Fr0zkaandClaude Opus 5.5
fa6363b31a
Route plan unchanged. Per tile, route segments whose bounded influence (tube + 4 m) touches the tile write min-combined tube distance (base sweep); relief/floor/mouth shaping only in the shell (detail sweep); 0.5 m edge blend into the strate field. Near-ready @W12: SW 1.01->0.80, FI 2.23->1.43, TN 2.18->1.37, VS 1.09->0.98 s; whole view FI 3.38->2.37 s. All passage walk audits pass (21,425/21,425 canonical, 3/3 interfaces); 24-run Clang/GCC W1/W8/W12 determinism; 0 sign flips. Change: mean 0.02 cm / 0.05 deg; max 25.9 cm (passage walls/roofs ~3.5 m from route, LOD2) and 49.8 deg (rock walls 13-25 m from routes, LOD2). Captures with diffs in Linux99/captures. Fast tier PASS (v215 pins). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
381 lines
17 KiB
Python
381 lines
17 KiB
Python
#!/usr/bin/env python3
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"""Capture matched L98/L99 tunnel change and passage views."""
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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 struct
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import subprocess
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import time
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from array import array
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from pathlib import Path
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ROOT = Path(__file__).resolve().parents[4]
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OUT = ROOT / "Saved/Linux/l99/captures"
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IMAGE_DIR = Path(__file__).resolve().parent / "captures"
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DATA = ROOT / "Standalone/data/owner_world.json"
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LAYOUT_PATH = ROOT / "Saved/Linux/l99/resolved-sw.json"
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REACH_SUMMARY = ROOT / "Saved/Linux/l99/carve-reach/summary.json"
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BINARIES = {
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"before-l98": ROOT / "Saved/Linux/l98/bin/VoxelForgeCoreHeadless-l98-clang19",
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"after-l99": ROOT / "Saved/Linux/l99/bin/VoxelForgeCoreHeadless-l99-clang",
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}
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RENDERER = ROOT / "Saved/Linux/l99/bin/VoxelForgeOffscreenCapture-l99-clang"
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VOXEL_Q = 256.0
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CORE_UM_PER_VOXEL = 250_000.0
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def add(a, b):
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return tuple(x + y for x, y in zip(a, b))
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def sub(a, b):
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return tuple(x - y for x, y in zip(a, b))
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def mul(a, s):
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return tuple(x * s for x in a)
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def dot(a, b):
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return sum(x * y for x, y in zip(a, b))
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def norm(a):
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length = math.sqrt(dot(a, a))
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if length < 1.0e-8:
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raise ValueError("degenerate capture direction")
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return tuple(x / length for x in a)
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def fmt(values):
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return ",".join(f"{value:.9f}" for value in values)
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def angles(camera, target):
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delta = sub(target, camera)
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return (math.degrees(math.atan2(delta[0], delta[1])),
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math.degrees(math.atan2(delta[2], math.hypot(delta[0], delta[1]))))
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def interpolate(points, distance):
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remaining = max(0.0, distance)
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for a, b in zip(points, points[1:]):
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delta = sub(b[0], a[0])
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length = math.sqrt(dot(delta, delta))
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if length < 1.0e-8:
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continue
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if remaining <= length:
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t = remaining / length
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return (tuple(a[0][i] + delta[i] * t for i in range(3)),
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a[1] + (b[1] - a[1]) * t)
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remaining -= length
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return points[-1]
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def route_frame(points, distance):
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center, radius = interpolate(points, distance)
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before, _ = interpolate(points, max(0.0, distance - 0.25))
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after, _ = interpolate(points, min(sum(
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math.sqrt(dot(sub(b[0], a[0]), sub(b[0], a[0])))
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for a, b in zip(points, points[1:])), distance + 0.25))
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tangent = norm(sub(after, before))
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horizontal = norm((tangent[0], tangent[1], 0.0))
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side = (-horizontal[1], horizontal[0], 0.0)
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return center, radius, tangent, side
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def route_length(points):
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return sum(math.sqrt(dot(sub(b[0], a[0]), sub(b[0], a[0])))
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for a, b in zip(points, points[1:]))
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def nearest_route(points, point):
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best = None
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distance_along = 0.0
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for a, b in zip(points, points[1:]):
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delta = sub(b[0], a[0])
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length_sq = dot(delta, delta)
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if length_sq < 1.0e-10:
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continue
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segment_length = math.sqrt(length_sq)
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t = max(0.0, min(1.0, dot(sub(point, a[0]), delta) / length_sq))
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center = add(a[0], mul(delta, t))
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tangent = norm(delta)
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radial = sub(point, center)
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radial = sub(radial, mul(tangent, dot(radial, tangent)))
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distance = math.sqrt(dot(sub(point, center), sub(point, center)))
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if best is None or distance < best[0]:
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radius = a[1] + (b[1] - a[1]) * t
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best = (distance, center, tangent, radial, radius,
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distance_along + t * segment_length)
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distance_along += segment_length
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if best is None:
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raise ValueError("passage route has no non-degenerate segment")
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return best
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def run(name, command, headless):
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log = OUT / f"{name}.log"
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wrapped = ["taskset", "-c", "0-11"]
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if headless:
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wrapped += ["prlimit", "--as=6442450944", "--"]
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wrapped += ["timeout", "1740s", *map(str, command)]
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started = time.monotonic()
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with log.open("w", encoding="utf-8") as stream:
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result = subprocess.run(wrapped, cwd=ROOT, stdout=stream,
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stderr=subprocess.STDOUT, check=False, timeout=1745)
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row = {"name": name, "exit_code": result.returncode,
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"wall_s": round(time.monotonic() - started, 3),
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"log": str(log.relative_to(ROOT))}
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print("[L99CaptureRun] " + json.dumps(row, sort_keys=True), flush=True)
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if result.returncode != 0:
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raise RuntimeError(f"capture step failed: {name}; see {log}")
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return row
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def nearest_surface_anchor(mesh, point):
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"""Return the nearest surface vertex and outward mesh normal from a VFMSH scene."""
