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