606 lines
23 KiB
Python
606 lines
23 KiB
Python
import io
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from pathlib import Path
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import tempfile
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import unittest
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import numpy as np
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from localcast.sensor_fusion import (
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AdaptiveCameraController,
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BoardObservation,
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BoardSpec,
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CameraModel,
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CameraIntrinsics,
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CameraQualityTarget,
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ClapDetectorConfig,
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DenseStereoConfig,
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FusionConfig,
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Observation2D,
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PointCloud,
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RenderBridgeConfig,
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RenderFramePacket,
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RenderPointPacket,
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SensorRig,
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SpoutOutputConfig,
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TimestampedFrame,
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TrackCache,
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detect_clap_events,
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frame_to_vertex_array,
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dense_stereo_points,
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get_live_clap_events,
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get_live_render_frame,
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lower_frame_to_screen_brushes,
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lower_points_to_render_frame,
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match_surface_features,
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overlay_audio_events,
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make_clap_events_frame,
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put_live_clap_events,
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put_live_render_frame,
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remote_video_artifact_for_present_time,
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solve_common_space_from_fixed_board,
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SurfaceFeatureObservation,
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triangulate_surface_tracks,
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)
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from localcast.sensor_fusion.spout_output import rasterize_frame_rgba
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from scripts.live_sensor_fusion import (
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leap_channel_motion_points,
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rgb_dense_stereo_splats,
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rgb_room_splats,
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unpack_leap_packed_channels,
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)
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from localcast.sensor_fusion.active_illumination import ActiveIlluminationController, IlluminationPulsePlan
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from audio_field.cultcache_audio import make_audio_source_events, make_spatial_audio_frame
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from localcast.sensor_fusion.adapters import read_raw_bgr_frames
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def camera(sensor_id, x):
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return CameraModel(
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sensor_id=sensor_id,
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camera_matrix=np.array([[300.0, 0.0, 160.0], [0.0, 300.0, 120.0], [0.0, 0.0, 1.0]]),
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dist_coeffs=np.zeros(5),
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world_from_sensor=np.array(
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[
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[1.0, 0.0, 0.0, x],
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[0.0, 1.0, 0.0, 0.0],
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[0.0, 0.0, 1.0, 0.0],
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[0.0, 0.0, 0.0, 1.0],
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]
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),
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width=320,
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height=240,
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)
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class SensorFusionTests(unittest.TestCase):
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def test_triangulates_marker_from_two_calibrated_cameras(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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rig = SensorRig(
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cameras={"left": left, "right": right},
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config=FusionConfig(max_pair_dt_ns=30_000_000, max_reprojection_error_px=0.01),
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)
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target = np.array([0.05, 0.02, 2.0])
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observations = [
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Observation2D("left", "ball", 1_000_000_000, left.project_world(target), 0.9),
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Observation2D("right", "ball", 1_010_000_000, right.project_world(target), 0.8),
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]
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result = rig.fuse(observations)
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self.assertEqual(1, len(result.points))
