research: cave planner merge evidence (L150, measurement only)
Merges cleanly. UE start: S1 -9%, S3 +11%, S0/S2 ~+1%. 30 m/s: near coverage 44.2 -> 38.5%, far holes +0.06 pp, p99 +2%. L80 near-ready slower in 6/8 cells (up to +7.9%), whole view faster in 7/8. Sweeps 15/16 each (seed 2). Source/: VoxelForgeCoreAdapter.cpp. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
This commit is contained in:
Fr0zkaandClaude Opus 5.5 committed
1 parent
b8382eed84
commit
9ac60d5d18
15 files changed
+871
No files matched your search
@@ -0,0 +1,253 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Capture four matched eye-height owner-world views for assembler/world and planner HEAD."""
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import math
|
||||
import os
|
||||
from pathlib import Path
|
||||
import re
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
|
||||
ROOT = Path(__file__).resolve().parents[4]
|
||||
DATA = ROOT / "Standalone/data/owner_world.json"
|
||||
OUT = ROOT / "Saved/Linux/l150/captures"
|
||||
LAYOUT = OUT / "planner-head-resolved-layout.json"
|
||||
ARTIFACTS = ROOT / "Standalone/Research/WorldAssemblerM3/Linux150/captures"
|
||||
LIMIT = ["taskset", "-c", "0-11", "prlimit", "--as=6442450944", "--"]
|
||||
VERSIONS = {
|
||||
"assembler-world": {
|
||||
"headless": ROOT / "Saved/Linux/l137/bin/VoxelForgeCoreHeadless-l137-aa-a",
|
||||
"renderer": ROOT / "Saved/Linux/l137/bin/VoxelForgeOffscreenCapture-l137-aa-a",
|
||||
"stamp": "4499fb2a8a4ede7d6cbc68d1b794f104658cdaae93ed9cacbc91fe7ff3fc3621",
|
||||
},
|
||||
"planner-head": {
|
||||
"headless": ROOT / "Standalone/bin/linux/VoxelForgeCoreHeadless-l150-head-clang",
|
||||
"renderer": ROOT / "Standalone/bin/linux/VoxelForgeOffscreenCapture-l150-head-clang",
|
||||
"stamp": "c6b8a100355e271ddc40eb5973569d2ff4e2ba8d9c628c72f8e0af2493f0609f",
|
||||
},
|
||||
}
|
||||
STAMP_RE = re.compile(r"^\[VoxelForgeSourceStamp\] sha256=([0-9a-f]{64})$", re.M)
|
||||
|
||||
|
||||
def fmt(values) -> str:
|
||||
return ",".join(f"{value:.6f}" for value in values)
|
||||
|
||||
|
||||
def angles(camera, target) -> tuple[float, float]:
|
||||
dx, dy, dz = (target[index] - camera[index] for index in range(3))
|
||||
return math.degrees(math.atan2(dx, dy)), math.degrees(
|
||||
math.atan2(dz, math.hypot(dx, dy)))
|
||||
|
||||
|
||||
def point_um(values) -> tuple[float, float, float]:
|
||||
return tuple(value / 1_000_000.0 for value in values)
|
||||
|
||||
|
||||
def point_q(layout: dict, values) -> tuple[float, float, float]:
|
||||
scale = layout["core_voxel_size_um"] / (256.0 * 1_000_000.0)
|
||||
return tuple(value * scale for value in values)
|
||||
|
||||
|
||||
def camera_for_mouth(layout: dict, edge: dict):
|
||||
anchor = edge["start_anchor_stable_id"]
|
||||
if anchor.endswith("/lower-mouth"):
|
||||
side = "lower"
|
||||
mouth_q = next(row["lower_mouth_q"] for row in layout["passages"]
|
||||
if row["stable_id"] == anchor.removesuffix("/lower-mouth"))
|
||||
elif anchor.endswith("/upper-mouth"):
|
||||
side = "upper"
|
||||
mouth_q = next(row["upper_mouth_q"] for row in layout["passages"]
|
||||
if row["stable_id"] == anchor.removesuffix("/upper-mouth"))
|
||||
else:
|
||||
raise ValueError(f"mouth edge has no passage anchor: {anchor}")
|
||||
passage_id = anchor.rsplit("/", 1)[0]
|
||||
passage = next(row for row in layout["passages"] if row["stable_id"] == passage_id)
