added 5 sensors multi-stream support, 5 finger reach > 100 fps stable using .mp4 video

tests/test_draw_arrows.py

@@ -0,0 +1,116 @@
+"""orisys.util.draw_arrows: mask handling and the out-of-frame tip regression."""
+
+from __future__ import annotations
+
+import cv2
+import numpy as np
+import pytest
+
+from orisys.util import _prepare_draw_mask, draw_arrows
+
+
+def flow_of(shape, dx, dy):
+    flow = np.zeros((*shape, 2), dtype=np.float32)
+    flow[..., 0] = dx / 2.0  # draw_arrows doubles the stored value
+    flow[..., 1] = dy / 2.0
+    return flow
+
+
+def background(frame):
+    return cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
+
+
+def test_out_of_frame_arrow_tip_is_dropped_not_raised():
+    """Regression: mask[end_y, end_x] was indexed before the bounds check.
+
+    A 40 px grid with the default edge_margin of 15 lets an arrow tip leave the
+    frame, which used to raise IndexError as soon as a valid_mask was supplied.
+    """
+    frame = np.full((48, 48), 100, dtype=np.uint8)
+    flow = flow_of((48, 48), dx=40.0, dy=0.0)
+    mask = np.ones((48, 48), dtype=bool)
+
+    out = draw_arrows(frame, flow, grid_spacing=40, margin=0.8, valid_mask=mask)
+
+    assert out.shape == (48, 48, 3)
+    # The only grid point (20, 20) has a tip at x=58 in a 48 px frame, so the
+    # bounds check must have discarded it: nothing was drawn.
+    assert np.array_equal(out, background(frame))
+
+
+def test_out_of_frame_tip_matches_render_without_mask():
+    """Clamping the mask lookup must not change which points are valid."""
+    frame = np.full((48, 48), 100, dtype=np.uint8)
+    flow = flow_of((48, 48), dx=40.0, dy=0.0)
+    mask = np.ones((48, 48), dtype=bool)
+
+    with_mask = draw_arrows(frame, flow, grid_spacing=40, valid_mask=mask)
+    without = draw_arrows(frame, flow, grid_spacing=40)
+    assert np.array_equal(with_mask, without)
+
+
+def test_in_frame_arrows_are_drawn_through_an_all_true_mask():
+    frame = np.full((96, 96), 90, dtype=np.uint8)
+    flow = flow_of((96, 96), dx=6.0, dy=3.0)
+    mask = np.ones((96, 96), dtype=bool)
+
+    out = draw_arrows(frame, flow, grid_spacing=12, arrow_scale=1.0,
+                      threshold=0.1, valid_mask=mask)
+    assert not np.array_equal(out, background(frame))
+
+
+def test_all_false_mask_draws_nothing():
+    frame = np.full((96, 96), 90, dtype=np.uint8)
+    flow = flow_of((96, 96), dx=6.0, dy=3.0)
+    mask = np.zeros((96, 96), dtype=bool)
+
+    out = draw_arrows(frame, flow, grid_spacing=12, arrow_scale=1.0,
+                      threshold=0.1, valid_mask=mask)
+    assert np.array_equal(out, background(frame))
+
+
+def test_mask_can_exclude_one_side():
+    """Endpoints outside the mask are skipped even when inside the frame."""
+    frame = np.full((96, 96), 90, dtype=np.uint8)
+    flow = flow_of((96, 96), dx=8.0, dy=0.0)
+    mask = np.zeros((96, 96), dtype=bool)
+    mask[24:48, 24:72] = True  # only the upper middle band
+
+    out = draw_arrows(frame, flow, grid_spacing=12, arrow_scale=1.0,
+                      threshold=0.1, valid_mask=mask)
+    assert not np.array_equal(out, background(frame))
+    # Rows below the band stay untouched.
+    assert np.array_equal(out[80:, :, :], background(frame)[80:, :, :])
+
+
+def test_below_threshold_points_get_the_dot_colour():
+    frame = np.full((96, 96), 90, dtype=np.uint8)
+    flow = flow_of((96, 96), dx=0.05, dy=0.05)
+    out = draw_arrows(frame, flow, grid_spacing=12, arrow_scale=1.0,
+                      threshold=1.0, below_threshold_color=(0, 0, 255))
+    # OpenCV colours are BGR, so (0, 0, 255) is red.
+    red = (out[:, :, 2] > 150) & (out[:, :, 0] < 100) & (out[:, :, 1] < 100)
+    assert red.sum() > 0
+
+
+def test_prepare_draw_mask_resizes_to_frame():
+    mask = np.zeros((10, 20), dtype=bool)
+    mask[:, :10] = True
+    out = _prepare_draw_mask(mask, (40, 40))
+    assert out.shape == (40, 40)
+    assert out[:, :20].all()
+    assert not out[:, 20:].any()
+
+
+def test_prepare_draw_mask_passes_none_through():
+    assert _prepare_draw_mask(None, (10, 10)) is None
+
+
+def test_non_square_grid_does_not_raise_with_mask():
+    """Height and width differ, so rr/cc broadcasting must stay (N, N)."""
+    frame = np.full((60, 120), 80, dtype=np.uint8)
+    flow = flow_of((60, 120), dx=5.0, dy=5.0)
+    out = draw_arrows(frame, flow, grid_spacing=10, arrow_scale=1.0,
+                      threshold=0.1, valid_mask=np.ones((60, 120), dtype=bool))
+    assert out.shape == (60, 120, 3)
+    assert not np.array_equal(out, background(frame))