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Score exposure sweeps by LED spline quality

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This commit is contained in:
Meta Vens 2026-05-31 02:12:17 +01:00
commit 2f1e5f856e
7 changed files with 296 additions and 6 deletions
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117
src/Mimir.BufferSmoke/Program.cs
View file

@ -145,6 +145,11 @@ if (args.Any(arg => string.Equals(arg, "--led-spline-calibration-smoke", StringC
return RunLedSplineCalibrationSmoke();
}
if (args.Any(arg => string.Equals(arg, "--led-spline-quality-sweep-smoke", StringComparison.OrdinalIgnoreCase)))
{
return RunLedSplineQualitySweepSmoke();
}
if (args.Any(arg => string.Equals(arg, "--fensalir-texture-lease-smoke", StringComparison.OrdinalIgnoreCase)))
{
return RunFensalirTextureLeaseSmoke();
@ -891,6 +896,72 @@ static int RunLedSplineCalibrationSmoke()
: 1;
}
static int RunLedSplineQualitySweepSmoke()
{
var scenePoints = new[]
{
new MimirLedSplineScenePoint(0, new Vector3(-0.20f, 0.30f, 2.20f), 0.95),
new MimirLedSplineScenePoint(1, new Vector3(-0.08f, 0.18f, 2.05f), 0.96),
new MimirLedSplineScenePoint(2, new Vector3(0.04f, 0.02f, 1.95f), 0.97),
new MimirLedSplineScenePoint(3, new Vector3(0.18f, -0.14f, 1.88f), 0.95),
new MimirLedSplineScenePoint(4, new Vector3(0.35f, -0.28f, 1.82f), 0.93),
};
var pose = new MimirCameraPoseEstimate("kiyo-basic", new Vector3(0.24f, 0.02f, -0.03f), Quaternion.Identity, 1.0);
var settings = new[]
{
new MimirCameraExposureGainSetting("underexposed", -10, 0, "LEDs barely clear detector threshold."),
new MimirCameraExposureGainSetting("balanced", -8, 8, "LED centroids are bright but not clipped."),
new MimirCameraExposureGainSetting("blown-out", -5, 32, "Halos merge and saturated centroids lose precision."),
};
var curveSolver = new MimirLedSplineCurveSolver();
var scorer = new MimirLedSplineQualityScorer();
var results = new List<MimirLedSplineSweepResult>(settings.Length);
foreach (var setting in settings)
{
var detections = SyntheticSweepDetections(setting.SettingId, scenePoints, pose, 1920, 1080);
var curve = curveSolver.SolveCameraCurve(
pose.SourceId,
$"{pose.SourceId}:led-spline:{setting.SettingId}",
1920,
1080,
1_000_000_000L,
detections);
var detectionArray = detections.ToArray();
var saturated = detectionArray.Length == 0
? 0.0
: detectionArray.Count(static detection => detection.IsSaturated) / (double)detectionArray.Length;
var exposureFitness = detectionArray.Length == 0
? 0.0
: detectionArray.Average(static detection =>
{
var peak = Math.Clamp(detection.PeakLuma, 0.0, 1.0);
return peak < 0.18 ? peak / 0.18 : peak > 0.92 ? Math.Max(0.0, 1.0 - (peak - 0.92) / 0.08) : 1.0;
});
results.Add(new MimirLedSplineSweepResult(
pose.SourceId,
setting,
curve,
scorer.Score(curve, scenePoints.Length, saturated, exposureFitness)));
}
var best = new MimirLedSplineSweepSelector().SelectBest(results);
foreach (var result in results)
{
Console.WriteLine(
$"led-spline-quality source={result.SourceId} setting={result.Setting.SettingId} detected={result.Quality.DetectedLedCount} score={result.Quality.Score:0.000} coverage={result.Quality.CurveCoverage:0.000} spacing={result.Quality.SpacingCoherence:0.000} smooth={result.Quality.Smoothness:0.000} exposure={result.Quality.ExposureFitness:0.000} saturated={result.Quality.SaturatedFraction:0.000} usable={result.Quality.UsableForCalibration}");
