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| import cv2 | |
| import numpy as np | |
| from app.lerobot_v21 import ( | |
| DEPTH_MAX_MM, | |
| DEPTH_MIN_MM, | |
| DEPTH_QMAX, | |
| DEPTH_QP, | |
| codes_to_heatmap_bgr, | |
| dequantize_depth, | |
| depth_video_encoder_args, | |
| depth_to_heatmap_bgr, | |
| quantize_depth, | |
| ) | |
| def test_canonical_quantization_boundaries_and_invalid_value(): | |
| depths = np.array([0, DEPTH_MIN_MM, DEPTH_MAX_MM, 6000], dtype=np.uint16) | |
| codes = quantize_depth(depths) | |
| assert codes.dtype == np.dtype("<u2") | |
| assert codes.tolist() == [0, 0, DEPTH_QMAX, DEPTH_QMAX] | |
| assert dequantize_depth(codes).dtype == np.dtype("<u2") | |
| def test_quantization_is_logarithmic_and_round_trips_reasonably(): | |
| depths = np.array([100, 200, 600, 1000, 2500, 5000], dtype=np.uint16) | |
| restored = dequantize_depth(quantize_depth(depths)).astype(np.int32) | |
| relative_error = np.abs(restored - depths) / depths | |
| assert np.all(np.diff(quantize_depth(depths)) > 0) | |
| assert float(relative_error.max()) < 0.002 | |
| def test_heatmap_uses_exact_code_to_opencv_jet_mapping_including_zero(): | |
| codes = np.array([[0, 1, 1799, DEPTH_QMAX]], dtype=np.uint16) | |
| expected_8 = ((codes.astype(np.int32) * 255) // DEPTH_QMAX).astype(np.uint8) | |
| expected = cv2.applyColorMap(expected_8, cv2.COLORMAP_JET) | |
| np.testing.assert_array_equal(codes_to_heatmap_bgr(codes), expected) | |
| np.testing.assert_array_equal( | |
| depth_to_heatmap_bgr(dequantize_depth(codes)), | |
| codes_to_heatmap_bgr(quantize_depth(dequantize_depth(codes))), | |
| ) | |
| np.testing.assert_array_equal( | |
| codes_to_heatmap_bgr(codes)[0, 0], | |
| cv2.applyColorMap(np.array([[0]], dtype=np.uint8), cv2.COLORMAP_JET)[0, 0], | |
| ) | |
| def test_encoder_contract_has_no_profile_or_crf(): | |
| args = depth_video_encoder_args() | |
| assert args == [ | |
| "-pix_fmt", "gray12le", | |
| "-tag:v", "hvc1", | |
| "-x265-params", f"qp={DEPTH_QP}:range=full:keyint=2:min-keyint=2", | |
| ] | |
| assert "-profile:v" not in args | |
| assert not any("crf" in value.lower() for value in args) | |