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np.testing.assert_allclose(target, result.points[0].xyz, atol=1e-9)
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self.assertGreater(result.points[0].confidence, 0.5)
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def test_rejects_observations_outside_time_window(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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rig = SensorRig(cameras={"left": left, "right": right}, config=FusionConfig(max_pair_dt_ns=5))
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target = np.array([0.0, 0.0, 2.0])
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result = rig.fuse(
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[
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Observation2D("left", "ball", 10, left.project_world(target), 1.0),
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Observation2D("right", "ball", 100, right.project_world(target), 1.0),
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]
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)
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self.assertEqual(0, len(result.points))
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self.assertIn("ball: no valid camera pair", result.dropped)
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def test_track_cache_expires_stale_points(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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target = np.array([0.0, 0.0, 2.0])
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point = SensorRig(
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cameras={"left": left, "right": right}
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).fuse(
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[
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Observation2D("left", "ball", 100, left.project_world(target), 1.0),
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Observation2D("right", "ball", 100, right.project_world(target), 1.0),
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]
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).points[0]
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cache = TrackCache(ttl_ns=50)
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cache.update(point)
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cache.expire(120)
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self.assertEqual(1, len(cache.points()))
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cache.expire(200)
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self.assertEqual(0, len(cache.points()))
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def test_point_cloud_writes_ply(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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point = SensorRig(cameras={"left": left, "right": right}).fuse(
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[
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Observation2D("left", "ball", 100, left.project_world(np.array([0.0, 0.0, 2.0])), 1.0),
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Observation2D("right", "ball", 100, right.project_world(np.array([0.0, 0.0, 2.0])), 1.0),
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]
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).points[0]
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class MemoryPath:
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parent = None
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def __init__(self):
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self.text = ""
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def write_text(self, text, encoding):
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self.text = text
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sink = MemoryPath()
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sink.parent = type("Parent", (), {"mkdir": lambda self, parents, exist_ok: None})()
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PointCloud((point,)).write_ply(sink)
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self.assertIn("element vertex 1", sink.text)
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self.assertIn("end_header", sink.text)
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def test_raw_bgr_reader_emits_timestamped_frames(self):
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stream = io.BytesIO(bytes(range(12)))
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frames = list(read_raw_bgr_frames(stream, "eye", width=2, height=2, frame_bytes=12))
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self.assertEqual(1, len(frames))
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self.assertEqual("eye", frames[0].sensor_id)
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self.assertEqual((2, 2, 3), frames[0].image_bgr.shape)
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def test_render_frame_packet_carries_spout_and_audio_alignment_metadata(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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point = SensorRig(cameras={"left": left, "right": right}).fuse(
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[
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Observation2D("left", "ball", 1_000, left.project_world(np.array([0.0, 0.0, 2.0])), 1.0),
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Observation2D("right", "ball", 2_000, right.project_world(np.array([0.0, 0.0, 2.0])), 0.8),
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]
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).points[0]
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config = RenderBridgeConfig(
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spout_sender_name="test-spout",
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visual_delay_ns=100,
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audio_alignment_delay_ns=200,
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default_point_radius_m=0.05,
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)
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frame = lower_points_to_render_frame((point,), config, frame_id=7, created_monotonic_ns=3_000)
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data = frame.to_dict()
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self.assertEqual("localcast.sensor_fusion.render_frame.v1", data["schema"])
