added uv unwarp export

sensors/finger/r01/profiles/compute.yaml

@@ -11,10 +11,18 @@ artifacts:
   - housing.npz
   - camera_intrinsics.npz
   - world_to_cam.npy
+  # The unwarp/valid-mask domain, built by `orisys-design export` from the uv_map: block
+  # below (SDK precompute; no Blender, so it can be rebuilt without the .blend). Listing it
+  # here makes a missing mask fail the export instead of shipping a bundle that renders grey.
+  # The name carries source_scale: 0.42 -> `scaled_map_cache_path` names it _s0.42, and the
+  # runtime must be told the same scale (sensor.json camera.source_scale) or it looks for a
+  # differently-named cache and rebuilds one at a mismatch.
+  - unroll_map_uv_s0.42.npz
 
-# Measured unroll maps stay in SDK (not overwritten by nominal export).
-runtime_owned_by_sdk:
-  - unroll_map_uv_s0.4.npz
+# Nothing: the unroll map used to be listed here as SDK-owned. It is now an export artifact,
+# and the SDK asset copy (orisys-sdk/sensors/finger/assets/<rev>/unroll_map_uv_s0.42.npz) is
+# updated only when this revision is promoted - gated by tools/scene_assets/compare_uv_map.py.
+runtime_owned_by_sdk: []
 
 # 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
@@ -24,8 +32,10 @@ runtime_owned_by_sdk:
 #     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.
+# Rebuild with `orisys-design export <revision> --profile compute`, which writes the map
+# into output_dir in the same run; tools/build_uv_map.py is the standalone equivalent for a
+# rebuild without Blender (same module, same parameters). Either way the map 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]
@@ -37,12 +47,14 @@ uv_map:
   #   * 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
+  # 0.42 is the chosen value: the derived floor for a 1280x720 camera is 0.417 (source 533x300),
+  # and 0.42 gives 538x302 — just above the 280x300 output grid, so the remap *resamples* rather
+  # than upsamples and the final resolution is unchanged. That is the point: slightly coarser than
+  # native buys per-frame headroom in the resize/undistort/remap path without touching the result.
+  # Changing it still changes the map's field_domain_id and the flow magnitudes the app's
+  # thresholds were tuned at, so it moves together with sensor.json's camera.source_scale and a
+  # recompiled scene package — never on its own.
+  source_scale: 0.42
   edge_band: 0.12
   edge_expand: 1.0        # <= 1.0 means "resolve from the measured UV distortion"