(),
"design_repo_commit": git_head_commit(root),
"sensor": design.get("sensor"),
"revision": design.get("revision"),
"profile": profile,
"meters_per_source_unit": design.get("meters_per_source_unit"),
"source_blend": str(paths.source_blend.relative_to(root)).replace("\\", "/"),
"export_dir": str(export_dir.relative_to(root)).replace("\\", "/"),
"expected_artifacts": profile_data.get("artifacts", []),
"files": files,
}
if export_dir.is_dir():
manifest["bundle_sha256"] = sha256_directory(export_dir)
return manifest
def write_manifest(path: Path, manifest: dict[str, Any]) -> None:
path.parent.mkdir(parents=True, exist_ok=True)
path.write_text(json.dumps(manifest, indent=2) + "\n", encoding="utf-8")
tests/test_manifest.py
+184
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"""Tests for revision metadata and manifest generation."""
from __future__ import annotations
import json
from pathlib import Path
import pytest
from orisys_sensor_design.cli import resolve_blender_executable
from orisys_sensor_design.manifest import (
EXPORT_JOB_SCHEMA,
RevisionPaths,
build_export_job,
build_manifest,
default_manifest_path,
export_object_names,
export_output_dir,
export_revision_dir,
repo_root,
sha256_directory,
validate_revision_metadata,
write_export_job,
write_manifest,
)
@pytest.fixture()
def revision_dir() -> Path:
root = repo_root()
return root / "sensors" / "finger" / "r01"
def test_repo_root_finds_pyproject(revision_dir: Path) -> None:
root = repo_root(revision_dir)
assert (root / "pyproject.toml").is_file()
def test_validate_metadata_reports_missing_blend(tmp_path: Path) -> None:
revision = tmp_path / "r99"
(revision / "profiles").mkdir(parents=True)
(revision / "design.yaml").write_text(
"sensor: finger\nrevision: r99\nmeters_per_source_unit: 0.001\n"
"source_blend: source/assembly.blend\n",
encoding="utf-8",
)
for name in ("compute.yaml", "studio.yaml"):
(revision / "profiles" / name).write_text(f"profile: {name.split('.')[0]}\n", encoding="utf-8")
paths = RevisionPaths.from_revision_dir(revision)
errors = validate_revision_metadata(paths)
assert any("Source blend not found" in message for message in errors)
def test_export_object_names_from_design(revision_dir: Path) -> None:
names = export_object_names(RevisionPaths.from_revision_dir(revision_dir))
assert names == {
"sensing_surface": "sensing_surface",
"cam_sensor": "cam_sensor",
"origin_sensor": "origin_sensor",
}
def test_build_export_job_round_trips_json(revision_dir: Path, tmp_path: Path) -> None:
paths = RevisionPaths.from_revision_dir(revision_dir)
output_dir = tmp_path / "compute"
job = build_export_job(paths, output_dir, "compute")
assert job["schema"] == EXPORT_JOB_SCHEMA
assert job["profile"] == "compute"
assert job["objects"] == {
"sensing_surface": "sensing_surface",
"cam_sensor": "cam_sensor",
"origin_sensor": "origin_sensor",
}
assert Path(job["output"]) == output_dir.resolve()
job_path = write_export_job(job, tmp_path)
assert job_path.name == "_export_job.json"
assert job_path.parent == tmp_path
loaded = json.loads(job_path.read_text(encoding="utf-8"))
assert loaded["schema"] == EXPORT_JOB_SCHEMA
assert loaded["objects"]["cam_sensor"] == "cam_sensor"
assert loaded["objects"]["sensing_surface"] == "sensing_surface"
assert loaded["objects"]["origin_sensor"] == "origin_sensor"
def test_export_output_dir_matches_profile(revision_dir: Path) -> None:
root = repo_root(revision_dir)
paths = RevisionPaths.from_revision_dir(revision_dir)
out = export_output_dir(root, paths, "compute")
assert out == (root / "build/export/finger/r01/compute").resolve()
assert export_revision_dir(root, paths, "compute") == (
root / "build/export/finger/r01"
).resolve()
assert default_manifest_path(root, paths, "compute") == (
root / "build/export/finger/r01/manifest.json"
).resolve()
def test_bundle_hash_ignores_generated_metadata(tmp_path: Path) -> None:
payload = tmp_path / "compute"
payload.mkdir()
(payload / "mesh.npz").write_bytes(b"mesh")
digest = sha256_directory(payload)
(payload / "_export_job.json").write_text("{}", encoding="utf-8")
(payload / "manifest.json").write_text("{}", encoding="utf-8")