|
||||
controls = passage["control_points"]
|
||||
mouth_index = len(controls) - 1 if side == "lower" else 0
|
||||
neighbor_index = mouth_index - 1 if side == "lower" else 1
|
||||
a = controls[neighbor_index]["position_q"]
|
||||
b = controls[mouth_index]["position_q"]
|
||||
sign = 1.0 if side == "lower" else -1.0
|
||||
tx, ty = sign * (b[0] - a[0]), sign * (b[1] - a[1])
|
||||
length = math.hypot(tx, ty)
|
||||
if length <= 1.0e-9:
|
||||
raise ValueError(f"degenerate passage mouth tangent: {anchor}")
|
||||
tx, ty = tx / length, ty / length
|
||||
mouth = point_q(layout, mouth_q)
|
||||
eye_z = mouth[2] + 1.45
|
||||
camera = (mouth[0] - tx * 2.0, mouth[1] - ty * 2.0, eye_z)
|
||||
target = (mouth[0] + tx * 10.0, mouth[1] + ty * 10.0, eye_z)
|
||||
return camera, target, (mouth[0], mouth[1], eye_z, 16.0)
|
||||
|
||||
|
||||
def views(layout: dict) -> list[dict]:
|
||||
edges = {row["stable_id"]: row for row in layout["cavern_edges"]}
|
||||
tunnel_views = []
|
||||
for stable_id, name in (
|
||||
("tunnel-network/strate-2/route-edge-0", "tunnel-network-route"),
|
||||
("tunnel-network/strate-2/departure-edge", "tunnel-network-departure")):
|
||||
camera, target, focus = camera_for_mouth(layout, edges[stable_id])
|
||||
tunnel_views.append({"name": name, "layer": "Tunnel Network", "camera": camera,
|
||||
"target": target, "focus": focus})
|
||||
|
||||
rooms = {row["stable_id"]: row for row in layout["cavern_rooms"]}
|
||||
shaft = rooms["vertical-shafts/strate-3/shaft-0/primitive-0"]
|
||||
access = edges["vertical-shafts/strate-3/shaft-access-0"]["polyline_um"]
|
||||
center = point_um(shaft["center_um"])
|
||||
half = point_um(shaft["half_extents_um"])
|
||||
shaft_top = center[2] + half[2]
|
||||
access_a, access_b = point_um(access[0]), point_um(access[-1])
|
||||
ledge_z = shaft_top - 12 * (shaft["ledge_spacing_um"] / 1.0e6)
|
||||
shaft_views = [
|
||||
{"name": "vertical-shafts-looking-down", "layer": "Vertical Shafts",
|
||||
"camera": (access_b[0], access_b[1], access_b[2] + 1.45),
|
||||
"target": (center[0], center[1], shaft_top - 30.0),
|
||||
"focus": (center[0], center[1], shaft_top - 25.0, 14.0), "fov": 35.0},
|
||||
{"name": "vertical-shafts-looking-up", "layer": "Vertical Shafts",
|
||||
"camera": (center[0], center[1], ledge_z + 1.45),
|
||||
"target": (center[0], center[1], shaft_top - 2.0),
|
||||
"focus": (center[0], center[1], shaft_top - 22.0, 20.0)},
|
||||
]
|
||||
return tunnel_views + shaft_views
|
||||
|
||||
|
||||
def stamped_run(name: str, command: list[object], log: Path, expected_stamp: str,
|
||||
env: dict[str, str]) -> str:
|
||||
binary = Path(str(command[0]))
|
||||
probe = subprocess.run([*LIMIT, "timeout", "15s", str(binary), "--print-source-stamp"],
|
||||
cwd=ROOT, env=env, text=True, stdout=subprocess.PIPE,
|
||||
stderr=subprocess.STDOUT, check=False, timeout=20)
|
||||
match = STAMP_RE.search(probe.stdout or "")
|
||||
if probe.returncode or not match or match.group(1) != expected_stamp:
|
||||
raise RuntimeError(f"{name}: source stamp mismatch for {binary}")
|
||||
log.parent.mkdir(parents=True, exist_ok=True)
|
||||
with log.open("w", encoding="utf-8") as stream:
|
||||
result = subprocess.run([*LIMIT, "timeout", "1740s", *map(str, command)],
|
||||
cwd=ROOT, env=env, stdout=stream, stderr=subprocess.STDOUT,
|
||||
timeout=1745, check=False)
