verify_result.py

"""Verify the final result from the RGB camera, without object-state queries."""
import json
from pathlib import Path
import sys

import cv2
import numpy as np

ROOT = Path(__file__).resolve().parent
sys.path.insert(0, str(ROOT / 'scripts'))
from block_vision import detect_blocks
from sort_blocks import Controller


def main():
    controller = Controller()
    rgb, state = controller.observe('verify-all-blocks-in-box')
    _, box = controller.locate_box(rgb)
    hull = cv2.convexHull(box.contour.astype(np.float32))
    results = {}
    for color, detection in detect_blocks(rgb).items():
        inside = detection is not None and cv2.pointPolygonTest(hull, tuple(map(float, detection.centroid)), False) >= 0
        results[color] = dict(visible_inside_box=bool(inside), pixel=detection.centroid.tolist() if detection else None)
    report = dict(blocks=results, warning_counts=state['warning_counts'],
                  method='RGB block centroids inside the visible box outline; no object-state query')
    (ROOT / 'results/verification.json').write_text(json.dumps(report, indent=2))
    if any(state['warning_counts']) or not all(item['visible_inside_box'] for item in results.values()):
        raise RuntimeError(f'Final verification failed: {report}')
    print('PASS: red, green, and blue are visible inside the box; no physics warnings.', flush=True)


if __name__ == '__main__':
    main()