ykcheungab
66 lines
3.9 KiB
YAML
66 lines
3.9 KiB
YAML
profile: compute
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description: Runtime sensing bundle consumed by orisys-sdk assets_dir
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output_dir: build/export/finger/r01/compute
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# Files must match orisys-sdk / Studio runtime layout.
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artifacts:
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- mesh.npz
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# Housing is a separate artifact on purpose: mesh.npz stays sensing-surface-only
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# because the SDK unroll consumes its vertices as the sensing surface.
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- housing.npz
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- camera_intrinsics.npz
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- world_to_cam.npy
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# The unwarp/valid-mask domain, built by `orisys-design export` from the uv_map: block
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# below (SDK precompute; no Blender, so it can be rebuilt without the .blend). Listing it
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# here makes a missing mask fail the export instead of shipping a bundle that renders grey.
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# The name carries source_scale: 0.42 -> `scaled_map_cache_path` names it _s0.42, and the
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# runtime must be told the same scale (sensor.json camera.source_scale) or it looks for a
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# differently-named cache and rebuilds one at a mismatch.
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- unroll_map_uv_s0.42.npz
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# Nothing: the unroll map used to be listed here as SDK-owned. It is now an export artifact,
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# and the SDK asset copy (orisys-sdk/sensors/finger/assets/<rev>/unroll_map_uv_s0.42.npz) is
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# updated only when this revision is promoted - gated by tools/scene_assets/compare_uv_map.py.
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runtime_owned_by_sdk: []
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# Parameters of the unroll/valid-mask domain. Recorded here because the mask decides which
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# part of the sensing mesh the application treats as *sensing* (everything else renders
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# grey), and because regenerating it wrongly still produces a plausible-looking map:
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# * source_width/height are NOT recorded — they are derived from the export's own
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# camera_intrinsics.npz (native size x source_scale). Inheriting another camera's
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# source size produced 0.8 % island coverage instead of 40.8 %.
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# * source_K must be scaled by source_scale (orisys.unroll.geometry.scale_camera_geometry).
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# Passing the native K produced 3.5 % instead of 40.8 %.
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# Rebuild with `orisys-design export <revision> --profile compute`, which writes the map
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# into output_dir in the same run; tools/build_uv_map.py is the standalone equivalent for a
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# rebuild without Blender (same module, same parameters). Either way the map is promoted to
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# the SDK asset dir only after tools/scene_assets/compare_uv_map.py agrees.
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uv_map:
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out_width: 280 # = camera.resolution_stitch[0]; the field domain the app sees
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out_height: 300 # = camera.resolution_stitch[1]
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flip_v: true
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# source_scale: the live frame is resized by this before undistort/remap, so it sets both the
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# per-frame pixel work and the resolution the tracker/flow measures at. The floor that avoids
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# upsampling the output grid is derived, not guessed:
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# s >= max(out_width / native_width, out_height / native_height)
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# * 1280x720 camera -> max(280/1280, 300/720) = 0.417 (source 533x300)
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# * 1920x1080 camera -> max(280/1920, 300/1080) = 0.278 (source 533x300 — the same grid,
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# because the rule follows the *output* requirement, not the camera)
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# 0.42 is the chosen value: the derived floor for a 1280x720 camera is 0.417 (source 533x300),
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# and 0.42 gives 538x302 — just above the 280x300 output grid, so the remap *resamples* rather
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# than upsamples and the final resolution is unchanged. That is the point: slightly coarser than
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# native buys per-frame headroom in the resize/undistort/remap path without touching the result.
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# Changing it still changes the map's field_domain_id and the flow magnitudes the app's
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# thresholds were tuned at, so it moves together with sensor.json's camera.source_scale and a
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# recompiled scene package — never on its own.
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source_scale: 0.42
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edge_band: 0.12
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edge_expand: 1.0 # <= 1.0 means "resolve from the measured UV distortion"
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validation:
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# orisys-app validate_scene.py --legacy-dir <output_dir> --map <sdk unroll map>
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require_sensing_surface_only: true
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expected_vertices: 1032
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expected_triangles: 1974
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