Merge branch 'main' into sbel/analytics-hierarchy

Author: sbelhaik

autocalibration/requirements-runtime.txt

@@ -16,7 +16,7 @@ scipy==1.17.1
 torch==2.11.0+cpu
 torchvision==0.26.0+cpu
 trimesh==4.11.5
-gdown==5.2.1
+gdown==5.2.2
 h5py==3.15.1
 matplotlib==3.10.8
 plotly==6.7.0

controller/src/controller/scene.py

@@ -11,7 +11,7 @@
 from scene_common import log
 from scene_common.camera import Camera
 from scene_common.earth_lla import convertLLAToECEF, calculateTRSLocal2LLAFromSurfacePoints
-from scene_common.geometry import Line, Point, Region, Tripwire
+from scene_common.geometry import Line, Point, Region, Tripwire, getRegionEvents, getTripwireEvents
 from scene_common.scene_model import SceneModel
 from scene_common.timestamp import get_epoch_time, get_iso_time
 from scene_common.transform import CameraPose
@@ -570,26 +570,33 @@ def _updateEvents(self, detectionType, now, curObjects=None):
     return
 
   def _updateTripwireEvents(self, detectionType, now, curObjects):
-    for key in self.tripwires:
-      tripwire = self.tripwires[key]
-      tripwireObjects = tripwire.objects.get(detectionType, [])
-      objects = []
-      for obj in curObjects:
-        age = now - obj.when
-        # When tracker is disabled, skip the frameCount check and consider all objects;
-        # otherwise, only consider objects with frameCount > 3 as reliable.
-        if (obj.frameCount > 3 or ControllerMode.isAnalyticsOnly()) \
-          and len(obj.chain_data.publishedLocations) > 1:
-          d = tripwire.lineCrosses(Line(obj.chain_data.publishedLocations[0].as2Dxy,
-                                        obj.chain_data.publishedLocations[1].as2Dxy))
-          if d != 0:
-            event = TripwireEvent(obj, -d)
-            objects.append(event)
-
-      if len(tripwireObjects) != len(objects) \
+    # Filter to reliable objects with enough location history for crossing detection.
+    # When tracker is disabled, skip the frameCount check and consider all objects;
+    # otherwise, only consider objects with frameCount > 3 as reliable.
+    reliable_objects = [
+      obj for obj in curObjects
+      if (obj.frameCount > 3 or ControllerMode.isAnalyticsOnly())
+      and len(obj.chain_data.publishedLocations) > 1
+    ]
+
+    object_locations = [
+      obj.chain_data.publishedLocations[:2] for obj in reliable_objects
+    ]
+
+    crossing_events = getTripwireEvents(self.tripwires, object_locations)
+
+    for key, tripwire in self.tripwires.items():
+      event_matches = crossing_events.get(key, [])
+      previous_objects = tripwire.objects.get(detectionType, [])
+      crossed_objects = [
+        TripwireEvent(reliable_objects[obj_idx], direction)
+        for obj_idx, direction in event_matches
+      ]
+
+      if len(previous_objects) != len(crossed_objects) \
          and now - tripwire.when > DEBOUNCE_DELAY:
-        log.debug("TRIPWIRE EVENT", tripwireObjects, len(objects))
-        tripwire.objects[detectionType] = objects
+        log.debug("TRIPWIRE EVENT", previous_objects, len(crossed_objects))
+        tripwire.objects[detectionType] = crossed_objects
         tripwire.when = now
         if 'objects' not in self.events:
           self.events['objects'] = []
@@ -598,16 +605,27 @@ def _updateTripwireEvents(self, detectionType, now, curObjects):
 
