calibrare

samples/calibration_labels.json

@@ -13,5 +13,15 @@
     "path": "logs/fires/20260417_210441_ss.png",
     "expected": "light_red",
     "note": "fire phase (missed live alert)"
+  },
+  {
+    "path": "logs/fires/20260420_210649_ss.png",
+    "expected": "dark_red",
+    "note": "fused-blob regression: rightmost dark_red missed because erosion failed to separate adjacent fused dots; centroid landed on interior gray dot"
+  },
+  {
+    "path": "logs/fires/20260420_200603_poll.png",
+    "expected": "dark_green",
+    "note": "fused-blob regression: rightmost dark_green missed for the same reason as the 21:06:49 dark_red sample"
   }
 ]

src/atm/vision.py

@@ -122,8 +122,19 @@ def find_rightmost_dot(
             best_idx = i
     if best_idx is None:
         return None
-    cx, cy = centroids[best_idx]
-    return (int(cx), int(cy))
+    # When erosion fails to sever anti-aliased bridges between adjacent dots
+    # (common on long, dense dot rows), the "rightmost" component spans
+    # several fused dots and its centroid lands on an interior dot — wrong
+    # colour. Detect fused blobs by width and anchor to the right edge
+    # instead; small isolated dots still use the centroid.
+    comp_w = int(stats[best_idx, cv2.CC_STAT_WIDTH])
+    right_edge = int(stats[best_idx, cv2.CC_STAT_LEFT]) + comp_w - 1
+    if comp_w > 12:
+        cx = max(right_edge - 2, 0)
+    else:
+        cx = int(centroids[best_idx][0])
+    cy = int(centroids[best_idx][1])
+    return (cx, cy)
 
 
 def pixel_rgb(roi_img: np.ndarray, x: int, y: int, box: int = 3) -> tuple[int, int, int]:

tests/test_detector.py

@@ -196,3 +196,111 @@ def test_rolling_window() -> None:
 
     assert len(det.rolling) <= 20
     assert len(det.rolling) == 20
+
+
+# ---------------------------------------------------------------------------
+# Fused-blob regression: anti-aliased bridges merge adjacent dots into one
+# connected component. The rightmost component's centroid then lands on an
+# interior dot (wrong colour). find_rightmost_dot must anchor to the right
+# edge for wide blobs so the truly-rightmost dot is sampled.
+# See vision.find_rightmost_dot and logs/fires/20260420_210649_ss.png.
+# ---------------------------------------------------------------------------
+
+def _make_fused_stripe_frame(
+    gray_segments: int,
+    tail_bgr: tuple[int, int, int],
+    seg_w: int = 13,
+    stripe_h: int = 13,
+) -> np.ndarray:
+    """Continuous multi-colour stripe: N gray segments + one tail-colour segment.
+
+    Survives 2-iter erosion as a single component — exactly the failure mode on
+    real screenshots where anti-aliased bridges fuse the whole dot row into one
+    component. Centroid lands on an interior gray segment; the right edge lies
+    inside the tail colour.
+    """
+    frame = np.full((100, 300, 3), BG_VAL, dtype=np.uint8)
+    y0 = DOT_ROI.y + (DOT_ROI.h - stripe_h) // 2
+    x0 = DOT_ROI.x + 40
+    gray_bgr = (128, 128, 128)
+    for i in range(gray_segments):
+        xs = x0 + i * seg_w
+        frame[y0:y0 + stripe_h, xs:xs + seg_w] = gray_bgr
+    xs = x0 + gray_segments * seg_w
+    frame[y0:y0 + stripe_h, xs:xs + seg_w] = tail_bgr
+    return frame
+
+
+@pytest.mark.parametrize(
+    ("screenshot", "expected"),
+    [
+        ("logs/fires/20260420_210649_ss.png", "dark_red"),
+        ("logs/fires/20260420_200603_poll.png", "dark_green"),
+    ],
+)
+def test_real_screenshot_rightmost_dot(screenshot: str, expected: str) -> None:
+    """Regression on live-capture frames where fused blobs hid the rightmost dot.
+
+    2026-04-20 live session missed both a dark_red (21:06:49) and a dark_green
+    (20:06:03) because find_rightmost_dot returned the centroid of a multi-dot
+    fused component. Skips cleanly if the sample PNG is not checked out locally
+    (logs/fires/ is gitignored).
+    """
+    import cv2
+    from pathlib import Path
+
+    from atm.config import ROI
+    from atm.vision import classify_pixel, crop_roi, find_rightmost_dot, pixel_rgb
+
+    path = Path(screenshot)
+    if not path.exists():
+        pytest.skip(f"sample not available: {path}")
+
+    frame = cv2.imread(str(path))
+    assert frame is not None
+
+    # Matches configs/2026-04-18-1220.toml dot_roi — the live config that missed
+    # these alerts.
+    roi = ROI(x=0, y=712, w=1796, h=35)
+    crop = crop_roi(frame, roi)
+
+    dot = find_rightmost_dot(crop, bg_rgb=(0, 0, 0), bg_tol=25.0)
+    assert dot is not None, "rightmost dot must be found"
+
+    rgb = pixel_rgb(crop, *dot)
+    palette = {
+        "turquoise":   ((0, 153, 153), 60.0),
+        "yellow":      ((153, 153, 0), 60.0),
+        "dark_green":  ((0, 122, 0),   60.0),
+        "dark_red":    ((128, 0, 0),   60.0),
+        "light_green": ((0, 171, 0),   60.0),
+        "light_red":   ((171, 0, 0),   60.0),
+        "gray":        ((128, 128, 128), 60.0),
+    }
+    match = classify_pixel(rgb, palette)
+    assert match.name == expected, (
+        f"{path.name}: expected {expected}, got {match.name} at {dot} RGB={rgb}"
+    )
+
+
+def test_fused_blob_samples_rightmost_dot() -> None:
+    """Fused multi-colour stripe must classify the rightmost colour, not the
+    centroid colour. Pre-fix the centroid fell on an interior gray segment
+    on real screenshots (2026-04-20 dark_red/dark_green misses)."""
+    dark_red_bgr = (0, 0, 100)  # BGR for dark_red RGB=(100,0,0)
+    frame = _make_fused_stripe_frame(gray_segments=7, tail_bgr=dark_red_bgr)
+
+    cfg = _make_cfg()
+    from atm.config import ColorSpec
+    cfg.colors["gray"] = ColorSpec(rgb=(128, 128, 128), tolerance=30.0)
+    cfg.colors["dark_red"] = ColorSpec(rgb=(100, 0, 0), tolerance=30.0)
+
+    det = Detector(cfg, capture=lambda: frame)
+    r = det.step(0.0)
+
+    assert r.dot_found is True
+    assert r.match is not None
+    assert r.match.name == "dark_red", (
+        f"expected dark_red (rightmost segment), got {r.match.name} at "
+        f"{r.dot_pos_abs} RGB={r.rgb} — centroid regression"
+    )