assert sha256_directory(payload) == digest
def test_manifest_writes_without_export(revision_dir: Path, tmp_path: Path) -> None:
manifest = build_manifest(
root=repo_root(revision_dir),
revision_dir=revision_dir,
profile="compute",
)
out = tmp_path / "manifest.json"
write_manifest(out, manifest)
loaded = json.loads(out.read_text(encoding="utf-8"))
assert loaded["sensor"] == "finger"
assert loaded["revision"] == "r01"
assert loaded["profile"] == "compute"
assert loaded["expected_artifacts"] == [
"mesh.npz",
"camera_intrinsics.npz",
"world_to_cam.npy",
]
assert loaded["source_blend"].endswith("geometry.blend")
def test_resolve_blender_respects_env(monkeypatch: pytest.MonkeyPatch, tmp_path: Path) -> None:
fake = tmp_path / "blender.exe"
fake.write_text("", encoding="utf-8")
monkeypatch.setenv("ORISYS_BLENDER", str(fake))
monkeypatch.delenv("BLENDER_EXE", raising=False)
assert resolve_blender_executable() == fake.resolve()
def test_resolve_blender_from_program_files(
monkeypatch: pytest.MonkeyPatch, tmp_path: Path
) -> None:
monkeypatch.delenv("ORISYS_BLENDER", raising=False)
monkeypatch.delenv("BLENDER_EXE", raising=False)
monkeypatch.setattr("orisys_sensor_design.cli.shutil.which", lambda _name: None)
pf = tmp_path / "ProgramFiles"
v42 = pf / "Blender Foundation" / "Blender 4.2"
v50 = pf / "Blender Foundation" / "Blender 5.0"
v42.mkdir(parents=True)
v50.mkdir(parents=True)
exe42 = v42 / "blender.exe"
exe50 = v50 / "blender.exe"
exe42.write_text("", encoding="utf-8")
exe50.write_text("", encoding="utf-8")
monkeypatch.setenv("ProgramFiles", str(pf))
monkeypatch.setenv("ProgramFiles(x86)", str(tmp_path / "unused-x86"))
# No lock preference → newest folder name wins (5.0).
assert resolve_blender_executable(root=None) == exe50.resolve()
def test_resolve_blender_prefers_lock_lts(
monkeypatch: pytest.MonkeyPatch, tmp_path: Path
) -> None:
monkeypatch.delenv("ORISYS_BLENDER", raising=False)
monkeypatch.delenv("BLENDER_EXE", raising=False)
monkeypatch.setattr("orisys_sensor_design.cli.shutil.which", lambda _name: None)
pf = tmp_path / "ProgramFiles"
v42 = pf / "Blender Foundation" / "Blender 4.2"
v50 = pf / "Blender Foundation" / "Blender 5.0"
v42.mkdir(parents=True)
v50.mkdir(parents=True)
(v42 / "blender.exe").write_text("", encoding="utf-8")
(v50 / "blender.exe").write_text("", encoding="utf-8")
monkeypatch.setenv("ProgramFiles", str(pf))
monkeypatch.setenv("ProgramFiles(x86)", str(tmp_path / "unused-x86"))
root = tmp_path / "repo"
root.mkdir()
(root / "blender.lock.json").write_text(
json.dumps({"blender_version": "4.2.0", "blender_lts": "4.2"}),
encoding="utf-8",
)
assert resolve_blender_executable(root=root) == (v42 / "blender.exe").resolve()
tools/export-compute.bat
+49
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@@ -0,0 +1,49 @@
@echo off
setlocal EnableExtensions EnableDelayedExpansion
rem Convenience launcher: find Blender on this machine and run compute export.
rem Session-local only — does not write machine paths into the repo.
cd /d "%~dp0\.."
if errorlevel 1 (
echo ERROR: could not cd to repo root from %~dp0
exit /b 1
)
if defined ORISYS_BLENDER (
if exist "%ORISYS_BLENDER%" goto :run
)
set "ORISYS_BLENDER="
set "PF=%ProgramFiles%"
if not defined PF set "PF=C:\Program Files"
rem Prefer Blender 5.0 when present, then newest Blender * folder.
if exist "%PF%\Blender Foundation\Blender 5.0\blender.exe" (
set "ORISYS_BLENDER=%PF%\Blender Foundation\Blender 5.0\blender.exe"
goto :found
)
for /f "delims=" %%D in ('dir /b /ad /o-n "%PF%\Blender Foundation\Blender *" 2^>nul') do (
if exist "%PF%\Blender Foundation\%%D\blender.exe" (
set "ORISYS_BLENDER=%PF%\Blender Foundation\%%D\blender.exe"
goto :found
)
)
echo ERROR: blender.exe not found under "%PF%\Blender Foundation"
echo Set ORISYS_BLENDER to your blender.exe path, then re-run.
exit /b 2
:found
echo Using Blender: %ORISYS_BLENDER%
:run
where orisys-design >nul 2>&1
if errorlevel 1 (
echo ERROR: orisys-design not on PATH. From repo root run: python -m pip install -e .
exit /b 1
)
orisys-design export sensors/finger/r01 --profile compute
exit /b %ERRORLEVEL%