Avoid unused speed-sign material masks

openpilot/starpilot/speed_limits/vision/model.py

@@ -474,45 +474,53 @@ class VisionModelCore:
 
     white_mask = ((value >= REGULATORY_WHITE_VALUE_MIN) & (saturation <= REGULATORY_WHITE_SAT_MAX)).astype(np.uint8)
     dark_mask = ((value <= REGULATORY_DARK_VALUE_MAX) & (saturation <= REGULATORY_DARK_SAT_MAX)).astype(np.uint8)
+
+    white_ratio = float(white_mask.mean())
+    dark_ratio = float(dark_mask.mean())
+
+    if white_ratio < REGULATORY_MIN_WHITE_RATIO or dark_ratio < REGULATORY_MIN_DARK_RATIO:
+      return False
+
     yellow_mask = (
       (hue >= REGULATORY_YELLOW_HUE_MIN) &
       (hue <= REGULATORY_YELLOW_HUE_MAX) &
       (saturation >= REGULATORY_YELLOW_SAT_MIN) &
       (value >= REGULATORY_YELLOW_VALUE_MIN)
     ).astype(np.uint8)
+    yellow_ratio = float(yellow_mask.mean())
+
+    if yellow_ratio > REGULATORY_MAX_YELLOW_RATIO and yellow_ratio > white_ratio * 0.45:
+      return False
+
     red_mask = (
       (((hue <= REGULATORY_RED_LOW_HUE_MAX) | (hue >= REGULATORY_RED_HIGH_HUE_MIN))) &
       (saturation >= REGULATORY_RED_SAT_MIN) &
       (value >= REGULATORY_RED_VALUE_MIN)
     ).astype(np.uint8)
+    red_ratio = float(red_mask.mean())
+
+    if red_ratio > REGULATORY_MAX_RED_RATIO and red_ratio > white_ratio * 0.35:
+      return False
+
     green_mask = (
       (hue >= REGULATORY_GREEN_HUE_MIN) &
       (hue <= REGULATORY_GREEN_HUE_MAX) &
       (saturation >= REGULATORY_COLORED_SAT_MIN) &
       (value >= REGULATORY_COLORED_VALUE_MIN)
     ).astype(np.uint8)
+    green_ratio = float(green_mask.mean())
+
+    if green_ratio > REGULATORY_MAX_GREEN_RATIO and green_ratio > white_ratio * 0.60:
+      return False
+
     blue_mask = (
       (hue >= REGULATORY_BLUE_HUE_MIN) &
       (hue <= REGULATORY_BLUE_HUE_MAX) &
       (saturation >= REGULATORY_COLORED_SAT_MIN) &
       (value >= REGULATORY_COLORED_VALUE_MIN)
     ).astype(np.uint8)
-
-    white_ratio = float(white_mask.mean())
-    dark_ratio = float(dark_mask.mean())
-    yellow_ratio = float(yellow_mask.mean())
-    red_ratio = float(red_mask.mean())
-    green_ratio = float(green_mask.mean())
     blue_ratio = float(blue_mask.mean())
 
-    if white_ratio < REGULATORY_MIN_WHITE_RATIO or dark_ratio < REGULATORY_MIN_DARK_RATIO:
-      return False
-    if yellow_ratio > REGULATORY_MAX_YELLOW_RATIO and yellow_ratio > white_ratio * 0.45:
-      return False
-    if red_ratio > REGULATORY_MAX_RED_RATIO and red_ratio > white_ratio * 0.35:
-      return False
-    if green_ratio > REGULATORY_MAX_GREEN_RATIO and green_ratio > white_ratio * 0.60:
-      return False
     if blue_ratio > REGULATORY_MAX_BLUE_RATIO and blue_ratio > white_ratio * 0.60:
       return False
 

openpilot/starpilot/speed_limits/vision/tests/test_material_validation.py

@@ -0,0 +1,70 @@
+"""Pure regulatory-material pixels; no model construction or inference."""
+import unittest
+from unittest.mock import patch
+
+import numpy as np
+
+from openpilot.starpilot.speed_limits.vision import model
+
+
+@unittest.skipIf(model.cv2 is None, 'OpenCV is optional')
+class TestMaterialValidation(unittest.TestCase):
+  def validate(self, image):
+    return model.VisionModelCore._is_regulatory_speed_sign(None, image)
+
+  def panel(self, hue=None):
+    hsv = np.zeros((100, 80, 3), np.uint8)
+    if hue is not None:
+      hsv[:] = (hue, 255, 255)
+    hsv[10:90, 15:65] = (0, 0, 255)
+    hsv[40:50, 25:55] = 0
+    return model.cv2.cvtColor(hsv, model.cv2.COLOR_HSV2BGR)
+
+  def test_plain_panel_and_each_color_veto(self):
+    self.assertTrue(self.validate(self.panel()))
+    for hue in (25, 0, 60, 110):
+      with self.subTest(hue=hue):
+        self.assertFalse(self.validate(self.panel(hue)))
+
+  def test_empty_white_dark_and_component_rejections(self):
+    self.assertFalse(self.validate(np.empty((0, 0, 3), np.uint8)))
+    for value in (0, 255):
+      self.assertFalse(self.validate(np.full((100, 80, 3), value, np.uint8)))
+    image = np.zeros((100, 80, 3), np.uint8)
+    image[40:60, 5:75] = 255
+    self.assertFalse(self.validate(image))
+
+  def test_early_rejection_does_not_evaluate_later_hue_masks(self):
+    operations = []
+
+    class Hue:
+      def __init__(self, values):
+        self.values = values
+
+      def __ge__(self, value):
+        operations.append(('ge', value))
+        return self.values >= value
+
+      def __le__(self, value):
+        operations.append(('le', value))
+        return self.values <= value
+
+    class HSV:
+      def __init__(self, values):
+        self.values = values
+
+      def __getitem__(self, key):
+        values = self.values[key]
+        return Hue(values) if key[2] == 0 else values
+
+    for image, expected in ((np.zeros((100, 80, 3), np.uint8), []),
+                            (self.panel(25), [('ge', 12), ('le', 45)])):
+      operations.clear()
+      hsv = model.cv2.cvtColor(image, model.cv2.COLOR_BGR2HSV)
+      with patch.object(model.cv2, 'cvtColor', return_value=HSV(hsv)):
+        self.assertFalse(self.validate(image))
+      self.assertEqual(operations, expected)
+
+
+if __name__ == '__main__':
+  unittest.main()

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "146409f6a49f160356ba631732972e7870ff88605cee0497e77787de656fb9bd", "schema_version": 1}
+{"protected_inventory_sha256": "e2a34c53b21d7fe71b765a7f4889f8139ee4aa3a0c4d25c3bd41cf195ed94aa0", "schema_version": 1}