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best_distance_sq = float("inf")
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best_position = best_normal = None
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with mesh.open("rb") as stream:
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magic = stream.read(8)
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has_materials = magic == b"VFMSH002"
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if magic not in (b"VFMSH001", b"VFMSH002"):
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raise RuntimeError(f"unsupported mesh scene header: {mesh}")
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version, voxel_um, tile_count = struct.unpack("<3I", stream.read(12))
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if version != (2 if has_materials else 1):
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raise RuntimeError(f"mesh scene version mismatch: {mesh}")
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stream.seek(40, 1) # stored camera position, yaw, and pitch
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for _ in range(tile_count):
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key = struct.unpack("<4i", stream.read(16))
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surface_count, _, vertex_count, index_count, mask_count = struct.unpack(
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"<5I", stream.read(20))
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extent = (32 << key[3]) * voxel_um / 1_000_000.0
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origin = (key[0] * extent, key[1] * extent, key[2] * extent)
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if any(point[axis] < origin[axis] - 20.0 or
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point[axis] > origin[axis] + extent + 20.0 for axis in range(3)):
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stream.seek(vertex_count * 24 + (10 * vertex_count if has_materials else 0)
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+ index_count * 4 + mask_count, 1)
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continue
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positions = array("f")
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positions.frombytes(stream.read(vertex_count * 12))
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normals = array("f")
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normals.frombytes(stream.read(vertex_count * 12))
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if has_materials:
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stream.seek(vertex_count * 10, 1)
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stream.seek(index_count * 4 + mask_count, 1)
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if struct.pack("=I", 1) != struct.pack("<I", 1):
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positions.byteswap()
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normals.byteswap()
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for index in range(min(surface_count, vertex_count)):
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offset = index * 3
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# VFMSH stores vertex coordinates in world space; tile origin
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# is metadata for edge rendering and must not be added again.
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position = tuple(float(positions[offset + axis]) for axis in range(3))
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delta = sub(position, point)
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distance_sq = dot(delta, delta)
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if distance_sq >= best_distance_sq:
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continue
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raw_normal = tuple(float(normals[offset + axis]) for axis in range(3))
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if dot(raw_normal, raw_normal) < 1.0e-10:
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continue
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best_distance_sq = distance_sq
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best_position = position
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best_normal = norm(raw_normal)
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if best_position is None:
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raise RuntimeError(f"no nearby surface vertices in mesh scene: {mesh}")
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return {"position_m": best_position, "normal": best_normal,
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"distance_m": math.sqrt(best_distance_sq)}
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def make_passages(layout):
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q_to_m = layout["core_voxel_size_um"] / (VOXEL_Q * 1_000_000.0)
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passages = []
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all_routes = []
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for passage in layout["passages"]:
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controls = [(tuple(float(q) * q_to_m for q in p["position_q"]),
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float(p["radius_q"]) * q_to_m)
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for p in passage["control_points"]]
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upper = tuple(float(q) * q_to_m for q in passage["upper_mouth_q"])
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lower = tuple(float(q) * q_to_m for q in passage["lower_mouth_q"])
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ui = min(range(len(controls)), key=lambda i: dot(sub(controls[i][0], upper),
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sub(controls[i][0], upper)))
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li = min(range(len(controls)), key=lambda i: dot(sub(controls[i][0], lower),
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sub(controls[i][0], lower)))
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points = controls[ui:li + 1]
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if len(points) < 2:
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raise RuntimeError(f"invalid mouth path: {passage['stable_id']}")
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upper_offset = math.sqrt(dot(sub(points[0][0], upper), sub(points[0][0], upper)))
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lower_offset = math.sqrt(dot(sub(points[-1][0], lower), sub(points[-1][0], lower)))
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length = route_length(points)
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passage_views = []
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for endpoint, distance, camera_distance, outward_sign in (
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("upper-mouth", 0.0, min(length, 7.4), -1.0),
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("lower-mouth", length, max(0.0, length - 5.5), 1.0)):
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center, _, tangent, side = route_frame(points, distance)
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camera_center, _, _, camera_side = route_frame(points, camera_distance)
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camera = (camera_center[0] + camera_side[0] * 2.5,