}
Console.WriteLine($"led-spline-quality-best setting={best?.Setting.SettingId ?? "none"} score={best?.Quality.Score ?? 0.0:0.000}");
return best?.Setting.SettingId == "balanced" &&
best.Quality.UsableForCalibration &&
results.Single(static result => result.Setting.SettingId == "underexposed").Quality.Score < best.Quality.Score &&
results.Single(static result => result.Setting.SettingId == "blown-out").Quality.SaturatedFraction > 0.0 &&
results.Single(static result => result.Setting.SettingId == "blown-out").Quality.Score < best.Quality.Score
? 0
: 1;
}
static IReadOnlyList<MimirLedPixelDetection> ProjectLedDetections(
IReadOnlyList<MimirLedSplineScenePoint> scenePoints,
MimirCameraPoseEstimate pose,
@ -919,6 +990,52 @@ static IReadOnlyList<MimirLedPixelDetection> ProjectLedDetections(
return output;
}
static IReadOnlyList<MimirLedPixelDetection> SyntheticSweepDetections(
string settingId,
IReadOnlyList<MimirLedSplineScenePoint> scenePoints,
MimirCameraPoseEstimate pose,
int width,
int height)
{
var projected = ProjectLedDetections(scenePoints, pose, width, height, radiusPixels: 4.5).ToArray();
return settingId switch
{
"underexposed" => projected
.Take(3)
.Select((detection, index) => detection with
{
ImageX = detection.ImageX + (index - 1) * 2.5,
ImageY = detection.ImageY + (index - 1) * -1.5,
Confidence = 0.32 + index * 0.04,
PeakLuma = 0.16 + index * 0.01,
LocalContrast = 0.22 + index * 0.03,
})
.ToArray(),
"blown-out" => projected
.Select((detection, index) => detection with
{
ImageX = detection.ImageX + (index % 2 == 0 ? 14.0 : -11.0),
ImageY = detection.ImageY + (index % 2 == 0 ? -9.0 : 13.0),
RadiusPixels = 13.0 + index,
Confidence = 0.56,
PeakLuma = 1.0,
LocalContrast = 0.50,
IsSaturated = true,
})
.ToArray(),
_ => projected
.Select((detection, index) => detection with
{
ImageX = detection.ImageX + (index - 2) * 0.35,
ImageY = detection.ImageY + (2 - index) * 0.20,
Confidence = 0.90 + index * 0.01,
PeakLuma = 0.74 + index * 0.02,
LocalContrast = 0.88,
})
.ToArray(),
};
}
static int RunFensalirTextureLeaseSmoke()
{
var broker = new FakeFieldResourceBroker();

157
src/Mimir.Runtime/Synchronization/MimirVisualCalibrationResidualSolver.cs
View file

@ -7,7 +7,10 @@ public readonly record struct MimirLedPixelDetection(
double ImageX,
double ImageY,
double RadiusPixels,
double Confidence);
double Confidence,
double PeakLuma = 1.0,
double LocalContrast = 1.0,
bool IsSaturated = false);
public sealed record MimirLedSplineCurveFit(
string SourceId,
@ -16,6 +19,30 @@ public sealed record MimirLedSplineCurveFit(
double CurveLengthPixels,
double Confidence);
public sealed record MimirLedSplineQualityReport(
string SourceId,
string ObservationKey,
int DetectedLedCount,
double CurveCoverage,
double SpacingCoherence,
double Smoothness,
double ExposureFitness,
double SaturatedFraction,
double Score,
bool UsableForCalibration);
public sealed record MimirCameraExposureGainSetting(
string SettingId,
int Exposure,
int Gain,
string Notes);
public sealed record MimirLedSplineSweepResult(
string SourceId,
MimirCameraExposureGainSetting Setting,
MimirLedSplineCurveFit Curve,
MimirLedSplineQualityReport Quality);
public enum MimirVisualCalibrationResidualStatus
{
Empty,
@ -199,6 +226,134 @@ public sealed class MimirLedSplineCurveSolver
double.IsFinite(value) ? Math.Clamp(value, 0.0, 1.0) : 0.0;
}
