feat: complete acoustic camera workflow
This commit is contained in:
Codex
@@ -0,0 +1,523 @@
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import { scanIndexToPosition } from "./math.js";
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export const RESULT_METRIC_KEYS = Object.freeze([
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"peakToSidelobeDb",
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"energyInsideTruthRatio",
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"precision",
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"recall",
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]);
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const RESULT_METRIC_KEY_SET = new Set(RESULT_METRIC_KEYS);
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const DEFAULT_MAXIMUM_DETECTIONS = 128;
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const DEFAULT_DYNAMIC_RANGE_DB = 120;
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function requireFinite(name, value) {
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if (!Number.isFinite(value)) throw new RangeError(`${name} must be finite.`);
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return value;
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}
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function requireNonNegative(name, value) {
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requireFinite(name, value);
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if (value < 0) throw new RangeError(`${name} must not be negative.`);
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return value;
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}
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function requireRatio(name, value, { positive = false } = {}) {
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requireFinite(name, value);
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if (value < (positive ? Number.EPSILON : 0) || value > 1) {
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throw new RangeError(`${name} must be ${positive ? "greater than zero and " : ""}at most one.`);
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}
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return value;
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}
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function validateScan(scan) {
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if (!scan || typeof scan !== "object") throw new TypeError("scan is required.");
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for (const key of ["xMin", "xMax", "yMin", "yMax", "z"]) requireFinite(`scan.${key}`, scan[key]);
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for (const key of ["columns", "rows"]) {
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if (!Number.isInteger(scan[key]) || scan[key] < 1) {
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throw new RangeError(`scan.${key} must be a positive integer.`);
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}
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}
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if (scan.xMin > scan.xMax || scan.yMin > scan.yMax) {
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throw new RangeError("scan minimum bounds must not exceed maximum bounds.");
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}
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}
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function normalizeRawMap(rawMap, scan) {
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const descriptor = rawMap && !Array.isArray(rawMap) && !ArrayBuffer.isView(rawMap) ? rawMap : null;
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const values = descriptor?.values ?? rawMap;
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if (!Array.isArray(values) && !ArrayBuffer.isView(values)) {
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throw new TypeError("rawMap must be an Array, a typed array, or a map descriptor with values.");
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}
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if (descriptor?.scale !== undefined && descriptor.scale !== "power") {
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throw new RangeError("rawMap scale must be power.");
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}
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if (descriptor?.rows !== undefined && descriptor.rows !== scan.rows) {
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throw new RangeError("rawMap rows do not match scan.rows.");
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}
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if (descriptor?.columns !== undefined && descriptor.columns !== scan.columns) {
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throw new RangeError("rawMap columns do not match scan.columns.");
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}
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const expectedLength = scan.rows * scan.columns;
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if (values.length !== expectedLength) {
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throw new RangeError(`rawMap length must be scan.rows × scan.columns (${expectedLength}).`);
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}
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for (let index = 0; index < values.length; index += 1) {
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requireNonNegative(`rawMap[${index}]`, values[index]);
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}
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return values;
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}
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function normalizeSources(sources) {
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if (!Array.isArray(sources)) throw new TypeError("sources must be an array.");
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const ids = new Set();
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return sources.map((source, index) => {
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if (!source || typeof source !== "object") throw new TypeError(`sources[${index}] must be an object.`);
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if (typeof source.id !== "string" || source.id.length === 0) {
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throw new TypeError(`sources[${index}].id must be a non-empty string.`);
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}
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if (ids.has(source.id)) throw new RangeError(`duplicate source id: ${source.id}`);
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ids.add(source.id);
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if (!Array.isArray(source.position) || source.position.length !== 3) {
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throw new TypeError(`sources[${index}].position must contain three coordinates.`);
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}
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source.position.forEach((coordinate, coordinateIndex) => {
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requireFinite(`sources[${index}].position[${coordinateIndex}]`, coordinate);
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});
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return source;
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});
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}
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function gridResolution(scan) {
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const x = scan.columns > 1 ? Math.abs(scan.xMax - scan.xMin) / (scan.columns - 1) : 0;
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const y = scan.rows > 1 ? Math.abs(scan.yMax - scan.yMin) / (scan.rows - 1) : 0;
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return { x, y, diagonal: Math.hypot(x, y) };
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}
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function planarDistance(a, b) {
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return Math.hypot(a[0] - b[0], a[1] - b[1]);
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}
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function comparePeaks(a, b) {
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return b.value - a.value || a.index - b.index;
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}
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/**
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* Return positive local maxima with each equal-valued 8-connected plateau
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* represented by its lowest row-major index. A positive flat map falls back
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* to the deterministic global peak at index zero.
