test(M00): add camera pose sweep

2026-07-12 01:46:02 +04:00
parent 8d4641a43b
commit b48195d08d
5 changed files with 255 additions and 2 deletions
@@ -0,0 +1,118 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$ReferenceDirectory,
+    [Parameter(Mandatory = $true)]
+    [string]$Checkpoint,
+    [string]$GodotPath,
+    [string]$Output = "user://render_camera_pose_sweep",
+    [double[]]$YawOffsets = @(-10.0, 0.0, 10.0),
+    [double[]]$PitchOffsets = @(-10.0, 0.0, 10.0),
+    [double]$CameraFov = 62.0,
+    [double]$WaitSeconds = 2.0,
+    [double]$MeasureSeconds = 0.1,
+    [switch]$PlanOnly
+)
+
+$ErrorActionPreference = "Stop"
+$repoRoot = Split-Path -Parent $PSScriptRoot
+if (-not $GodotPath) {
+    $godotCommand = Get-Command godot -ErrorAction SilentlyContinue
+    if ($godotCommand) {
+        $GodotPath = $godotCommand.Source
+    } else {
+        $GodotPath = Join-Path $env:TEMP "godot-4.6.1-openwc\Godot_v4.6.1-stable_win64.exe"
+    }
+}
+if (-not (Test-Path -LiteralPath $GodotPath)) {
+    throw "Godot executable not found: $GodotPath"
+}
+if (-not (Test-Path -LiteralPath $ReferenceDirectory)) {
+    throw "Reference directory not found: $ReferenceDirectory"
+}
+
+$invariantCulture = [Globalization.CultureInfo]::InvariantCulture
+$cameraFovText = $CameraFov.ToString($invariantCulture)
+$waitSecondsText = $WaitSeconds.ToString($invariantCulture)
+$measureSecondsText = $MeasureSeconds.ToString($invariantCulture)
+$absoluteOutput = if ($Output.StartsWith("user://")) {
+    Join-Path $env:APPDATA "Godot\app_userdata\OpenWC\$($Output.Substring(7))"
+} else {
+    [IO.Path]::GetFullPath((Join-Path $repoRoot $Output))
+}
+$ranking = [Collections.Generic.List[object]]::new()
+
+Push-Location $repoRoot
+try {
+    foreach ($yawOffset in $YawOffsets) {
+        foreach ($pitchOffset in $PitchOffsets) {
+            $yawText = $yawOffset.ToString("0.###", $invariantCulture)
+            $pitchText = $pitchOffset.ToString("0.###", $invariantCulture)
+            $candidateName = "yaw_$($yawText.Replace('-', 'n').Replace('.', '_'))__pitch_$($pitchText.Replace('-', 'n').Replace('.', '_'))"
+            $candidateOutput = "$Output/$candidateName"
+            $comparisonReport = Join-Path $absoluteOutput "$candidateName.json"
+
+            if ($PlanOnly) {
+                $ranking.Add([pscustomobject]@{
+                    yaw_offset_degrees = $yawOffset
+                    pitch_offset_degrees = $pitchOffset
+                    camera_fov_degrees = $CameraFov
+                    candidate_directory = $candidateOutput
+                })
+                continue
+            }
+
+            & $GodotPath --path . --script res://src/tools/capture_render_checkpoints.gd -- `
+                --output $candidateOutput --only $Checkpoint --single-pass `
+                --camera-fov $cameraFovText `
+                --camera-yaw-offset $yawText --camera-pitch-offset $pitchText `
+                --wait $waitSecondsText --measure $measureSecondsText
+            if ($LASTEXITCODE -ne 0) {
+                throw "Capture failed for yaw=$yawText pitch=$pitchText"
+            }
+
+            & $GodotPath --headless --path . --script res://src/tools/compare_render_checkpoints.gd -- `
+                --reference $ReferenceDirectory --candidate $candidateOutput `
+                --only $Checkpoint --output $comparisonReport
+            if ($LASTEXITCODE -notin @(0, 1)) {
+                throw "Comparison failed for yaw=$yawText pitch=$pitchText"
+            }
+
+            $comparison = Get-Content -Raw -LiteralPath $comparisonReport | ConvertFrom-Json
+            if ($comparison.compared_count -lt 1) {
+                throw "No paired image was compared for yaw=$yawText pitch=$pitchText"
+            }
+            $meanError = ($comparison.results | Measure-Object -Property mean_perceptual_error -Average).Average
+            $changedRatio = ($comparison.results | Measure-Object -Property changed_pixel_ratio -Average).Average
+            $ranking.Add([pscustomobject]@{
+                yaw_offset_degrees = $yawOffset
+                pitch_offset_degrees = $pitchOffset
+                camera_fov_degrees = $CameraFov
+                mean_perceptual_error = $meanError
+                changed_pixel_ratio = $changedRatio
+                candidate_directory = $candidateOutput
+                comparison_report = $comparisonReport
+            })
+        }
+    }
+
+    $rankedCandidates = if ($PlanOnly) {
+        @($ranking)
+    } else {
+        @($ranking | Sort-Object mean_perceptual_error, changed_pixel_ratio)
+    }
+    $rankingPath = Join-Path $absoluteOutput "ranking.json"
+    $rankingDocument = [ordered]@{
+        schema_version = 1
+        checkpoint = $Checkpoint
+        reference_directory = [IO.Path]::GetFullPath($ReferenceDirectory)
+        candidates = $rankedCandidates
+    }
+    New-Item -ItemType Directory -Force -Path $absoluteOutput | Out-Null
+    $rankingDocument | ConvertTo-Json -Depth 6 | Set-Content -Encoding UTF8 -LiteralPath $rankingPath
+    $rankedCandidates | Format-Table yaw_offset_degrees, pitch_offset_degrees, mean_perceptual_error, changed_pixel_ratio
+    $completionKind = if ($PlanOnly) { "plan" } else { "ranking" }
+    Write-Output "Camera pose sweep $completionKind completed: $rankingPath"
+} finally {
+    Pop-Location
+}