integrated finger process pipeline on remapped 2d image

tests/test_masked_hhd.py

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+import numpy as np
+
+from orisys import Sensor
+from orisys.get_depth import Contact3D
+from orisys.hhd import nHHD
+
+
+def _circle_mask(shape, radius_ratio=0.35):
+    h, w = shape
+    yy, xx = np.mgrid[0:h, 0:w]
+    cy = (h - 1) / 2.0
+    cx = (w - 1) / 2.0
+    radius = min(h, w) * radius_ratio
+    return ((yy - cy) ** 2 + (xx - cx) ** 2) <= radius ** 2
+
+
+def _radial_flow(shape, scale=0.05):
+    h, w = shape
+    yy, xx = np.mgrid[0:h, 0:w]
+    cy = (h - 1) / 2.0
+    cx = (w - 1) / 2.0
+    flow = np.zeros((h, w, 2), dtype=np.float32)
+    flow[:, :, 0] = (xx - cx) * scale
+    flow[:, :, 1] = (yy - cy) * scale
+    return flow
+
+
+def test_masked_hhd_zeroes_invalid_region():
+    shape = (48, 56)
+    mask = _circle_mask(shape)
+    flow = _radial_flow(shape, scale=0.03)
+    flow[~mask] = 0
+
+    solver = nHHD(cuda=False, grid=shape, spacings=(1.0, 1.0), poisson_backend="cpu")
+    _, forces = solver.get_force(flow, valid_mask=mask)
+
+    vnormal = solver.get_normal()
+    vshear = solver.get_shear()
+
+    assert np.isfinite(forces).all()
+    assert np.allclose(vnormal[~mask], 0.0, atol=1e-5)
+    assert np.allclose(vshear[~mask], 0.0, atol=1e-5)
+
+
+def test_masked_hhd_ignores_invalid_background_spike():
+    shape = (48, 56)
+    mask = _circle_mask(shape)
+    base = _radial_flow(shape, scale=0.02)
+    base[~mask] = 0
+
+    contaminated = base.copy()
+    contaminated[~mask, 0] = 25.0
+    contaminated[~mask, 1] = -15.0
+
+    solver = nHHD(cuda=False, grid=shape, spacings=(1.0, 1.0), poisson_backend="cpu")
+    _, forces_base = solver.get_force(base, valid_mask=mask)
+    _, forces_contaminated = solver.get_force(contaminated, valid_mask=mask)
+
+    assert np.allclose(forces_base, forces_contaminated, atol=1e-3, rtol=1e-3)
+
+
+def test_sensor_detect_motion_ignores_invalid_region():
+    sensor = Sensor(
+        vid_src="external",
+        cuda=False,
+        isstitch=False,
+        verbose=False,
+        config_name="dd02-ov",
+        mirror=False,
+        backend="cpu",
+    )
+    try:
+        frame = np.zeros((728, 672, 3), dtype=np.uint8)
+        mask = np.zeros((728, 672), dtype=bool)
+        mask[180:540, 160:512] = True
+        sensor.get_img(frame=frame, already_processed=True, valid_mask=mask)
+
+        sensor.flow = np.zeros((728, 672, 2), dtype=np.float32)
+        sensor.flow[~mask] = 10.0
+        assert not sensor.detect_motion(threshold=1.0)
+
+        sensor.flow[:] = 0.0
+        sensor.flow[mask] = 10.0
+        assert sensor.detect_motion(threshold=1.0)
+    finally:
+        sensor.disconnect()
+
+
+def test_contact_centroid_respects_domain_mask():
+    config_contact = {
+        "min_contour_area": 25,
+        "flow_threshold": 0.01,
+        "div_threshold": 0.0,
+        "expansion_threshold": 0.0,
+        "kernel_size": [3, 3],
+        "denoise_sigma": 0.0,
+    }
+    shape = (96, 96)
+    mask = _circle_mask(shape, radius_ratio=0.28)
+    flow = _radial_flow(shape, scale=0.05)
+    flow[~mask] = 0.0
+    flow[:, :8, 0] = 100.0
+    flow[:, :8, 1] = 100.0
+
+    contact = Contact3D(config_contact=config_contact, verbose=False)
+    result = contact.compute_foe(flow, valid_mask=mask)
+
+    assert result["centroid_found"]
+    cx, cy = result["centroid"]
+    assert mask[cy, cx]