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camera_center[1] + camera_side[1] * 2.5, camera_center[2])
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outward = mul(tangent, outward_sign)
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target = (center[0] + outward[0] * 8.0 + side[0] * 2.5,
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center[1] + outward[1] * 8.0 + side[1] * 2.5, center[2])
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yaw, pitch = angles(camera, target)
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passage_views.append({"name": f"{passage['stable_id']}-{endpoint}",
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"kind": "mouth", "focus": center, "camera": camera, "target": target,
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"yaw": yaw, "pitch": pitch, "clip": None, "fov": 80.0,
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"focus_radius": 20.0, "passage": passage["stable_id"],
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"camera_location": "passage-air"})
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mid = length * 0.5
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center, radius, tangent, side = route_frame(points, mid)
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camera = (center[0] + side[0] * 0.75, center[1] + side[1] * 0.75,
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center[2] - radius + 1.6)
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target_pos, target_radius = interpolate(points, min(length, mid + 14.0))
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target = (target_pos[0] + side[0] * 2.35, target_pos[1] + side[1] * 2.35,
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target_pos[2] - target_radius + 1.8)
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yaw, pitch = angles(camera, target)
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passage_views.append({"name": f"{passage['stable_id']}-mid-tunnel",
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"kind": "mid-tunnel", "focus": center, "camera": camera,
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"target": target, "yaw": yaw, "pitch": pitch, "clip": None,
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"fov": 78.0, "focus_radius": 24.0, "passage": passage["stable_id"]})
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passages.append({"stable_id": passage["stable_id"], "route_length_m": length,
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"control_points": len(points), "upper_mouth_anchor_offset_m": upper_offset,
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"lower_mouth_anchor_offset_m": lower_offset, "views": passage_views})
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all_routes.append((passage["stable_id"], points))
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return passages, all_routes
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def make_hotspot_views(routes, reach_summary):
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views = []
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for series, rows, value_key, location_key, region_key in (
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("displacement", reach_summary["top_displacement_tiles"],
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"max_displacement_cm", "displacement_location_metres", "displacement_region"),
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("normal", reach_summary["top_normal_tiles"],
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"max_normal_degrees", "normal_location_metres", "normal_region"),
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):
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for index, row in enumerate(rows, 1):
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point = tuple(row[location_key])
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candidates = [(nearest_route(route, point), name, route)
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for name, route in routes]
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(distance, center, tangent, radial, radius, along), nearest_id, route = min(
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candidates, key=lambda item: item[0][0])
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if math.sqrt(dot(radial, radial)) < 0.25:
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horizontal = norm((tangent[0], tangent[1], 0.0))
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radial = (-horizontal[1], horizontal[0], 0.0)
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outward = norm(radial)
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camera = add(point, mul(outward, 20.0))
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target = point
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plane = None
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yaw, pitch = angles(camera, target)
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views.append({"name": f"top-{series}-{index:02d}", "kind": f"top-{series}",
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"focus": point, "camera": camera, "target": target,
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"yaw": yaw, "pitch": pitch, "clip": plane, "fov": 68.0,
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"focus_radius": 18.0, "strate": row["strate"],
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"value": row[value_key], "region": row[region_key],
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"camera_anchor": "nearest-surface-l98-v5", "nearest_passage": nearest_id,
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"route_distance_m": distance})
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return views
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def export_and_render(view, label, binary):
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safe = view["name"].replace("/", "-")
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stem = f"{safe}-{label}"
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mesh = OUT / f"{stem}.vfmesh"
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image = IMAGE_DIR / f"{safe}-{label}.png"
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camera, target = view["camera"], view["target"]
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yaw, pitch = angles(camera, target)
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export_args = [binary, DATA, "--world-assembler-prototype", "--stream-benchmark",
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"--stream-pipeline", "--workers=8", "--force-generate", "--clip-radius=3",
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"--max-clip-level=0", "--max-level=0", "--render-distance-chunks=0",
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f"--camera={fmt((*camera, yaw, pitch))}", f"--mesh-export={mesh}"]
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export_row = run(f"{stem}-export", export_args, headless=True)
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export_row["scene_bytes"] = mesh.stat().st_size if mesh.exists() else 0
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if export_row["scene_bytes"] <= 0:
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raise RuntimeError(f"empty mesh scene: {mesh}")
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if label == "before-l98" and view.get("camera_anchor") == "nearest-surface-l98-v5":
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anchor = nearest_surface_anchor(mesh, view["focus"])
