ykcheungab
c377c14474
2. added unwarp map export in current cli, don't need to generate by precompute in sensor running
177 lines
7.5 KiB
YAML
177 lines
7.5 KiB
YAML
sensor: finger-xynova
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revision: r01
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status: draft
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# Authoring unit in Blender (mm). Export converts using meters_per_source_unit.
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authoring_unit: mm
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meters_per_source_unit: 0.001
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source_blend: source/geometry.blend
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# Expected sensing surface topology for r01 (from shipped 30fps-0703 runtime).
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# First exports from geometry.blend may differ until topology is locked.
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expected:
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sensing_vertices: 2595
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sensing_triangles: 5005
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frames:
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sensor: origin_sensor
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objects:
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sensing_surface: sensing_surface
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cam_sensor: cam_sensor
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origin_sensor: origin_sensor
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# Headless colored-patch texture generation (`orisys-design texture`).
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# UV unwrapping is still done in the Blender GUI: the headless run consumes the
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# UV maps already stored in source_blend and never creates or unwraps one.
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# One PNG/SVG/PDF set is written per UV map below. All maps and formats share
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# the settings and patch colours, so they differ only by UV layout.
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# These are the revision defaults; CLI flags override every value.
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texture_patch:
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mesh: sensing_surface
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camera: cam_sensor
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uv_outputs:
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produce: patch_texture_produce.png # hardware production layout
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compute: patch_texture_compute.png # compute/runtime layout
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width: 3700 # 1850*2
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height: 3280 # 1640*2
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# Camera frame is square (1000x1000), so equal counts make camera-space
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# elements square. The original 80x45 grid was copied from a 16:9 camera.
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nx: 80
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ny: 80
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color_r: 0.05
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edge_sample_grid: 5
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seed: 7 # fixed so PNG/SVG/PDF share one reproducible colour set
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vector:
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width_mm: 18.5 # editable SVG/PDF production page width
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height_mm: 16.4 # editable SVG/PDF production page height
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cross:
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enabled: true
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length_px: 40
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thickness_px: 3
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color: [1.0, 0.0, 0.0, 1.0] # red reference cross
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# Post-generation printability inspection (`orisys-design inspect`). Advisory
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# only: it reports a verdict but never blocks generation or changes exit codes.
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# Millimetres are measured on the vector page declared above.
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printability:
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printer_dpi: 600 # target UV printer resolution
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min_dots: 2 # printer dots required across the smallest feature
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min_feature_mm: 0.10 # smallest acceptable feature width
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min_edge_mm: 0.05 # shortest acceptable polygon edge
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max_sliver_ratio: 4.0 # longest edge / minimum width
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min_patch_area_mm2: 1.0e-4 # area above which a polygon is a material feature
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# Optical stack above the markers, ordered from the camera inward.
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# The markers sit on the sensing surface underneath these layers, so their image
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# is displaced relative to the straight-line pinhole model.
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#
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# ior values are LITERATURE ASSUMPTIONS, not measurements - that is what
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# ior_source records, so an assumed index can never pass for a measured one.
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# Replace them with measured values when available; nothing else needs to change.
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optics:
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marker_surface: sensing_surface
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layers:
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# Solids, not surface pairs: `shell` and `rubber-1` are each one closed mesh,
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# so the ray enters and leaves the same object.
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# Stack: camera > shell > rubber-1 > sensing_surface > rubber-2.
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# rubber-2 is BEHIND the markers, so it does not refract camera light and is
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# deliberately not a layer.
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- name: plastic_shell
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solid: shell
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ior: 1.59
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ior_source: assumed_pc_literature
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- name: clear_rubber
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solid: rubber-1
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ior: 1.43
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ior_source: assumed_silicone_literature
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# Probe sensitivity bench (`orisys-design deform|render|track|sensitivity|optimise`).
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# Deforms the vertices of `group` through known x/y/z displacements expressed in a
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# local probe-average basis (normal force along z, shear along x/y), renders what
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# `camera` sees, and measures DIS optical flow against the zero-displacement frame.