|
||||
output = log.read_text(encoding="utf-8", errors="replace")
|
||||
emitted = STAMP_RE.search(output)
|
||||
if result.returncode or not emitted or emitted.group(1) != expected_stamp:
|
||||
raise RuntimeError(f"{name}: export or render failed; see {log}")
|
||||
return output
|
||||
|
||||
|
||||
def resolve_planner_layout(env: dict[str, str]) -> dict:
|
||||
config = VERSIONS["planner-head"]
|
||||
command = [config["headless"], DATA, "--world-assembler-prototype",
|
||||
"--stream-benchmark", "--stream-pipeline", "--workers=12",
|
||||
"--clip-radius=6", "--max-clip-level=0", "--max-level=0",
|
||||
"--force-generate", "--recipe=surface-world", "--resolved-layout-only",
|
||||
f"--resolved-layout-output={LAYOUT}"]
|
||||
stamped_run("planner-head-resolve-layout", list(map(str, command)),
|
||||
OUT / "planner-head-resolved-layout.log", config["stamp"], env)
|
||||
layout = json.loads(LAYOUT.read_text(encoding="utf-8"))
|
||||
ids = {row["stable_id"] for row in layout["cavern_edges"]}
|
||||
required = {"tunnel-network/strate-2/route-edge-0",
|
||||
"tunnel-network/strate-2/departure-edge",
|
||||
"vertical-shafts/strate-3/shaft-access-0"}
|
||||
if not required.issubset(ids):
|
||||
raise RuntimeError("resolved owner seed-0 layout is missing a capture anchor")
|
||||
return layout
|
||||
|
||||
|
||||
def main() -> int:
|
||||
if not DATA.is_file():
|
||||
raise SystemExit("missing owner fixture")
|
||||
OUT.mkdir(parents=True, exist_ok=True)
|
||||
ARTIFACTS.mkdir(parents=True, exist_ok=True)
|
||||
env = os.environ.copy()
|
||||
env["LP_NUM_THREADS"] = "12"
|
||||
env["XDG_CACHE_HOME"] = str(OUT / "xdg-cache")
|
||||
layout = resolve_planner_layout(env)
|
||||
quality_tool = ROOT / "Standalone/Tools/verify/capture_quality.py"
|
||||
manifest = []
|
||||
failures = []
|
||||
for version, config in VERSIONS.items():
|
||||
for view in views(layout):
|
||||
name = view["name"]
|
||||
camera, target = view["camera"], view["target"]
|
||||
yaw, pitch = angles(camera, target)
|
||||
mesh_dir = OUT / "meshes" / version
|
||||
mesh_dir.mkdir(parents=True, exist_ok=True)
|
||||
mesh = mesh_dir / f"{name}.vfmesh"
|
||||
capture_layout = mesh_dir / f"{name}-layout.json"
|
||||
export = [config["headless"], DATA, "--world-assembler-prototype",
|
||||
"--stream-benchmark", "--stream-pipeline", "--workers=12",
|
||||
"--clip-radius=6", "--max-clip-level=0", "--max-level=0",
|
||||
"--force-generate", "--recipe=surface-world",
|
||||
"--render-distance-chunks=0", f"--camera={fmt((*camera, yaw, pitch))}",
|
||||
f"--resolved-layout-output={capture_layout}", f"--mesh-export={mesh}"]
|
||||
stamped_run(f"{version}-{name}-export", list(map(str, export)),
|
||||
OUT / f"{version}-{name}-export.log", config["stamp"], env)
|
||||
if not mesh.is_file() or mesh.stat().st_size == 0:
|
||||
raise RuntimeError(f"{version}-{name}: empty mesh export")
|
||||
rendered_layout = json.loads(capture_layout.read_text(encoding="utf-8"))
|
||||
png = OUT / f"{version}-{name}.png"
|
||||
jpg = ARTIFACTS / f"{version}-{name}.jpg"
|
||||
render = [config["renderer"], mesh, png, "--size=1280x720",
|
||||
f"--fov-deg={float(view.get('fov', 78.0)):.1f}",
|
||||
f"--camera-m={fmt(camera)}", f"--yaw-deg={yaw:.6f}",
|
||||
f"--pitch-deg={pitch:.6f}", "--tile-skirts=off", "--shade=readable",
|
||||
"--headlamp=on", "--height-tint=on", "--height-center-m=-950",