   def _updateRegionEvents(self, detectionType, regions, now, now_str, curObjects):
     updated = set()
-    for key in regions:
-      region = regions[key]
+
+    # Filter to reliable objects.
+    # When tracker is disabled, skip the frameCount check and consider all objects;
+    # otherwise, only consider objects with frameCount > 3 as reliable.
+    reliable_objects = [
+      obj for obj in curObjects
+      if obj.frameCount > 3 or ControllerMode.isAnalyticsOnly()
+    ]
+
+    object_locations = [obj.sceneLoc for obj in reliable_objects]
+    objects_within_region = getRegionEvents(regions, object_locations)
+
+    for key, region in regions.items():
+      matched_indices = set(objects_within_region.get(key, []))
+      # Also include objects matched by mesh intersection (requires self)
+      for obj_idx, obj in enumerate(reliable_objects):
+        if obj_idx not in matched_indices and self.isIntersecting(obj, region):
+          matched_indices.add(obj_idx)
+
+      objects = [reliable_objects[i] for i in sorted(matched_indices)]
       regionObjects = region.objects.get(detectionType, [])
-      objects = []
-      for obj in curObjects:
-        # When tracker is disabled, skip the frameCount check and consider all objects;
-        # otherwise, only consider objects with frameCount > 3 as reliable.
-        if (obj.frameCount > 3 or ControllerMode.isAnalyticsOnly()) \
-           and (region.isPointWithin(obj.sceneLoc) or self.isIntersecting(obj, region)):
-          objects.append(obj)
 
       cur = set(x.gid for x in objects)
       prev = set(x.gid for x in regionObjects)

scene_common/src/scene_common/geometry.py

@@ -194,3 +194,37 @@ def serialize(self):
       'uuid': self.uuid,
     }
     return data
+
+def getTripwireEvents(tripwires, object_locations):
+  """Detect line crossings between object movement segments and tripwires.
+
+  @param tripwires         Dict of {key: Tripwire} to check against
+  @param object_locations  List of location pairs (current, previous) per object
+  @return Dict mapping tripwire key to list of (object_index, direction) tuples
+  """
+  tripwire_events = {}
+  for key, tripwire in tripwires.items():
+    event_matches = []
+    for obj_idx, obj_locations in enumerate(object_locations):
+      d = tripwire.lineCrosses(Line(obj_locations[0].as2Dxy,
+                                    obj_locations[1].as2Dxy))
+      if d != 0:
+        event_matches.append((obj_idx, -d))
+    tripwire_events[key] = event_matches
+  return tripwire_events
+
+def getRegionEvents(regions, object_locations):
+  """Determine which objects are within each region using point containment.
+
+  @param regions           Dict of {key: Region} to check against
+  @param object_locations  List of object positions (Point) to test
+  @return Dict mapping region key to list of object indices within that region
+  """
+  region_events = {}
+  for key, region in regions.items():
+    region_objects = []
+    for obj_idx, obj_location in enumerate(object_locations):
+      if region.isPointWithin(obj_location):
+        region_objects.append(obj_idx)
+    region_events[key] = region_objects
+  return region_events