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#
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# Contract: docs/probe-pipeline.md. The `.blend` is never written by the pipeline.
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probe:
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mesh: sensing_surface
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camera: cam_sensor
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group: probe
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uv_map: compute
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texture: patch_texture_compute.png
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# Proportional falloff radius for the outer rubber. Note this mesh has a median
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# edge of 0.63 mm, so 0.5 mm reaches only the probe's immediate neighbours; the
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# deform report prints how many vertices actually move rather than hiding it.
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radius_mm: 0.5
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falloff: smooth
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step_mm: 0.01
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max_mm: 0.10
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axes: [x, y, z]
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# Frames are rendered at the revision's real camera resolution. Keep this in step with
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# the camera in source/geometry.blend: the pipeline overrides the scene resolution from
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# here, so a blend edited to a different size is silently ignored otherwise.
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#
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# Single scale on purpose. The ROI radius is radius_mm x the probe-local px/mm, so at
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# 125x125 it would be 1.66 px against an 8 px DIS window: the estimator measures its own
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# regulariser, not the displacement. See docs/probe-findings.md section 2.
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resolution: [250, 250]
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process_resolution: [250, 250]
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# Mirrors the SDK sensor tracker keys (orisys-sdk config/finger.json), EXCEPT
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# dis_mode. The estimator window is 8 * 2**dis_mode input px (16 at dis_mode=1, 8 at 0)
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# and the moving region is ~6.6 px across at 250x250, so the shipped dis_mode=1 gives
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# window/moving = 2.42: DIS's smoothness pulls the estimate toward zero and the measured
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# response drops ~3x (1.42 -> 4.30 px/mm at the matched cell). dis_mode=0 gives 1.21,
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# the same ratio as 500x500 with dis_mode=1, which recovers to ~73%.
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# See docs/probe-findings.md section 2.
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# If the deployed tracker is fixed at dis_mode=1, run the bench at 500x500 instead.
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tracker:
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algorithm: dis
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dis_preset: medium
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dis_mode: 0
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# Standard (not AgX) and denoise off: a filmic view transform silently distorts
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# the marker values the tracker is supposed to measure.
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render:
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engine: CYCLES
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samples: 16
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denoise: false
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view_transform: Standard
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interpolate: Closest
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seed: 0
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# Noise calibration and the injected noise model.
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#
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# The estimator's `floor_px` is measured as reference vs a re-render at seed+1, which
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# is Cycles antialiasing jitter, NOT sensor noise: on this data it differs by ~5 grey
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# levels RMS on half the pixels and scales with edge contrast. Ranking patterns by
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# gain/that-floor is unsound - the ordering reverses under additive noise, and it
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# understates the real idle floor measured from the footage below, coarse patterns
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# most. So the render-seed floor is kept only as a reproducibility diagnostic and the
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# score is anchored to the injected model plus this measured calibration.
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noise:
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# Real idle (no-contact) footage, relative to the repo root. Measured: floor
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# ~0.23 px at 1280x720 (short baseline == long baseline, so it is white noise and
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# the clip is genuinely idle), dominant marker period ~25 px, i.e. ~0.0093 floor
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# per period. That is 2-6x the simulated render-seed floor per cell.
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idle_footage: ../data/dd02-0703/190.mp4
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roi_fraction: 0.18
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max_frames: 120
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# Additive white Gaussian in grey levels. Defaults are deliberately small: each
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# sigma costs a full DIS pass, and the process scale is a resample of the render
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# one, so only the render scale is evaluated unless asked.
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sigmas: [4.0, 16.0]
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draws: 1
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seed: 0
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models: [render_seed, injected]
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scales: [render]
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collections:
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frames: FRAMES
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export_compute: EXPORT_COMPUTE
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assembly: ASSEMBLY
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design_sim: DESIGN_SIM
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exclude: EXCLUDE
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notes: |
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Canonical source is geometry.blend with named collections and objects.
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Compute export uses sensing_surface + cam_sensor relative to origin_sensor.
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Studio observation cameras are derived from mesh bounds; no cam_viz required.
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