ykcheungab
116 lines
3.5 KiB
Python
116 lines
3.5 KiB
Python
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:
|
|
# get_img() resizes the frame to the config's camera.resolution_stitch
|
|
# and stores valid_mask at that same resolution, so the flow buffer must
|
|
# be sized from sensor.valid_mask rather than from the raw frame.
|
|
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)
|
|
|
|
flow_shape = sensor.valid_mask.shape
|
|
assert sensor.valid_mask.any() and not sensor.valid_mask.all()
|
|
sensor.flow = np.zeros((*flow_shape, 2), dtype=np.float32)
|
|
sensor.flow[~sensor.valid_mask] = 10.0
|
|
assert not sensor.detect_motion(threshold=1.0)
|
|
|
|
sensor.flow[:] = 0.0
|
|
sensor.flow[sensor.valid_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]
|