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fix: seed trajectories from recent source motion

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Yoilun
2026-06-01 12:03:05 +08:00
parent 03bc7085ea
commit a4657a4bdf
5 changed files with 75 additions and 5 deletions
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30
tests/test_vision.py
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@@ -417,6 +417,36 @@ class VisionTests(unittest.TestCase):
self.assertEqual(trash_diagnostics["emitted"][0]["reason"], "emitted")
self.assertTrue(trash_diagnostics["emitted"][0]["segmented"])
def test_recent_source_motion_seeds_track_when_empty_confirmation_lags(self) -> None:
source = Region("source", ((0.05, 0.35), (0.25, 0.35), (0.25, 0.65), (0.05, 0.65)))
trash = Region("trash", ((0.72, 0.35), (0.95, 0.35), (0.95, 0.65), (0.72, 0.65)))
tracker = TrajectoryTracker(
[source],
trash,
RuntimeVisionSettings(
trajectory_sample_interval_seconds=0.0,
trajectory_min_points=3,
trajectory_min_confidence=0.72,
trajectory_motion_delta=20.0,
trajectory_min_blob_area=12,
),
)
now = datetime(2026, 6, 1, 11, 25, tzinfo=timezone.utc)
tracker.observe(frame_with_motion_patch(80, 80, (8, 36)), now, {"source": 1})
tracker.observe(frame_with_motion_patch(80, 80, (16, 36)), now + timedelta(seconds=1), {"source": 1})
evidence, diagnostics = tracker.observe(
frame_with_motion_patch(80, 80, (66, 36)),
now + timedelta(seconds=2),
{"source": 0},
)
self.assertEqual(len(evidence), 1)
self.assertEqual(evidence[0].source_zone_id, "source")
self.assertEqual(len(evidence[0].track_points), 2)
self.assertTrue(diagnostics["emitted"][0]["segmented"])
self.assertTrue(diagnostics["emitted"][0]["source_seeded"])
def test_motion_that_starts_away_from_source_zone_is_rejected(self) -> None:
source = Region("source", ((0.05, 0.35), (0.25, 0.35), (0.25, 0.65), (0.05, 0.65)))
trash = Region("trash", ((0.72, 0.35), (0.95, 0.35), (0.95, 0.65), (0.72, 0.65)))