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*/
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export function findLocalPeaks(rawMap, scan) {
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validateScan(scan);
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const values = normalizeRawMap(rawMap, scan);
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let globalIndex = -1;
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let globalValue = 0;
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for (let index = 0; index < values.length; index += 1) {
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if (values[index] > globalValue) {
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globalValue = values[index];
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globalIndex = index;
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}
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}
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if (!(globalValue > 0)) return [];
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const visited = new Uint8Array(values.length);
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const queue = new Int32Array(values.length);
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const peaks = [];
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for (let startIndex = 0; startIndex < values.length; startIndex += 1) {
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if (visited[startIndex] || !(values[startIndex] > 0)) continue;
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const plateauValue = values[startIndex];
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let queueStart = 0;
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let queueEnd = 1;
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let representativeIndex = startIndex;
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let hasHigherNeighbor = false;
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let hasLowerNeighbor = false;
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queue[0] = startIndex;
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visited[startIndex] = 1;
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while (queueStart < queueEnd) {
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const index = queue[queueStart];
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queueStart += 1;
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representativeIndex = Math.min(representativeIndex, index);
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const row = Math.floor(index / scan.columns);
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const column = index % scan.columns;
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const rowStart = Math.max(0, row - 1);
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const rowEnd = Math.min(scan.rows - 1, row + 1);
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const columnStart = Math.max(0, column - 1);
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const columnEnd = Math.min(scan.columns - 1, column + 1);
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for (let neighborRow = rowStart; neighborRow <= rowEnd; neighborRow += 1) {
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for (let neighborColumn = columnStart; neighborColumn <= columnEnd; neighborColumn += 1) {
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if (neighborRow === row && neighborColumn === column) continue;
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const neighborIndex = neighborRow * scan.columns + neighborColumn;
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const neighborValue = values[neighborIndex];
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if (neighborValue === plateauValue) {
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if (!visited[neighborIndex]) {
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visited[neighborIndex] = 1;
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queue[queueEnd] = neighborIndex;
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queueEnd += 1;
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}
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} else if (neighborValue > plateauValue) {
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hasHigherNeighbor = true;
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} else {
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hasLowerNeighbor = true;
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}
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}
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}
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}
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if (!hasHigherNeighbor && hasLowerNeighbor) {
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peaks.push({
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index: representativeIndex,
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position: scanIndexToPosition(representativeIndex, scan),
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value: plateauValue,
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});
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}
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}
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if (!peaks.some(({ index }) => index === globalIndex)) {
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peaks.push({ index: globalIndex, position: scanIndexToPosition(globalIndex, scan), value: globalValue });
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}
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peaks.sort(comparePeaks);
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return peaks;
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}
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function selectDetections(localPeaks, thresholdValue, minimumPeakDistanceM, maximumDetections) {
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const detections = [];
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for (const peak of localPeaks) {
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if (peak.value < thresholdValue) continue;
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if (
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minimumPeakDistanceM > 0 &&
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detections.some((selected) => planarDistance(selected.position, peak.position) <= minimumPeakDistanceM)
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) {
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continue;
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}
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detections.push({ ...peak });
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if (detections.length === maximumDetections) break;
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}
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return detections;
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}
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function matchTruths(truths, detections, matchToleranceM) {
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const truthToDetection = new Int32Array(truths.length);
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truthToDetection.fill(-1);
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// First maximize valid tolerance-based matches. Stronger detections are
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// considered first; each one's candidate truths are ordered by distance.
