Adriano Dal PastroandClaude Opus 4.7
5354c51d60
Forward-project IR depth pixels into the RGB pixel grid with a z-buffer. Output uint16 mm at RGB resolution, ready to feed SAM21. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
89 lines
3.7 KiB
Python
89 lines
3.7 KiB
Python
"""Unit tests for align_depth_to_rgb."""
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from __future__ import annotations
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import numpy as np
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from presa_mano.perception.depth_align import align_depth_to_rgb
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from presa_mano.perception.depth_to_rgb import CameraRegistration
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def _identity_reg(W: int = 64, H: int = 48) -> CameraRegistration:
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"""Same K for RGB and IR, no extrinsic offset."""
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K = np.array([[60.0, 0.0, W / 2.0],
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[0.0, 60.0, H / 2.0],
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[0.0, 0.0, 1.0]], dtype=np.float64)
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return CameraRegistration(
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K_rgb=K.copy(), K_ir=K.copy(),
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R_ir_to_rgb=np.eye(3, dtype=np.float64),
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t_ir_to_rgb=np.zeros(3, dtype=np.float64),
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rgb_width=W, rgb_height=H,
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ir_width=W, ir_height=H,
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)
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def test_identity_alignment_preserves_depth():
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"""K_ir == K_rgb and no extrinsic → every IR pixel maps to itself."""
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reg = _identity_reg()
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depth_ir = np.full((reg.ir_height, reg.ir_width), 1000, dtype=np.uint16)
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depth_rgb = align_depth_to_rgb(depth_ir, reg)
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assert depth_rgb.shape == (reg.rgb_height, reg.rgb_width)
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assert depth_rgb.dtype == np.uint16
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nonzero = depth_rgb[depth_rgb > 0]
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# Coverage close to full (rounding can drop a few border pixels).
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assert nonzero.size >= 0.95 * depth_rgb.size, f"coverage too low: {nonzero.size}/{depth_rgb.size}"
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# All filled pixels equal the input depth (±1 mm rounding).
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assert np.all(np.abs(nonzero.astype(int) - 1000) <= 1)
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def test_zero_depth_pixels_stay_zero():
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"""IR pixels with depth=0 must not produce any RGB output."""
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reg = _identity_reg()
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depth_ir = np.zeros((reg.ir_height, reg.ir_width), dtype=np.uint16)
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depth_rgb = align_depth_to_rgb(depth_ir, reg)
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assert depth_rgb.shape == (reg.rgb_height, reg.rgb_width)
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assert int(depth_rgb.sum()) == 0
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def test_sparse_pixels_preserved():
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"""Two isolated IR depths produce exactly two filled RGB pixels (identity reg)."""
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reg = _identity_reg(W=64, H=48)
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depth_ir = np.zeros((reg.ir_height, reg.ir_width), dtype=np.uint16)
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depth_ir[0, 0] = 1000
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depth_ir[reg.ir_height - 1, reg.ir_width - 1] = 1000
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depth_rgb = align_depth_to_rgb(depth_ir, reg)
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assert (depth_rgb > 0).sum() == 2
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def test_z_buffer_keeps_closer_point():
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"""When two IR pixels collide on the same RGB pixel, the smaller depth wins.
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Force a collision with K_ir = 2 × K_rgb (same resolution), so adjacent IR
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pixels round to the same RGB pixel."""
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W = H = 16
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K_rgb = np.array([[60.0, 0.0, W / 2.0],
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[0.0, 60.0, H / 2.0],
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[0.0, 0.0, 1.0]], dtype=np.float64)
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K_ir = K_rgb.copy()
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K_ir[0, 0] *= 2.0 # double focal length → two IR pixels collapse to one RGB pixel
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K_ir[1, 1] *= 2.0
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reg = CameraRegistration(
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K_rgb=K_rgb, K_ir=K_ir,
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R_ir_to_rgb=np.eye(3, dtype=np.float64),
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t_ir_to_rgb=np.zeros(3, dtype=np.float64),
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rgb_width=W, rgb_height=H, ir_width=W, ir_height=H,
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)
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depth_ir = np.zeros((H, W), dtype=np.uint16)
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# Two IR pixels (5, 5) and (6, 5) both project to the same RGB pixel near (4, 5)
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# (when projected through K_ir with depth 1m and re-projected through K_rgb).
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depth_ir[5, 5] = 1500
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depth_ir[5, 6] = 800
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depth_rgb = align_depth_to_rgb(depth_ir, reg)
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nonzero = depth_rgb[depth_rgb > 0]
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# At least one RGB pixel must receive the closer (800) value; nothing further
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# may be ≥ 1500 if a collision actually occurred. If they didn't collide, we
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# see exactly two values [800, 1500]; if they did, we see only [800].
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assert nonzero.size in (1, 2)
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assert int(nonzero.min()) == 800
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if nonzero.size == 1:
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assert int(nonzero[0]) == 800 # collision happened, closer point won
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