File size: 3,689 Bytes
cd70273 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 | """A small imprint must still show its shape, not saturate into a black lump.
THE DEFECT
`gradient_shade` maps the surface's (dx + dy) into a grey band using the 2nd
and 98th percentiles. Those were taken over the WHOLE frame. A press covering
a few percent of the pad therefore had its band set by the noise of the flat
gel around it, and its own relief landed far outside that band: measured on a
quad_small press covering 6.3% of the frame, 46-48% of the contact's pixels
clipped to pure black or pure white. A square indenter rendered as a round
dark blob — the geometry was in the depth map and the shading destroyed it.
THE TEST
A synthetic square imprint occupying ~5% of the frame, which is the regime
that failed. Assert that few of its pixels saturate under the shipped
contact-scaled shading, AND that the retired whole-frame scaling still fails
the same check — a gate both arms pass is not a gate.
python -m scripts.test_mesh_shading
"""
from __future__ import annotations
import numpy as np
import sys as _sys
from pathlib import Path as _Path
# repo root, so `force_recovery` / `twm` / `react_toolbox` import however
# this file is invoked. Six scripts lacked this and failed at import; all
# six sat in validate_all's "slow" skip list, so nothing ran them.
_sys.path.insert(0, str(_Path(__file__).resolve().parents[1]))
from force_recovery.o3d_view import gradient_shade
MAX_CLIPPED = 0.10 # of contact pixels, shipped path
MIN_RETIRED_CLIPPED = 0.25 # the defect must still be visible to this test
def _square_imprint(h=240, w=320, side=56):
"""A flat-topped square press near the top edge, on flat gel."""
z = np.zeros((h, w), np.float32)
y0, x0 = 8, 150
z[y0:y0 + side, x0:x0 + side] = 1.4
import cv2
z = cv2.GaussianBlur(z, (9, 9), 3)
on = z > 0.05 * z.max()
return z, on
def _clipped_fraction(shade: np.ndarray, on: np.ndarray) -> float:
"""Fraction of contact pixels pinned at either end of the grey band."""
v = shade[on]
lo, hi = v.min(), v.max()
at_end = (np.abs(v - lo) < 1e-9) | (np.abs(v - hi) < 1e-9)
return float(at_end.mean())
def _whole_frame_shade(z: np.ndarray, contrast: float = 0.30) -> np.ndarray:
"""The retired scaling, reproduced here so the test can compare against it."""
dy, dx = np.gradient(z.astype(np.float64))
shade = dx + dy
lo, hi = np.percentile(shade, [2, 98])
shade = (np.clip((shade - lo) / (hi - lo), 0, 1) if hi - lo > 1e-9
else np.full_like(shade, 0.5))
return 0.5 + (shade - 0.5) * 2.0 * contrast + 0.12
def main() -> int:
z, on = _square_imprint()
print(f" synthetic square imprint covers {on.mean()*100:.1f}% of the frame")
shipped = _clipped_fraction(gradient_shade(z), on)
retired = _clipped_fraction(_whole_frame_shade(z), on)
print(f" contact-scaled (shipped) : {shipped*100:5.1f}% of contact "
f"pixels saturated")
print(f" whole-frame (retired) : {retired*100:5.1f}%")
bad = []
if shipped > MAX_CLIPPED:
bad.append(f"the shipped shading saturates {shipped*100:.0f}% of the "
f"imprint (> {MAX_CLIPPED*100:.0f}%) — small presses will "
f"render as featureless lumps again")
if retired < MIN_RETIRED_CLIPPED:
bad.append(f"the retired scaling only saturates {retired*100:.0f}% "
f"here, so this test can no longer see the defect it "
f"guards and a pass means nothing")
for b in bad:
print(f" FAIL: {b}")
print(f"mesh-shading: {len(bad)} problem(s)")
return 1 if bad else 0
if __name__ == "__main__":
raise SystemExit(main())
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