personal memory agent
Merge branch 'hopper-mqojmifi-aruco-extrapolation'
+94
-1
+32
observe/aruco.py
+32
observe/aruco.py
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# Singleton detector instance (created on first use)
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_detector: Optional[cv2.aruco.ArucoDetector] = None
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# Per-tag corner extraction index: which corner of each marker gives the outer bounding point
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# ArUco corner order within each marker: [TL(0), TR(1), BR(2), BL(3)]
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_CORNER_IDX = {6: 0, 7: 1, 2: 2, 4: 3}
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def _get_detector() -> cv2.aruco.ArucoDetector:
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"""Get or create the ArUco detector singleton."""
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params.cornerRefinementMethod = cv2.aruco.CORNER_REFINE_SUBPIX
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_detector = cv2.aruco.ArucoDetector(dictionary, params)
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return _detector
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def _extrapolate_corner(id_to_corners: dict, missing_id: int) -> list:
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known = {
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tag_id: id_to_corners[tag_id].reshape(4, 2)[_CORNER_IDX[tag_id]]
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for tag_id in CORNER_TAG_IDS
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if tag_id in id_to_corners
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}
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# Parallelogram rule: TL + BR = TR + BL (diagonals share midpoint)
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if missing_id == 6: # TL = TR + BL - BR
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pt = known[7] + known[4] - known[2]
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elif missing_id == 7: # TR = TL + BR - BL
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pt = known[6] + known[2] - known[4]
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elif missing_id == 2: # BR = TR + BL - TL
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pt = known[7] + known[4] - known[6]
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else: # BL (4) = TL + BR - TR
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pt = known[6] + known[2] - known[7]
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return pt.tolist()
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def detect_markers(image: Image.Image) -> Optional[dict]:
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br = id_to_corners[2].reshape(4, 2)[2] # BR tag, BR corner
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bl = id_to_corners[4].reshape(4, 2)[3] # BL tag, BL corner
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result["polygon"] = [tl.tolist(), tr.tolist(), br.tolist(), bl.tolist()]
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elif len(CORNER_TAG_IDS & id_to_corners.keys()) == 3:
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found = CORNER_TAG_IDS & id_to_corners.keys()
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missing_id = next(iter(CORNER_TAG_IDS - found))
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corners = {
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tag_id: id_to_corners[tag_id].reshape(4, 2)[_CORNER_IDX[tag_id]].tolist()
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for tag_id in found
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}
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corners[missing_id] = _extrapolate_corner(id_to_corners, missing_id)
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result["polygon"] = [corners[6], corners[7], corners[2], corners[4]]
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result["extrapolated"] = missing_id
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return result
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+10
-1
observe/describe.py
+10
-1
observe/describe.py
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if mask_area / frame_area > self.MASK_SKIP_THRESHOLD:
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# Skip frame entirely - Convey UI dominates
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pil_img.close()
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_extrap = (
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" (extrapolated)"
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if aruco_result.get("extrapolated") is not None
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else ""
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)
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logger.debug(
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f"Skipping frame at {timestamp:.2f}s "
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f"(Convey UI covers {mask_area / frame_area:.0%})"
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f"(Convey UI covers {mask_area / frame_area:.0%}){_extrap}"
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)
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continue
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# Mask the Convey region with black
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"markers": aruco_result["markers"],
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"masked": aruco_masked,
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}
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if aruco_result.get("extrapolated") is not None:
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frame_data["aruco"]["extrapolated"] = aruco_result[
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"extrapolated"
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]
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# First frame: always qualify (RMS vs nothing = 100% different)
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if last_qualified_small is None:
+52
tests/test_aruco.py
+52
tests/test_aruco.py
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# Polygon should be None (only 2 of 4 corners)
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assert result["polygon"] is None
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def test_detect_markers_extrapolated_tl():
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"""Test detect_markers extrapolates missing TL corner from 3 present markers."""
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img_array = np.ones((480, 640, 3), dtype=np.uint8) * 255
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dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
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marker_size = 50
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pad = 20
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# Place TR (7), BR (2), BL (4) — omit TL (6)
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for tag_id, (y, x) in [
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(7, (pad, 640 - pad - marker_size)),
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(2, (480 - pad - marker_size, 640 - pad - marker_size)),
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(4, (480 - pad - marker_size, pad)),
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]:
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marker = cv2.aruco.generateImageMarker(dictionary, tag_id, marker_size)
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marker_rgb = cv2.cvtColor(marker, cv2.COLOR_GRAY2RGB)
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img_array[y : y + marker_size, x : x + marker_size] = marker_rgb
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result = detect_markers(Image.fromarray(img_array))
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assert result is not None
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assert result["polygon"] is not None
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assert len(result["polygon"]) == 4
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assert result.get("extrapolated") == 6
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# Extrapolated TL should be within 2px of expected position
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tl = result["polygon"][0]
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assert abs(tl[0] - pad) <= 2
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assert abs(tl[1] - pad) <= 2
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def test_detect_markers_two_missing_no_extrapolation():
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"""Test detect_markers returns no polygon when only 2 corner tags present."""
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img_array = np.ones((480, 640, 3), dtype=np.uint8) * 255
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dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
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marker_size = 50
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pad = 20
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# Place only TL (6) and BR (2)
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for tag_id, (y, x) in [
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(6, (pad, pad)),
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(2, (480 - pad - marker_size, 640 - pad - marker_size)),
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]:
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marker = cv2.aruco.generateImageMarker(dictionary, tag_id, marker_size)
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marker_rgb = cv2.cvtColor(marker, cv2.COLOR_GRAY2RGB)
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img_array[y : y + marker_size, x : x + marker_size] = marker_rgb
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result = detect_markers(Image.fromarray(img_array))
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assert result is not None
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assert result["polygon"] is None