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self.assertEqual("test-spout", data["spout_sender_name"])
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self.assertEqual(2_100, data["present_time_ns"])
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self.assertEqual(2_200, data["audio_alignment_time_ns"])
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self.assertEqual(0.05, data["points"][0]["radius_m"])
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loaded = RenderFramePacket.from_dict(data)
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vertices = frame_to_vertex_array(loaded, point_scale=2.0)
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self.assertEqual((1, 8), vertices.shape)
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self.assertAlmostEqual(0.10, float(vertices[0, 7]), places=6)
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self.assertGreater(float(vertices[0, 6]), 0.0)
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brushes = lower_frame_to_screen_brushes(loaded, width=1920, height=1080, point_scale=2.0)
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self.assertEqual(1, len(brushes))
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self.assertGreaterEqual(brushes[0].radii_px[0], brushes[0].radii_px[1])
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def test_spout_output_config_is_importable_without_gpu_context(self):
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config = SpoutOutputConfig(sender_name="unit-test", width=128, height=72, fps=30)
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self.assertEqual("unit-test", config.sender_name)
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self.assertEqual(128, config.width)
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def test_rasterizer_uses_gaussian_envelope_not_solid_ellipse(self):
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frame = RenderFramePacket(
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schema="localcast.sensor_fusion.render_frame.v1",
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frame_id=1,
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created_monotonic_ns=1,
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source_time_min_ns=1,
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source_time_max_ns=1,
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present_time_ns=1,
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audio_alignment_time_ns=1,
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spout_sender_name="test",
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target_width=320,
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target_height=180,
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points=(
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RenderPointPacket(
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stable_key="rgb-splat",
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xyz=np.array([0.0, 0.0, 1.2]),
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radius_m=0.08,
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color_rgba=(1.0, 0.0, 0.0, 1.0),
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confidence=1.0,
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source_timestamp_ns=1,
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),
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),
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)
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image = rasterize_frame_rgba(frame, 320, 180, point_scale=1.0)
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red = image[:, :, 0]
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hot = red[red > 24]
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self.assertGreater(len(hot), 20)
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self.assertGreater(int(hot.max()), 180)
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self.assertGreater(len(np.unique(hot)), 8)
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self.assertTrue(np.any((hot > 40) & (hot < 160)))
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def test_render_frame_round_trips_through_typed_cultcache_doc(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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point = SensorRig(cameras={"left": left, "right": right}).fuse(
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[
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Observation2D("left", "ball", 1_000, left.project_world(np.array([0.0, 0.0, 2.0])), 1.0),
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Observation2D("right", "ball", 1_000, right.project_world(np.array([0.0, 0.0, 2.0])), 1.0),
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]
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).points[0]
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frame = lower_points_to_render_frame((point,), RenderBridgeConfig(), frame_id=3, created_monotonic_ns=10)
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with tempfile.TemporaryDirectory() as tmp:
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path = Path(tmp) / "visual-state.msgpack"
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put_live_render_frame(path, frame)
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loaded = get_live_render_frame(path)
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self.assertIsNotNone(loaded)
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self.assertEqual(3, loaded.frame_id)
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self.assertEqual(1, len(loaded.points))
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self.assertEqual("ball", loaded.points[0].stable_key)
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def test_clap_detector_promotes_audio_transient_with_camera_motion(self):
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left = camera("left", -0.25)
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right = camera("right", 0.25)
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rig = SensorRig(
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cameras={"left": left, "right": right},
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config=FusionConfig(max_pair_dt_ns=40_000_000, max_reprojection_error_px=2.0),
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)
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target = np.array([0.02, 0.01, 2.0])