tests/sscape_tests/geometry/test_region_events.py

@@ -0,0 +1,88 @@
+# SPDX-FileCopyrightText: (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+import math
+
+import pytest
+
+from scene_common.geometry import getRegionEvents, Region, Point
+
+UUID = "39bd9698-8603-43fb-9cb9-06d9a14e6a24"
+
+def _regular_polygon(n, cx=10, cy=10, r=10):
+  """! Generate vertices for a regular n-gon centered at (cx, cy) with radius r. """
+  return [
+    [cx + r * math.cos(2 * math.pi * i / n),
+     cy + r * math.sin(2 * math.pi * i / n)]
+    for i in range(n)
+  ]
+
+# --- Positive tests: object inside various region types ---
+
+@pytest.mark.parametrize("n_vertices", [3, 4, 5, 10],
+                         ids=["triangle", "quad", "pentagon", "decagon"])
+def test_object_inside_polygon(n_vertices):
+  """! Verify object at polygon center is detected inside for varying vertex counts. """
+  pts = _regular_polygon(n_vertices)
+  region = Region(UUID, "poly", {"points": pts})
+  result = getRegionEvents({"r": region}, [Point(10, 10)])
+  assert result["r"] == [0]
+
+def test_object_inside_circle():
+  """! Verify object at circle center is detected inside. """
+  region = Region(UUID, "circle", {"area": "circle", "center": [5, 5], "radius": 3})
+  result = getRegionEvents({"r": region}, [Point(5, 5)])
+  assert result["r"] == [0]
+
+def test_object_inside_scene():
+  """! Verify any object is inside a scene-wide region. """
+  region = Region(UUID, "scene", {"area": "scene"})
+  result = getRegionEvents({"r": region}, [Point(100, 200)])
+  assert result["r"] == [0]
+
+# --- No-match tests: object outside all regions ---
+
+def test_no_match_outside_polygon():
+  """! Verify object outside polygon is not detected. """
+  region = Region(UUID, "poly", {"points": [[0, 0], [10, 0], [10, 10], [0, 10]]})
+  result = getRegionEvents({"r": region}, [Point(50, 50)])
+  assert result["r"] == []
+
+def test_no_match_outside_circle():
+  """! Verify object outside circle is not detected. """
+  region = Region(UUID, "circle", {"area": "circle", "center": [5, 5], "radius": 3})
+  result = getRegionEvents({"r": region}, [Point(50, 50)])
+  assert result["r"] == []
+
+# --- Length variations ---
+
+def test_single_region_single_object():
+  """! Verify single region with one matching object. """
+  region = Region(UUID, "poly", {"points": [[0, 0], [10, 0], [10, 10], [0, 10]]})
+  result = getRegionEvents({"r": region}, [Point(5, 5)])
+  assert result["r"] == [0]
+
+def test_multiple_regions_multiple_objects():
+  """! Verify correct mapping with overlapping regions and multiple objects. """
+  region_a = Region(UUID, "a", {"points": [[0, 0], [10, 0], [10, 10], [0, 10]]})
+  region_b = Region(UUID, "b", {"points": [[5, 5], [15, 5], [15, 15], [5, 15]]})
+  region_c = Region(UUID, "c", {"area": "circle", "center": [20, 20], "radius": 2})
+  regions = {"a": region_a, "b": region_b, "c": region_c}
+  objects = [Point(7, 7), Point(2, 2), Point(20, 20), Point(50, 50)]
+  result = getRegionEvents(regions, objects)
+  assert sorted(result["a"]) == [0, 1]
+  assert result["b"] == [0]
+  assert result["c"] == [2]
+
+# --- Empty inputs ---
+
+def test_empty_object_list():
+  """! Verify regions with no objects returns empty lists per key. """
+  region = Region(UUID, "poly", {"points": [[0, 0], [10, 0], [10, 10], [0, 10]]})
+  result = getRegionEvents({"r": region}, [])
+  assert result["r"] == []
+
+def test_empty_region_dict():
+  """! Verify empty region dict returns empty result. """
+  result = getRegionEvents({}, [Point(5, 5)])
+  assert result == {}

