kyleandClaude Sonnet 5.5
8d5033d0a2
hermes_vision wraps OpenCV YuNet (Haar fallback) as a plain module plus a node that publishes /vision/faces as vision_msgs/Detection2DArray. It replaces the standalone detect_faces.py. pi/robot-env.sh puts the Raspberry Pi libcamera fork ahead of ROS's own copy, the venv's OpenCV 4.10 ahead of the apt one, and fixes the ROS domain and subnet-only discovery. camera_ros 0.7.0 now runs against the fork and publishes raw and compressed images. The stock wm8960-soundcard overlay fails on Ubuntu 24.04 with "No MCLK configured": it hangs the clock on the sound card's codec link, but the codec driver reads mclk from its own node. hermes-wm8960.dts adds it there, and capture opens at 8-48 kHz. The microphones still read digital zeros; see CONTEXT.md for what has been ruled out. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
28 lines
949 B
Python
28 lines
949 B
Python
import numpy as np
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import pytest
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from hermes_vision.detect import Face, FaceDetector, merge, yunet_input_size
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@pytest.mark.parametrize('size,expected', [
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((1296, 972), (640, 480)),
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((640, 480), (640, 480)),
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((320, 240), (320, 256)), # small frames are not upscaled; 240/32 = 7.5 rounds to 8
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((1920, 1080), (640, 352)),
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((10, 10), (32, 32)),
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])
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def test_yunet_input_size_is_a_multiple_of_32(size, expected):
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got = yunet_input_size(*size)
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assert got == expected and got[0] % 32 == 0 and got[1] % 32 == 0
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def test_merge_drops_overlapping_boxes_and_keeps_distinct_ones():
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a, b, c = Face(100, 100, 80, 80), Face(105, 98, 78, 82), Face(400, 100, 80, 80)
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assert merge([a, b, c]) == [a, c]
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def test_blank_image_has_no_faces():
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det = FaceDetector(model_path='/nonexistent.onnx') # forces the Haar fallback
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assert det.backend == 'haar'
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assert det.detect(np.zeros((480, 640, 3), np.uint8)) == []
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