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const adjacency = detections.map((detection) =>
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truths
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.map((truth, truthIndex) => ({
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truthIndex,
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distance: planarDistance(detection.position, truth.position),
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}))
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.filter(({ distance }) => distance <= matchToleranceM)
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.sort((a, b) => a.distance - b.distance || a.truthIndex - b.truthIndex),
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);
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function assign(detectionIndex, visitedTruths) {
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for (const { truthIndex } of adjacency[detectionIndex]) {
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if (visitedTruths[truthIndex]) continue;
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visitedTruths[truthIndex] = 1;
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const previousDetection = truthToDetection[truthIndex];
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if (previousDetection === -1 || assign(previousDetection, visitedTruths)) {
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truthToDetection[truthIndex] = detectionIndex;
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return true;
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}
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}
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return false;
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}
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detections.forEach((_, detectionIndex) => assign(detectionIndex, new Uint8Array(truths.length)));
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const usedDetections = new Uint8Array(detections.length);
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truthToDetection.forEach((detectionIndex) => {
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if (detectionIndex >= 0) usedDetections[detectionIndex] = 1;
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});
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// Preserve a nearest-peak localization measurement for still-unmatched
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// truths without counting a distant assignment as a true positive.
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const remainingPairs = [];
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truths.forEach((truth, truthIndex) => {
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if (truthToDetection[truthIndex] >= 0) return;
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detections.forEach((detection, detectionIndex) => {
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if (!usedDetections[detectionIndex]) {
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remainingPairs.push({
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truthIndex,
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detectionIndex,
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distance: planarDistance(detection.position, truth.position),
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});
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}
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});
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});
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remainingPairs.sort(
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(a, b) => a.distance - b.distance || a.truthIndex - b.truthIndex || a.detectionIndex - b.detectionIndex,
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);
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for (const pair of remainingPairs) {
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if (truthToDetection[pair.truthIndex] >= 0 || usedDetections[pair.detectionIndex]) continue;
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truthToDetection[pair.truthIndex] = pair.detectionIndex;
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usedDetections[pair.detectionIndex] = 1;
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}
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const sourceMatches = truths.map((truth, truthIndex) => {
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const detectionIndex = truthToDetection[truthIndex];
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if (detectionIndex < 0) {
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return {
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sourceId: truth.sourceId,
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truthPosition: [...truth.position],
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peak: null,
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localizationErrorM: null,
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withinTolerance: false,
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};
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}
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const detection = detections[detectionIndex];
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const localizationErrorM = planarDistance(detection.position, truth.position);
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return {
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sourceId: truth.sourceId,
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truthPosition: [...truth.position],
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peak: { ...detection, position: [...detection.position] },
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localizationErrorM,
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withinTolerance: localizationErrorM <= matchToleranceM,
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};
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});
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return {
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sourceMatches,
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truePositiveCount: sourceMatches.filter(({ withinTolerance }) => withinTolerance).length,
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};
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}
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function energyInsideRatio(values, scan, truths, radiusM, globalValue) {
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if (!(globalValue > 0) || truths.length === 0) return 0;
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let total = 0;
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let inside = 0;
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for (let index = 0; index < values.length; index += 1) {
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const scaledValue = values[index] / globalValue;
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total += scaledValue;
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if (truths.some((truth) => planarDistance(scanIndexToPosition(index, scan), truth.position) <= radiusM)) {
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inside += scaledValue;
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}
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}
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return total > 0 ? Math.min(1, Math.max(0, inside / total)) : 0;
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}
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function peakToSidelobeDb(values, scan, truths, globalPeak, exclusionRadiusM, dynamicRangeDb) {
