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1. added blender deformation probe for marker size picking and optimization

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2. added unwarp map export in current cli, don't need to generate by precompute in sensor running
This commit is contained in:
ykcheungab
2026-09-25 15:44:44 +08:00
parent bc5a928852
commit c377c14474
34 changed files with 18032 additions and 1 deletions
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sensors/finger/r01/profiles/compute.yaml
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@@ -16,6 +16,36 @@ artifacts:
runtime_owned_by_sdk:
- unroll_map_uv_s0.4.npz
# Parameters of the unroll/valid-mask domain. Recorded here because the mask decides which
# part of the sensing mesh the application treats as *sensing* (everything else renders
# grey), and because regenerating it wrongly still produces a plausible-looking map:
# * source_width/height are NOT recorded — they are derived from the export's own
# camera_intrinsics.npz (native size x source_scale). Inheriting another camera's
# source size produced 0.8 % island coverage instead of 40.8 %.
# * source_K must be scaled by source_scale (orisys.unroll.geometry.scale_camera_geometry).
# Passing the native K produced 3.5 % instead of 40.8 %.
# Rebuild with tools/build_uv_map.py --profile <this file>; it writes into output_dir first
# and is promoted to the SDK asset dir only after tools/scene_assets/compare_uv_map.py agrees.
uv_map:
out_width: 280 # = camera.resolution_stitch[0]; the field domain the app sees
out_height: 300 # = camera.resolution_stitch[1]
flip_v: true
# source_scale: the live frame is resized by this before undistort/remap, so it sets both the
# per-frame pixel work and the resolution the tracker/flow measures at. The floor that avoids
# upsampling the output grid is derived, not guessed:
# s >= max(out_width / native_width, out_height / native_height)
# * 1280x720 camera -> max(280/1280, 300/720) = 0.417 (source 533x300)
# * 1920x1080 camera -> max(280/1920, 300/1080) = 0.278 (source 533x300 — the same grid,
# because the rule follows the *output* requirement, not the camera)
# 0.4 is pinned because it is the value the running system and the existing recordings were
# measured at; at a 1280x720 camera it yields a 512x288 source, i.e. 4 % coarser than the
# 300-row output (mild upsampling). Changing it changes the flow magnitudes the app's
# thresholds were tuned against AND the map's field_domain_id, so it must move together with
# sensor.json's camera.source_scale and a recompiled scene package.
source_scale: 0.4
edge_band: 0.12
edge_expand: 1.0 # <= 1.0 means "resolve from the measured UV distortion"
validation:
# orisys-app validate_scene.py --legacy-dir <output_dir> --map <sdk unroll map>
require_sensing_surface_only: true