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camera = add(anchor["position_m"], mul(anchor["normal"], 8.0))
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view["camera"] = camera
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view["target"] = anchor["position_m"]
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view["yaw"], view["pitch"] = angles(camera, view["target"])
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view["clip"] = None
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view["surface_anchor"] = anchor
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yaw, pitch = view["yaw"], view["pitch"]
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render_args = [RENDERER, mesh, image, "--size=1600x900",
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f"--fov-deg={view['fov']:.1f}", f"--camera-m={fmt(camera)}",
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f"--yaw-deg={yaw:.6f}", f"--pitch-deg={pitch:.6f}", "--shade=readable",
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"--headlamp=on", "--height-tint=on", "--tile-edges=off", "--tile-skirts=off",
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f"--height-center-m={view['focus'][2]:.6f}", "--height-range-m=10",
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f"--focus-region={fmt((*view['focus'], view['focus_radius']))}"]
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if view["clip"] is not None:
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render_args.append(f"--clip-plane={fmt(view['clip'])}")
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try:
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render_row = run(f"{stem}-render", render_args, headless=True)
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except RuntimeError:
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if view["clip"] is None:
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raise
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retry_args = [arg for arg in render_args
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if not (isinstance(arg, str) and arg.startswith("--clip-plane="))]
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render_row = run(f"{stem}-render-no-clip-retry", retry_args, headless=True)
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render_row["clip_fallback"] = True
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render_row["image"] = str(image.relative_to(ROOT))
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render_row["image_bytes"] = image.stat().st_size if image.exists() else 0
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if render_row["image_bytes"] <= 0:
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raise RuntimeError(f"empty image: {image}")
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mesh.unlink()
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return export_row, render_row
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def main():
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OUT.mkdir(parents=True, exist_ok=True)
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IMAGE_DIR.mkdir(parents=True, exist_ok=True)
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for path in (*BINARIES.values(), RENDERER, DATA, LAYOUT_PATH, REACH_SUMMARY):
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if not path.is_file():
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raise SystemExit(f"missing input: {path}")
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layout = json.loads(LAYOUT_PATH.read_text(encoding="utf-8"))
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reach_summary = json.loads(REACH_SUMMARY.read_text(encoding="utf-8"))
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passages, routes = make_passages(layout)
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views = [view for passage in passages for view in passage["views"]]
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views += make_hotspot_views(routes, reach_summary)
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partial_path = OUT / "runs-partial.json"
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existing_records = {}
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if partial_path.is_file():
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for item in json.loads(partial_path.read_text(encoding="utf-8")):
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existing_records[item["view"]["name"]] = item
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records = []
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for view in views:
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prior = existing_records.get(view["name"])
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camera_matches = (prior is not None and
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prior["view"].get("camera_anchor") == view.get("camera_anchor"))
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if camera_matches:
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for key in ("camera", "target", "yaw", "pitch", "clip", "surface_anchor"):
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if key in prior["view"]:
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view[key] = prior["view"][key]
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if camera_matches and all(version in prior and
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(ROOT / prior[version]["render"]["image"]).is_file()
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for version in BINARIES):
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records.append(prior)
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print(f"[L99CaptureSkip] complete_pair={view['name']}", flush=True)
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continue
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pair = {"view": view}
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for label, binary in BINARIES.items():
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export_row, render_row = export_and_render(view, label, binary)
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pair[label] = {"export": export_row, "render": render_row}
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(OUT / "runs-partial.json").write_text(json.dumps(records + [pair], indent=2) + "\n",
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encoding="utf-8")
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records.append(pair)
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summary = {"source_layout_identity": layout["stable_identity"],
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"view_count": len(views), "paired_png_count": len(views) * 2,
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"passages": passages, "views": records}
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(OUT / "summary.json").write_text(json.dumps(summary, indent=2) + "\n",
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encoding="utf-8")
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print("[L99CaptureSummary] " + json.dumps({
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"views": len(views), "paired_png_count": len(views) * 2,
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"images": [row[version]["render"]["image"] for row in records
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for version in BINARIES]}, sort_keys=True), flush=True)
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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