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if (!globalPeak) return 0;
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const exclusionCenters = truths.length > 0 ? truths.map(({ position }) => position) : [globalPeak.position];
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let mainPeak = truths.length > 0 ? 0 : globalPeak.value;
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let sidelobePeak = 0;
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for (let index = 0; index < values.length; index += 1) {
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const position = scanIndexToPosition(index, scan);
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const isMainRegion = exclusionCenters.some((center) => planarDistance(position, center) <= exclusionRadiusM);
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if (isMainRegion) mainPeak = Math.max(mainPeak, values[index]);
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else sidelobePeak = Math.max(sidelobePeak, values[index]);
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}
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if (!(mainPeak > 0)) return sidelobePeak > 0 ? -dynamicRangeDb : 0;
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if (!(sidelobePeak > 0)) return dynamicRangeDb;
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return Math.max(
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-dynamicRangeDb,
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Math.min(dynamicRangeDb, 10 * (Math.log10(mainPeak) - Math.log10(sidelobePeak))),
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);
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}
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/** Measure the 8-connected half-power component containing a selected peak. */
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export function measureMainLobe(rawMap, scan, peakIndex, halfPowerRatio = 0.5) {
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validateScan(scan);
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const values = normalizeRawMap(rawMap, scan);
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if (!Number.isInteger(peakIndex) || peakIndex < 0 || peakIndex >= values.length) {
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throw new RangeError("peakIndex is outside rawMap.");
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}
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requireRatio("halfPowerRatio", halfPowerRatio, { positive: true });
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const peakValue = values[peakIndex];
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if (!(peakValue > 0)) {
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return {
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peakIndex,
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thresholdValue: 0,
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pixelCount: 0,
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widthXM: 0,
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widthYM: 0,
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equivalentDiameterM: 0,
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};
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}
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const thresholdValue = peakValue * halfPowerRatio;
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const visited = new Uint8Array(values.length);
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const queue = new Int32Array(values.length);
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let queueStart = 0;
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let queueEnd = 1;
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let minimumRow = Math.floor(peakIndex / scan.columns);
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let maximumRow = minimumRow;
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let minimumColumn = peakIndex % scan.columns;
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let maximumColumn = minimumColumn;
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queue[0] = peakIndex;
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visited[peakIndex] = 1;
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while (queueStart < queueEnd) {
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const index = queue[queueStart];
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queueStart += 1;
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const row = Math.floor(index / scan.columns);
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const column = index % scan.columns;
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minimumRow = Math.min(minimumRow, row);
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maximumRow = Math.max(maximumRow, row);
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minimumColumn = Math.min(minimumColumn, column);
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maximumColumn = Math.max(maximumColumn, column);
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for (let neighborRow = Math.max(0, row - 1); neighborRow <= Math.min(scan.rows - 1, row + 1); neighborRow += 1) {
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for (
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let neighborColumn = Math.max(0, column - 1);
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neighborColumn <= Math.min(scan.columns - 1, column + 1);
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neighborColumn += 1
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) {
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const neighborIndex = neighborRow * scan.columns + neighborColumn;
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if (!visited[neighborIndex] && values[neighborIndex] >= thresholdValue) {
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visited[neighborIndex] = 1;
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queue[queueEnd] = neighborIndex;
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queueEnd += 1;
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}
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}
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}
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}
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const resolution = gridResolution(scan);
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const widthXM = scan.columns > 1 ? (maximumColumn - minimumColumn + 1) * resolution.x : 0;
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const widthYM = scan.rows > 1 ? (maximumRow - minimumRow + 1) * resolution.y : 0;
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let equivalentDiameterM = 0;
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if (resolution.x > 0 && resolution.y > 0) {
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equivalentDiameterM = 2 * Math.sqrt((queueEnd * resolution.x * resolution.y) / Math.PI);
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} else {
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equivalentDiameterM = Math.max(widthXM, widthYM);
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}
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return { peakIndex, thresholdValue, pixelCount: queueEnd, widthXM, widthYM, equivalentDiameterM };
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}
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/**
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* Evaluate one linear-power DAS band. Source z coordinates are projected onto
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* scan.z, matching the image-plane ground-truth convention.