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sample_rate = 48_000
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start_ns = 1_000_000_000
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clap_sample = 960
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oracle_ns = start_ns + round(clap_sample * 1_000_000_000 / sample_rate)
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field = np.zeros((4096, 4), dtype=np.float32)
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field[clap_sample] = np.array([0.85, -0.75, 0.6, -0.55], dtype=np.float32)
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frames = {}
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for cam in (left, right):
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uv = cam.project_world(target)
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previous = np.zeros((cam.height, cam.width), dtype=np.float32)
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current = previous.copy()
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x, y = int(round(uv[0])), int(round(uv[1]))
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current[y - 2 : y + 3, x - 2 : x + 3] = 1.0
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frames[cam.sensor_id] = (
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TimestampedFrame(cam.sensor_id, oracle_ns - 8_000_000, previous),
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TimestampedFrame(cam.sensor_id, oracle_ns + 8_000_000, current),
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)
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events = detect_clap_events(
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field,
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sample_rate,
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frames,
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audio_time_ns=start_ns,
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rig=rig,
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config=ClapDetectorConfig(
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audio_window_samples=128,
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audio_hop_samples=32,
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audio_onset_ratio=3.0,
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min_audio_energy=1.0e-6,
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min_camera_motion_score=0.2,
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),
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)
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self.assertEqual(1, len(events))
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event = events[0]
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np.testing.assert_allclose(np.asarray(event.position_m), target, atol=0.04)
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self.assertLessEqual(abs(oracle_ns - event.acoustic_oracle_ns), 3_000_000)
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self.assertGreater(event.acoustic_confidence, 0.5)
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self.assertGreater(event.visual_confidence, 0.5)
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def test_clap_events_round_trip_through_typed_cultcache_doc(self):
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left = camera("left", -0.25)
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sample_rate = 48_000
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start_ns = 2_000_000_000
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clap_sample = 960
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oracle_ns = start_ns + round(clap_sample * 1_000_000_000 / sample_rate)
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field = np.zeros((2048, 1), dtype=np.float32)
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field[clap_sample] = 1.0
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previous = np.zeros((left.height, left.width), dtype=np.float32)
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current = previous.copy()
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current[100:108, 120:128] = 1.0
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events = detect_clap_events(
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field,
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sample_rate,
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{
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"left": (
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TimestampedFrame("left", oracle_ns - 5_000_000, previous),
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TimestampedFrame("left", oracle_ns + 5_000_000, current),
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)
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},
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audio_time_ns=start_ns,
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rig=None,
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config=ClapDetectorConfig(
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audio_window_samples=128,
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audio_hop_samples=32,
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audio_onset_ratio=3.0,
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min_audio_energy=1.0e-6,
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min_camera_count=1,
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min_camera_motion_score=0.2,
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),
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)
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frame = make_clap_events_frame(frame_id=12, events=events)
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with tempfile.TemporaryDirectory() as tmp:
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path = Path(tmp) / "visual-state.msgpack"
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put_live_clap_events(path, frame)
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loaded = get_live_clap_events(path)
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self.assertIsNotNone(loaded)
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self.assertEqual(12, loaded.frame_id)
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self.assertEqual(1, len(loaded.events))
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self.assertEqual(events[0].acoustic_oracle_ns, loaded.events[0].acoustic_oracle_ns)