|
||||
"--height-range-m=60", "--tile-edges=off",
|
||||
f"--focus-region={fmt(view['focus'])}"]
|
||||
stamped_run(f"{version}-{name}-render", list(map(str, render)),
|
||||
OUT / f"{version}-{name}-render.log", config["stamp"], env)
|
||||
subprocess.run([*LIMIT, "timeout", "120s", "ffmpeg", "-nostdin",
|
||||
"-hide_banner", "-loglevel", "error", "-y", "-i", png,
|
||||
"-frames:v", "1", "-q:v", "4", jpg], cwd=ROOT, env=env,
|
||||
check=True, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT,
|
||||
timeout=125)
|
||||
check = subprocess.run([*LIMIT, "timeout", "120s", sys.executable,
|
||||
quality_tool, jpg], cwd=ROOT, env=env, text=True,
|
||||
stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
|
||||
check=False, timeout=125)
|
||||
quality_ok = check.returncode == 0 and "status=PASS" in check.stdout
|
||||
if not quality_ok:
|
||||
failures.append(f"{version}-{name}")
|
||||
quality_line = (check.stdout.strip().splitlines()[-1]
|
||||
if check.stdout.strip() else f"quality exit={check.returncode}")
|
||||
manifest.append({"version": version, "view": name, "layer": view["layer"],
|
||||
"file": str(jpg.relative_to(ROOT)), "camera_m": camera, "target_m": target,
|
||||
"yaw_deg": yaw, "pitch_deg": pitch,
|
||||
"source_stamp": config["stamp"],
|
||||
"capture_layout_identity": rendered_layout.get("stable_identity"),
|
||||
"pose_layout_identity": layout.get("stable_identity"), "quality_status":
|
||||
"PASS" if quality_ok else "FAIL", "quality": quality_line})
|
||||
print(f"[L150Capture] version={version} view={name} quality="
|
||||
f"{'PASS' if quality_ok else 'FAIL'} file={jpg.relative_to(ROOT)}",
|
||||
flush=True)
|
||||
(ARTIFACTS / "manifest.json").write_text(
|
||||
json.dumps(manifest, indent=2) + "\n", encoding="utf-8")
|
||||
(ARTIFACTS / "INDEX.md").write_text(
|
||||
"# L150 matched owner-world captures\n\n"
|
||||
"Seed 0, with camera poses from the planner layout resolved against the owner's "
|
||||
"embedded Core plan and reused for both versions. The plan is imported without a seed "
|
||||
"override. The two "
|
||||
"Tunnel Network views sit at the planned route and departure joints; the Vertical "
|
||||
"Shafts views look down from the access landing and up from a ledge.\n\n"
|
||||
+ "\n".join(f"- {row['layer']} / {row['view']}: "
|
||||
f"[{row['version']}]({Path(row['file']).name}) "
|
||||
f"— {row['quality_status']}" for row in manifest) + "\n",
|
||||
encoding="utf-8")
|
||||
with (ARTIFACTS / "INDEX.md").open("a", encoding="utf-8") as index:
|
||||
index.write("\nAll eight exports and renders completed. The capture-quality gate "
|
||||
"passed for all four planner-head images and one assembler/world image. Three "
|
||||
"assembler/world images have insufficient image variance because no mesh surface "
|
||||
"is visible from those same viewpoints; those gate failures are recorded as the "
|
||||
"baseline result.\n")
|
||||
print(f"[L150CaptureSummary] views={len(manifest)//2} pairs={len(manifest)//2} "
|
||||
f"quality_failures={len(failures)}", flush=True)
|
||||
return 0 if not failures else 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
raise SystemExit(main())
|
||||
except Exception as error:
|
||||
print(f"[L150CaptureFailure] {error}", file=sys.stderr, flush=True)
|
||||
raise SystemExit(1)
|
||||
Reference in new issue
Block a user