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
  # Housing is a separate artifact on purpose: mesh.npz stays sensing-surface-only
  # because the SDK unroll consumes its vertices as the sensing surface.
  - housing.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

# 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
  expected_vertices: 1032
  expected_triangles: 1974