Adriano Dal PastroandClaude Opus 4.7
87abe26476
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
94 lines
3.1 KiB
Python
94 lines
3.1 KiB
Python
"""Tests for the segment_with_sam21/points_via_sam21 decomposition.
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We exercise the path that the find_model endpoint will take:
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segment_with_sam21(nuwa, sam21, bbox, sw) -> Sam21Segmentation
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and the legacy wrapper still works.
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"""
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from __future__ import annotations
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from unittest.mock import MagicMock
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import cv2
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import numpy as np
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import pytest
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from presa_mano.perception.sam21_bridge import (
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Sam21Segmentation,
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segment_with_sam21,
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points_via_sam21,
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Sam21Fallback,
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)
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from presa_mano.timing import Stopwatch
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def _fake_nuwa():
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"""Returns a MagicMock Nuwa that yields a 4x4 black RGB jpeg and a 4x4
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uint16 depth PNG (all 1000 mm) + a minimal Nuwa intrinsics dict."""
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rgb = np.zeros((4, 4, 3), dtype=np.uint8)
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ok, jpg = cv2.imencode(".jpg", rgb)
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assert ok
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depth = np.full((4, 4), 1000, dtype=np.uint16)
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ok, dpng = cv2.imencode(".png", depth)
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assert ok
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intr = {
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"rgb": {"fx": 600.0, "fy": 600.0, "cx": 2.0, "cy": 2.0},
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"ir": {"fx": 600.0, "fy": 600.0, "cx": 2.0, "cy": 2.0,
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"extrinsics": {"R": [[1,0,0],[0,1,0],[0,0,1]],
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"t": [0.0, 0.0, 0.0]}},
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}
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n = MagicMock()
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n.rgb_jpeg.return_value = bytes(jpg)
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n.depth_png.return_value = bytes(dpng)
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n.intrinsics.return_value = intr
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return n, bytes(jpg)
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def _fake_sam21(points_m: np.ndarray):
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s = MagicMock()
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s.segment_pointcloud.return_value = points_m
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return s
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def test_segment_with_sam21_returns_segmentation(monkeypatch):
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nuwa, rgb_jpeg = _fake_nuwa()
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pts_m = np.array([[0.01, 0.02, 0.5], [0.011, 0.022, 0.49]])
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sam21 = _fake_sam21(pts_m)
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# Niente plane filter qui — segment_with_sam21 NON deve applicarlo
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monkeypatch.setattr(
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"presa_mano.perception.sam21_bridge.get_work_plane", lambda: None
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)
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sw = Stopwatch()
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seg = segment_with_sam21(nuwa, sam21, bbox=(0, 0, 4, 4), sw=sw)
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assert isinstance(seg, Sam21Segmentation)
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np.testing.assert_array_equal(seg.points_cv_m, pts_m)
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assert seg.rgb_jpeg == rgb_jpeg
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assert "width" in seg.intrinsics_rgb and "height" in seg.intrinsics_rgb
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def test_points_via_sam21_still_applies_plane_filter(monkeypatch):
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"""L'API legacy non deve cambiare: ritorna (pts, plane_info) e applica
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apply_below_plane_filter come prima."""
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nuwa, _rgb = _fake_nuwa()
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pts_m = np.array([[0.0, 0.0, 0.5]] * 20)
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sam21 = _fake_sam21(pts_m)
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monkeypatch.setattr(
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"presa_mano.perception.sam21_bridge.get_work_plane", lambda: None
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)
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sw = Stopwatch()
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pts, info = points_via_sam21(nuwa, sam21, bbox=(0, 0, 4, 4), sw=sw)
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assert pts.shape == (20, 3)
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assert info["plane_applied"] is False
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assert info["n_points_before_plane"] == 20
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def test_points_via_sam21_too_few_points_raises_fallback(monkeypatch):
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nuwa, _rgb = _fake_nuwa()
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pts_m = np.array([[0.0, 0.0, 0.5]] * 5) # <10
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sam21 = _fake_sam21(pts_m)
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monkeypatch.setattr(
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"presa_mano.perception.sam21_bridge.get_work_plane", lambda: None
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)
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sw = Stopwatch()
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with pytest.raises(Sam21Fallback):
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points_via_sam21(nuwa, sam21, bbox=(0, 0, 4, 4), sw=sw)
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