tests/sscape_tests/geometry/test_tripwire_events.py

@@ -0,0 +1,103 @@
+# SPDX-FileCopyrightText: (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+import pytest
+
+from scene_common.geometry import getTripwireEvents, Tripwire, Point
+
+UUID = "39bd9698-8603-43fb-9cb9-06d9a14e6a24"
+
+# --- Positive tests: crossing in both directions for four orientations ---
+
+@pytest.mark.parametrize(
+  "tripwire_pts, current, previous, expected_dir",
+  [
+    # Horizontal tripwire [(0,0) -> (10,0)]
+    ([[0, 0], [10, 0]], Point(5, 1), Point(5, -1), -1),
+    ([[0, 0], [10, 0]], Point(5, -1), Point(5, 1), 1),
+    # Vertical tripwire [(5,0) -> (5,10)]
+    ([[5, 0], [5, 10]], Point(6, 5), Point(4, 5), 1),
+    ([[5, 0], [5, 10]], Point(4, 5), Point(6, 5), -1),
+    # Acute angle (~45 deg) tripwire [(0,0) -> (10,10)]
+    ([[0, 0], [10, 10]], Point(10, 0), Point(0, 10), 1),
+    ([[0, 0], [10, 10]], Point(0, 10), Point(10, 0), -1),
+    # Obtuse angle (~135 deg) tripwire [(10,0) -> (0,10)]
+    ([[10, 0], [0, 10]], Point(0, 0), Point(10, 10), -1),
+    ([[10, 0], [0, 10]], Point(10, 10), Point(0, 0), 1),
+  ],
+  ids=[
+    "horizontal-south-to-north",
+    "horizontal-north-to-south",
+    "vertical-left-to-right",
+    "vertical-right-to-left",
+    "acute-cross-a",
+    "acute-cross-b",
+    "obtuse-cross-a",
+    "obtuse-cross-b",
+  ])
+def test_tripwire_crossing(tripwire_pts, current, previous, expected_dir):
+  """! Verify tripwire crossing detection for various orientations and directions. """
+  tripwire = Tripwire(UUID, "tw", {"points": tripwire_pts})
+  result = getTripwireEvents({"tw": tripwire}, [(current, previous)])
+  assert len(result["tw"]) == 1
+  assert result["tw"][0] == (0, expected_dir)
+
+# --- No-match tests ---
+
+def test_no_crossing_parallel_offset():
+  """! Verify no crossing when movement is parallel to tripwire but offset. """
+  tripwire = Tripwire(UUID, "tw", {"points": [[0, 0], [10, 0]]})
+  result = getTripwireEvents({"tw": tripwire}, [(Point(15, 2), Point(5, 2))])
+  assert result["tw"] == []
+
+def test_no_crossing_collinear():
+  """! Verify no crossing when movement is along the tripwire (collinear). """
+  tripwire = Tripwire(UUID, "tw", {"points": [[0, 0], [10, 0]]})
+  result = getTripwireEvents({"tw": tripwire}, [(Point(8, 0), Point(2, 0))])
+  assert result["tw"] == []
+
+# --- Positive tests: endpoint on tripwire ---
+
+def test_crossing_when_endpoint_on_tripwire():
+  """! Verify that endpoint landing exactly on the tripwire counts as a crossing. """
+  tripwire = Tripwire(UUID, "tw", {"points": [[0, 0], [10, 0]]})
+  result = getTripwireEvents({"tw": tripwire}, [(Point(5, 0), Point(5, -5))])
+  assert len(result["tw"]) == 1
+  assert result["tw"][0][0] == 0
+
+# --- Length variations ---
+
+def test_single_tripwire_single_object():
+  """! Verify single tripwire with one crossing object. """
+  tripwire = Tripwire(UUID, "tw", {"points": [[0, 0], [10, 0]]})
+  result = getTripwireEvents({"tw": tripwire}, [(Point(5, 1), Point(5, -1))])
+  assert len(result["tw"]) == 1
+  assert result["tw"][0][0] == 0
+
+def test_multiple_tripwires_multiple_objects():
+  """! Verify detection with multiple tripwires and objects, one crossing both. """
+  tw_h = Tripwire(UUID, "h", {"points": [[0, 0], [10, 0]]})
+  tw_v = Tripwire(UUID, "v", {"points": [[5, -5], [5, 5]]})
+  tripwires = {"h": tw_h, "v": tw_v}
+  objects = [
+    (Point(6, 1), Point(4, -1)),  # crosses both
+    (Point(1, 5), Point(1, 4)),   # crosses neither
+  ]
+  result = getTripwireEvents(tripwires, objects)
+  assert len(result["h"]) == 1
+  assert result["h"][0][0] == 0
+  assert len(result["v"]) == 1
+  assert result["v"][0][0] == 0
+
+# --- Empty inputs ---
+
+def test_empty_object_list():
+  """! Verify tripwires with no objects returns empty lists per key. """
+  tripwire = Tripwire(UUID, "tw", {"points": [[0, 0], [10, 0]]})
+  result = getTripwireEvents({"tw": tripwire}, [])
+  assert result["tw"] == []
+
+def test_empty_tripwire_dict():
+  """! Verify empty tripwire dict returns empty result. """
+  result = getTripwireEvents({}, [(Point(5, 1), Point(5, -1))])
+  assert result == {}