public sealed class MimirLedSplineQualityScorer
{
public MimirLedSplineQualityReport Score(
MimirLedSplineCurveFit curve,
int expectedLedCount,
double saturatedFraction = 0.0,
double exposureFitness = 1.0)
{
var points = curve.Points
.OrderBy(static point => point.CurveT)
.ToArray();
if (points.Length == 0 || expectedLedCount <= 0)
{
return new MimirLedSplineQualityReport(
curve.SourceId,
curve.ObservationKey,
points.Length,
0.0,
0.0,
0.0,
0.0,
Clamp01(saturatedFraction),
0.0,
UsableForCalibration: false);
}
var coverage = Clamp01(points.Length / (double)Math.Max(1, expectedLedCount));
var spacing = SpacingCoherence(points);
var smoothness = Smoothness(points);
var pointConfidence = points.Average(static point => Clamp01(point.Confidence));
var saturationPenalty = 1.0 - Clamp01(saturatedFraction);
var exposure = Clamp01(exposureFitness);
var score = coverage *
(0.28 * spacing + 0.22 * smoothness + 0.25 * pointConfidence + 0.25 * exposure) *
saturationPenalty;
return new MimirLedSplineQualityReport(
curve.SourceId,
curve.ObservationKey,
points.Length,
coverage,
spacing,
smoothness,
exposure,
Clamp01(saturatedFraction),
Clamp01(score),
UsableForCalibration: points.Length >= 3 && coverage >= 0.60 && score >= 0.55);
}
private static double SpacingCoherence(IReadOnlyList<MimirLedSplineObservationPoint> points)
{
if (points.Count < 3)
{
return points.Count >= 2 ? 0.75 : 0.0;
}
var distances = new double[points.Count - 1];
for (var index = 1; index < points.Count; index++)
{
var dx = points[index].ImageX - points[index - 1].ImageX;
var dy = points[index].ImageY - points[index - 1].ImageY;
distances[index - 1] = Math.Sqrt(dx * dx + dy * dy);
}
var mean = distances.Average();
if (mean <= 1.0e-9)
{
return 0.0;
}
var variance = distances.Average(distance =>
{
var delta = distance - mean;
return delta * delta;
});
var coefficient = Math.Sqrt(variance) / mean;
return 1.0 / (1.0 + coefficient * 3.0);
}
private static double Smoothness(IReadOnlyList<MimirLedSplineObservationPoint> points)
{
if (points.Count < 3)
{
return points.Count >= 2 ? 0.75 : 0.0;
}
var turnSum = 0.0;
var turns = 0;
for (var index = 1; index < points.Count - 1; index++)
{
var ax = points[index].ImageX - points[index - 1].ImageX;
var ay = points[index].ImageY - points[index - 1].ImageY;
var bx = points[index + 1].ImageX - points[index].ImageX;
var by = points[index + 1].ImageY - points[index].ImageY;
var aLength = Math.Sqrt(ax * ax + ay * ay);
var bLength = Math.Sqrt(bx * bx + by * by);
if (aLength <= 1.0e-9 || bLength <= 1.0e-9)
{
continue;
}
var dot = Math.Clamp((ax * bx + ay * by) / (aLength * bLength), -1.0, 1.0);
turnSum += Math.Acos(dot);
turns++;
}
if (turns == 0)
{
return 0.0;
}
var meanTurn = turnSum / turns;
return 1.0 / (1.0 + meanTurn);
}
private static double Clamp01(double value) =>
double.IsFinite(value) ? Math.Clamp(value, 0.0, 1.0) : 0.0;
}
public sealed class MimirLedSplineSweepSelector
{
public MimirLedSplineSweepResult? SelectBest(IEnumerable<MimirLedSplineSweepResult> results) =>
results
.Where(static result => result.Quality.UsableForCalibration)
.OrderByDescending(static result => result.Quality.Score)
.ThenBy(static result => result.Quality.SaturatedFraction)
.FirstOrDefault();
}
public sealed class MimirVisualCalibrationResidualSolver
{
public MimirVisualCalibrationResidualFrame EvaluateLedSpline(MimirLedSplineFieldCandidate candidate)