ykcheungab
c377c14474
2. added unwarp map export in current cli, don't need to generate by precompute in sensor running
54 lines
2.8 KiB
YAML
54 lines
2.8 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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# Measured unroll maps stay in SDK (not overwritten by nominal export).
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runtime_owned_by_sdk:
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- unroll_map_uv_s0.4.npz
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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 tools/build_uv_map.py --profile <this file>; it writes into output_dir first
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# and is promoted to 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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# 0.4 is pinned because it is the value the running system and the existing recordings were
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# measured at; at a 1280x720 camera it yields a 512x288 source, i.e. 4 % coarser than the
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# 300-row output (mild upsampling). Changing it changes the flow magnitudes the app's
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# thresholds were tuned against AND the map's field_domain_id, so it must move together with
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# sensor.json's camera.source_scale and a recompiled scene package.
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source_scale: 0.4
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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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