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def test_audio_source_events_overlay_against_audio_alignment_time(self):
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frame = RenderFramePacket(
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schema="localcast.sensor_fusion.render_frame.v1",
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frame_id=9,
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created_monotonic_ns=1_000,
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source_time_min_ns=1_000,
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source_time_max_ns=1_000,
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present_time_ns=1_100,
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audio_alignment_time_ns=1_000_000_000,
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spout_sender_name="test",
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target_width=128,
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target_height=72,
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points=(),
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)
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audio = make_spatial_audio_frame(
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np.zeros((1024, 4), dtype=np.float32),
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frame_id=4,
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sample_rate=48000,
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start_sample=48000,
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audio_time_ns=1_000_000_000,
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)
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events = make_audio_source_events(
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frame_id=5,
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sample_rate=48000,
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start_sample=0,
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frame_count=96000,
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audio_time_ns=0,
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events=[
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{"eventId": 1, "startSample": 48000, "positionMeters": [0.2, 0.3, 1.4], "confidence": 0.9, "energy": 0.001},
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{"eventId": 2, "startSample": 70000, "positionMeters": [2.0, 0.0, 1.0], "confidence": 0.9, "energy": 0.001},
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],
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voice_focus=[],
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)
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augmented, status = overlay_audio_events(frame, events, audio, window_ns=40_000_000)
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self.assertEqual(1, len(augmented.points))
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self.assertEqual("audio-event-1", augmented.points[0].stable_key)
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self.assertTrue(status.synchronized)
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self.assertEqual(1, status.overlay_event_count)
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def test_remote_video_artifact_reports_sync_delta(self):
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artifact = remote_video_artifact_for_present_time(
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source_name="Neighbor PC - Video",
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url="srt://0.0.0.0:5100?mode=listener&latency=120000",
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present_time_ns=1_250_000_000,
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observed_time_ns=1_100_000_000,
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expected_latency_ns=120_000_000,
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tolerance_ns=40_000_000,
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)
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self.assertEqual(30_000_000, artifact.delta_ns)
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self.assertTrue(artifact.synchronized)
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def test_rgb_room_splats_emit_camera_resolved_background(self):
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frame = np.zeros((48, 64, 3), dtype=np.uint8)
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frame[:, :, :] = np.array([48, 72, 96], dtype=np.uint8)
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frame[16:34, 24:40, :] = np.array([240, 240, 240], dtype=np.uint8)
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points = rgb_room_splats(
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"room-rgb:test",
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frame,
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np.array([0.0, -1.0, 1.5]),
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123,
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step=12,
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)
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self.assertGreater(len(points), 0)
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self.assertTrue(all(point.stable_key.startswith("room-rgb:test") for point in points))
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self.assertTrue(any(point.xyz[2] < 0.2 for point in points))
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self.assertTrue(any(point.xyz[1] > 0.7 for point in points))
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def test_leap_packed_map_channels_are_mapped_individually(self):
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packed = np.zeros((12, 12, 3), dtype=np.uint8)
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packed[:, :, 0] = 20
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packed[:, :, 1] = 80
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packed[:, :, 2] = 160
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channels = unpack_leap_packed_channels(packed)
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self.assertAlmostEqual(80 / 255.0, float(channels["green"][0, 0]), places=6)
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self.assertAlmostEqual(160 / 255.0, float(channels["magenta"][0, 0]), places=6)
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self.assertAlmostEqual(20 / 255.0, float(channels["blue"][0, 0]), places=6)
