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feat: CV line-crossing entry/exit detection with tests

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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Peter Woolery
2026-04-13 15:10:01 -07:00
parent 655abc914b
commit 0a6470a096
2 changed files with 91 additions and 1 deletions
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19
firmware/lib/cv/cv.cpp
View File

@@ -146,6 +146,23 @@ CVResult cv_process(CVState& state, const uint8_t* frame, uint8_t line_pct) {
t.missed = 0;
state.tracks.push_back(t);
}
// Line crossing check added in Task 6
// Line crossing check
for (auto& track : state.tracks) {
if (track.missed > 0) continue; // only check tracks matched this frame
bool now_above = (track.y < line_y);
if (now_above != track.above_line) {
if (!now_above) {
// was above, now below → entry
state.entries++;
result.entries_delta++;
} else {
// was below, now above → exit
state.exits++;
result.exits_delta++;
}
}
track.above_line = now_above;
}
return result;
}

73
firmware/test/test_cv/test_cv.cpp
View File

@@ -82,6 +82,76 @@ void test_tracking_spawns_track_for_new_blob() {
TEST_ASSERT_FLOAT_WITHIN(5.0f, 20.0f, state.tracks[0].y);
}
static void make_blob_frame(uint8_t* f, int cx, int cy) {
fill_frame(f, 100);
for (int y = cy - 12; y <= cy + 12; y++)
for (int x = cx - 12; x <= cx + 12; x++)
if (y >= 0 && y < CV_H && x >= 0 && x < CV_W)
f[y * CV_W + x] = 200;
}
void test_blob_crossing_line_top_to_bottom_is_entry() {
CVState state;
cv_init(state);
// Line at 50% = y=48; step ≤14px per frame to stay within CV_MAX_MOVE
uint8_t bg[CV_PIXELS];
fill_frame(bg, 100);
cv_process(state, bg, 50); // init background
// Walk blob from y=20 toward line; crossing occurs at y=48 (above→below)
// Stop at crossing frame and assert its result
int setup[] = {20, 34};
for (int i = 0; i < 2; i++) {
uint8_t f[CV_PIXELS]; make_blob_frame(f, 48, setup[i]);
cv_process(state, f, 50);
}
uint8_t fcross[CV_PIXELS]; make_blob_frame(fcross, 48, 48);
CVResult r = cv_process(state, fcross, 50);
TEST_ASSERT_EQUAL_INT(1, r.entries_delta);
TEST_ASSERT_EQUAL_INT(0, r.exits_delta);
TEST_ASSERT_EQUAL_INT(1, state.entries);
}
void test_blob_crossing_line_bottom_to_top_is_exit() {
CVState state;
cv_init(state);
uint8_t bg[CV_PIXELS]; fill_frame(bg, 100);
cv_process(state, bg, 50);
// Walk blob from y=76 toward line; crossing occurs at y=34 (below→above)
// Stop at crossing frame and assert its result
int setup[] = {76, 62, 48};
for (int i = 0; i < 3; i++) {
uint8_t f[CV_PIXELS]; make_blob_frame(f, 48, setup[i]);
cv_process(state, f, 50);
}
uint8_t fcross[CV_PIXELS]; make_blob_frame(fcross, 48, 34);
CVResult r = cv_process(state, fcross, 50);
TEST_ASSERT_EQUAL_INT(0, r.entries_delta);
TEST_ASSERT_EQUAL_INT(1, r.exits_delta);
}
void test_no_crossing_same_side_no_count() {
CVState state;
cv_init(state);
uint8_t bg[CV_PIXELS]; fill_frame(bg, 100);
cv_process(state, bg, 50);
uint8_t f1[CV_PIXELS]; make_blob_frame(f1, 48, 20); // above line
cv_process(state, f1, 50);
uint8_t f2[CV_PIXELS]; make_blob_frame(f2, 48, 30); // still above line, moved closer
CVResult r = cv_process(state, f2, 50);
TEST_ASSERT_EQUAL_INT(0, r.entries_delta);
TEST_ASSERT_EQUAL_INT(0, r.exits_delta);
}
int main() {
UNITY_BEGIN();
RUN_TEST(test_frame_diff_no_change_gives_no_fg);
@@ -89,5 +159,8 @@ int main() {
RUN_TEST(test_cv_init_clears_state);
RUN_TEST(test_cv_reset_counts);
RUN_TEST(test_tracking_spawns_track_for_new_blob);
RUN_TEST(test_blob_crossing_line_top_to_bottom_is_entry);
RUN_TEST(test_blob_crossing_line_bottom_to_top_is_exit);
RUN_TEST(test_no_crossing_same_side_no_count);
return UNITY_END();
}