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173 lines
5.1 KiB
Python
173 lines
5.1 KiB
Python
"""YuNet face gates for Rally follow — reject ceiling/stand/noise."""
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from __future__ import annotations
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import numpy as np
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from rally_follow import FaceGate, accept_yunet_face, select_yunet_face
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def _face(
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*,
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x=400.0,
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y=200.0,
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w=80.0,
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h=100.0,
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score=0.93,
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re=None,
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le=None,
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nose=None,
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rm=None,
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lm=None,
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) -> np.ndarray:
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"""YuNet 15-vector: box + 5 landmarks + score, in 960x540 detect space."""
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if re is None:
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re = (x + 0.30 * w, y + 0.38 * h)
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if le is None:
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le = (x + 0.70 * w, y + 0.38 * h)
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if nose is None:
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nose = (x + 0.50 * w, y + 0.55 * h)
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if rm is None:
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rm = (x + 0.35 * w, y + 0.78 * h)
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if lm is None:
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lm = (x + 0.65 * w, y + 0.78 * h)
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row = np.zeros(15, dtype=np.float32)
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row[0:4] = (x, y, w, h)
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row[4:6] = re
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row[6:8] = le
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row[8:10] = nose
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row[10:12] = rm
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row[12:14] = lm
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row[14] = score
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return row
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FW, FH = 960, 540
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def test_good_face_accepted():
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assert accept_yunet_face(_face(), FW, FH) is True
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def test_tiny_blob_rejected():
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# Live FP: 25x34 @ 0.805, nose not between the eyes.
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row = _face(x=512, y=250, w=25, h=34, score=0.805,
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re=(528.5, 264), le=(532.1, 263), nose=(536.1, 271),
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rm=(529.7, 277), lm=(532.1, 278))
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assert accept_yunet_face(row, FW, FH) is False
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def test_low_score_rejected():
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assert accept_yunet_face(_face(score=0.61), FW, FH) is False
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def test_ceiling_band_rejected():
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row = _face(x=400, y=2, w=80, h=100)
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assert accept_yunet_face(row, FW, FH) is False
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def test_stand_band_rejected():
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row = _face(x=400, y=470, w=80, h=100)
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assert accept_yunet_face(row, FW, FH) is False
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def test_nose_not_between_eyes_rejected():
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row = _face(re=(430, 238), le=(450, 238), nose=(470, 255))
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assert accept_yunet_face(row, FW, FH) is False
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def test_upside_down_landmarks_rejected():
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row = _face(
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re=(424, 270), le=(456, 270), nose=(440, 240),
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rm=(428, 220), lm=(452, 220),
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)
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assert accept_yunet_face(row, FW, FH) is False
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def test_select_skips_large_invalid_for_smaller_valid():
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junk = _face(x=10, y=2, w=80, h=100, score=0.99) # ceiling
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good = _face(x=400, y=200, w=80, h=100, score=0.88)
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picked = select_yunet_face(np.stack([junk, good]), FW, FH)
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assert picked is not None
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assert float(picked[0]) == 400.0
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def test_select_empty():
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assert select_yunet_face(None, FW, FH) is None
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assert select_yunet_face(np.zeros((0, 15)), FW, FH) is None
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def test_face_gate_needs_confirm():
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gate = FaceGate(need=3, max_jump=0.18)
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box = (400, 200, 80, 100)
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assert gate.update(box, 960, 540) is None
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assert gate.update(box, 960, 540) is None
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assert gate.update(box, 960, 540) == box
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def test_face_gate_jump_resets():
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gate = FaceGate(need=3, max_jump=0.18)
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a = (400, 200, 80, 100)
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b = (800, 400, 80, 100)
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assert gate.update(a, 960, 540) is None
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assert gate.update(a, 960, 540) is None
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assert gate.update(b, 960, 540) is None # new target
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assert gate.update(b, 960, 540) is None
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assert gate.update(b, 960, 540) == b
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def test_face_gate_loss_clears():
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gate = FaceGate(need=2, max_jump=0.18)
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box = (400, 200, 80, 100)
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gate.update(box, 960, 540)
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assert gate.update(box, 960, 540) == box
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assert gate.update(None, 960, 540) is None
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assert gate.update(box, 960, 540) is None
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def test_profile_face_accepted():
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"""Head turned: eyes cluster, nose not between them — still a face."""
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row = _face(
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x=400, y=200, w=80, h=100, score=0.90,
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re=(418, 238), le=(426, 237),
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nose=(410, 255),
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rm=(416, 278), lm=(428, 277),
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)
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assert accept_yunet_face(row, FW, FH) is True
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def test_head_hold_keeps_box_on_roi_motion():
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from rally_follow import HeadHold
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hold = HeadHold(hold_s=1.0)
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box = (400, 200, 80, 100)
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t = 10.0
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assert hold.update(box, moving=False, now=t) == box
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assert hold.update(None, moving=True, now=t + 0.3) == box
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assert hold.update(None, moving=False, now=t + 0.4) == box # coast
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assert hold.update(None, moving=False, now=t + 2.0) is None
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def test_roi_motion_ignores_outside_last_box():
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from rally_follow import roi_motion
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prev = np.zeros((540, 960), dtype=np.uint8)
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now = prev.copy()
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now[10:40, 10:40] = 200 # motion far from the face
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assert roi_motion(prev, now, (400, 200, 80, 100)) is False
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now2 = prev.copy()
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now2[210:260, 420:460] = 200
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assert roi_motion(prev, now2, (400, 200, 80, 100)) is True
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def test_stale_hold_freezes_does_not_keep_panning():
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"""Last image-space box is not a pan target — that derails as the camera moves."""
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from rally_follow import lock_action, steer_speeds
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left = (80, 400, 160, 200)
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pan, tilt = steer_speeds(left, 1920, 1080, deadband=0.14)
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assert pan == -1
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assert lock_action(confirmed=left, held=left) == "steer"
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assert lock_action(confirmed=None, held=left) == "freeze"
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assert lock_action(confirmed=None, held=None) == "lost"
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cx = 1920 / 2 - 40
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mid = (int(cx - 80), 440, 160, 200)
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pan, tilt = steer_speeds(mid, 1920, 1080, deadband=0.14)
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assert pan == 0 and tilt == 0
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