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def test_leap_motion_points_use_channel_identity(self):
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previous = np.zeros((24, 24), dtype=np.float32)
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current = previous.copy()
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current[12, 12] = 1.0
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points = leap_channel_motion_points("green", current, previous, 456, step=12)
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self.assertGreater(len(points), 0)
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self.assertTrue(all(point.stable_key.startswith("leap-motion:green") for point in points))
|
|
self.assertTrue(all(point.source_timestamp_ns == 456 for point in points))
|
|
|
|
def test_active_illumination_pulse_plan_emits_timed_brightness_changes(self):
|
|
class FakeLight:
|
|
def __init__(self):
|
|
self.calls = []
|
|
|
|
def set_white(self, *, brightness_percent, color_temp_percent):
|
|
self.calls.append((brightness_percent, color_temp_percent))
|
|
|
|
ticks = iter([1_000_000_000, 1_300_000_000])
|
|
light = FakeLight()
|
|
controller = ActiveIlluminationController(
|
|
light,
|
|
IlluminationPulsePlan(
|
|
pulse_count=2,
|
|
bright_ms=10,
|
|
settle_ms=20,
|
|
brightness_percent=91,
|
|
idle_brightness_percent=17,
|
|
color_temp_percent=44,
|
|
),
|
|
)
|
|
|
|
pulses = controller.run(sleep=lambda _: None, clock_ns=lambda: next(ticks))
|
|
|
|
self.assertEqual(2, len(pulses))
|
|
self.assertEqual((91, 44), light.calls[0])
|
|
self.assertEqual((17, 44), light.calls[1])
|
|
self.assertEqual((17, 44), light.calls[-1])
|
|
self.assertEqual(1_010_000_000, pulses[0].bright_until_monotonic_ns)
|
|
|
|
def test_adaptive_camera_controller_reduces_overexposure(self):
|
|
controller = AdaptiveCameraController(target=CameraQualityTarget(mean_luma=0.5, luma_deadband=0.02))
|
|
|
|
command = controller.update(
|
|
quality=type(
|
|
"Quality",
|
|
(),
|
|
{
|
|
"mean_luma": 0.82,
|
|
"dark_clip": 0.0,
|
|
"bright_clip": 0.12,
|
|
"contrast": 0.2,
|
|
"sharpness": 0.2,
|
|
},
|
|
)()
|
|
)
|
|
|
|
self.assertTrue(command.changed)
|
|
self.assertIsNotNone(command.exposure)
|
|
self.assertLess(command.exposure, 0.5)
|
|
self.assertIsNotNone(command.gain)
|
|
self.assertLess(command.gain, 0.25)
|
|
|
|
def test_dense_stereo_emits_calibrated_rgb_surface_claims(self):
|
|
height, width = 48, 72
|
|
rng = np.random.default_rng(42)
|
|
left_frame = rng.integers(0, 255, size=(height, width, 3), dtype=np.uint8)
|
|
right_frame = np.roll(left_frame, -8, axis=1)
|
|
left = camera("left", -0.25)
|
|
right = camera("right", 0.25)
|
|
left = CameraModel("left", left.camera_matrix, left.dist_coeffs, left.world_from_sensor, width, height)
|
|
right = CameraModel("right", right.camera_matrix, right.dist_coeffs, right.world_from_sensor, width, height)
|
|
|
|
points = dense_stereo_points(
|
|
prefix="dense-test",
|
|
left_frame_bgr=left_frame,
|
|
right_frame_bgr=right_frame,
|
|
left_camera=left,
|
|
right_camera=right,
|
|
timestamp_ns=789,
|
|
config=DenseStereoConfig(
|
|
sample_step=8,
|
|
block_radius=2,
|
|
max_disparity_px=16,
|
|
min_ncc=0.55,
|
|
max_reprojection_error_px=200.0,
|
|
),
|
|
)
|
|
|
|
self.assertGreater(len(points), 0)
|
|
self.assertTrue(all(point.stable_key.startswith("dense-test") for point in points))
|
|
self.assertTrue(all(point.source_timestamp_ns == 789 for point in points))
|
|
self.assertTrue(any(point.radius_m < 0.01 for point in points))
|
|
|
|
def test_live_rgb_sampler_dense_path_uses_camera_pair_before_fallback_surfaces(self):
|
|
height, width = 48, 72
|
|
rng = np.random.default_rng(7)
|
|
primary = rng.integers(0, 255, size=(height, width, 3), dtype=np.uint8)
|
|
secondary = np.roll(primary, -7, axis=1)
|
|
|
|
points = rgb_dense_stereo_splats(primary, secondary, 321, step=8)
|
|
|
|
self.assertGreater(len(points), 0)
|
|
self.assertTrue(all(point.stable_key.startswith("dense-rgb") for point in points))
|
|
|
|
def test_fixed_board_calibration_solves_camera_into_common_space(self):
|
|
board = BoardSpec(squares_x=5, squares_y=4, square_length_m=0.04)
|
|
intrinsics = CameraIntrinsics(
|
|
sensor_id="cam-a",
|
|
camera_matrix=np.array([[420.0, 0.0, 160.0], [0.0, 420.0, 120.0], [0.0, 0.0, 1.0]]),
|
|
dist_coeffs=np.zeros(5),
|
|
width=320,
|
|
height=240,
|
|
)
|
|
expected = CameraModel(
|
|
sensor_id="cam-a",
|
|
camera_matrix=intrinsics.camera_matrix,
|
|
dist_coeffs=intrinsics.dist_coeffs,
|
|
world_from_sensor=np.array(
|
|
[
|
|
[1.0, 0.0, 0.0, -0.12],
|
|
[0.0, 1.0, 0.0, 0.03],
|
|
[0.0, 0.0, 1.0, -0.80],
|
|
[0.0, 0.0, 0.0, 1.0],
|
|
]
|
|
),
|
|
width=320,
|
|
height=240,
|
|
)
|
|
ids = np.array([0, 1, 2, 4, 5, 6, 8, 9, 10], dtype=np.int32)
|
|
image_points = np.vstack([expected.project_world(board.object_point(int(corner_id))) for corner_id in ids])
|
|
|
|
cameras, solves = solve_common_space_from_fixed_board(
|
|
[intrinsics],
|
|
board,
|
|
[BoardObservation("cam-a", 100, ids, image_points)],
|
|
max_reprojection_error_px=0.05,
|
|
)
|
|
|
|
self.assertEqual(1, len(solves))
|
|
np.testing.assert_allclose(expected.world_from_sensor, cameras["cam-a"].world_from_sensor, atol=1e-5)
|
|
self.assertLess(solves[0].reprojection_error_px, 1e-4)
|
|
|
|
def test_surface_features_match_and_triangulate_between_calibrated_views(self):
|
|
left = camera("left", -0.25)
|
|
right = camera("right", 0.25)
|
|
target = np.array([0.04, 0.02, 2.0])
|
|
left_obs = SurfaceFeatureObservation(
|
|
sensor_id="left",
|
|
feature_id="a",
|
|
timestamp_ns=1_000,
|
|
uv=left.project_world(target),
|
|
descriptor=np.array([1, 2, 3, 4], dtype=np.uint8),
|
|
confidence=0.95,
|
|
)
|
|
right_obs = SurfaceFeatureObservation(
|
|
sensor_id="right",
|
|
feature_id="b",
|
|
timestamp_ns=1_200,
|
|
uv=right.project_world(target),
|
|
descriptor=np.array([1, 2, 3, 4], dtype=np.uint8),
|
|
confidence=0.90,
|
|
)
|
|
|
|
tracks = match_surface_features([left_obs], [right_obs], max_descriptor_distance=0.0, max_dt_ns=1_000)
|
|
points = triangulate_surface_tracks(tracks, {"left": left, "right": right}, max_reprojection_error_px=0.01)
|
|
|
|
self.assertEqual(1, len(tracks))
|
|
self.assertEqual(1, len(points))
|
|
np.testing.assert_allclose(target, points[0].xyz, atol=1e-9)
|
|
self.assertEqual(("left", "right"), points[0].sensors)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
match_surface_features,
|