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*/
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export function evaluateDasBand(options) {
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if (!options || typeof options !== "object") throw new TypeError("evaluation options are required.");
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const { rawMap, scan } = options;
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validateScan(scan);
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const values = normalizeRawMap(rawMap, scan);
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const sources = normalizeSources(options.sources ?? options.scene?.sources ?? []);
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const truths = sources.map((source) => ({
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sourceId: source.id,
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position: [source.position[0], source.position[1], scan.z],
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}));
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const resolution = gridResolution(scan);
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const defaultRadius = resolution.diagonal > 0 ? resolution.diagonal * 1.5 : 0;
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const truthRadiusM = requireNonNegative("truthRadiusM", options.truthRadiusM ?? defaultRadius);
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const matchToleranceM = requireNonNegative(
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"matchToleranceM",
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options.matchToleranceM ?? Math.max(defaultRadius, truthRadiusM),
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);
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const detectionThresholdRatio = requireRatio(
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"detectionThresholdRatio",
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options.detectionThresholdRatio ?? 0.5,
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);
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const minimumPeakDistanceM = requireNonNegative(
|
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"minimumPeakDistanceM",
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options.minimumPeakDistanceM ?? resolution.diagonal,
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);
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const sidelobeExclusionRadiusM = requireNonNegative(
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"sidelobeExclusionRadiusM",
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options.sidelobeExclusionRadiusM ?? truthRadiusM,
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||||
);
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const halfPowerRatio = requireRatio("halfPowerRatio", options.halfPowerRatio ?? 0.5, { positive: true });
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||||
const dynamicRangeDb = requireNonNegative(
|
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"dynamicRangeDb",
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options.dynamicRangeDb ?? DEFAULT_DYNAMIC_RANGE_DB,
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||||
);
|
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const maximumDetections = options.maximumDetections ?? DEFAULT_MAXIMUM_DETECTIONS;
|
||||
if (!Number.isInteger(maximumDetections) || maximumDetections < 1 || maximumDetections > 128) {
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throw new RangeError("maximumDetections must be an integer from 1 through 128.");
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||||
}
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const localPeaks = findLocalPeaks(values, scan);
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||||
const globalPeak = localPeaks.length > 0 ? { ...localPeaks[0], position: [...localPeaks[0].position] } : null;
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const thresholdValue = (globalPeak?.value ?? 0) * detectionThresholdRatio;
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const detections = selectDetections(localPeaks, thresholdValue, minimumPeakDistanceM, maximumDetections);
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||||
const { sourceMatches, truePositiveCount } = matchTruths(truths, detections, matchToleranceM);
|
||||
const precision = detections.length > 0 ? truePositiveCount / detections.length : truths.length === 0 ? 1 : 0;
|
||||
const recall = truths.length > 0 ? truePositiveCount / truths.length : 1;
|
||||
const mainLobe = globalPeak ? measureMainLobe(values, scan, globalPeak.index, halfPowerRatio) : null;
|
||||
|
||||
return {
|
||||
globalPeak,
|
||||
localPeaks,
|
||||
detections,
|
||||
sourceMatches,
|
||||
counts: {
|
||||
truth: truths.length,
|
||||
detected: detections.length,
|
||||
truePositive: truePositiveCount,
|
||||
falsePositive: detections.length - truePositiveCount,
|
||||
falseNegative: truths.length - truePositiveCount,
|
||||
},
|
||||
parameters: {
|
||||
truthRadiusM,
|
||||
matchToleranceM,
|
||||
detectionThresholdRatio,
|
||||
detectionThresholdValue: thresholdValue,
|
||||
minimumPeakDistanceM,
|
||||
sidelobeExclusionRadiusM,
|
||||
halfPowerRatio,
|
||||
},
|
||||
metrics: {
|
||||
peakToSidelobeDb: peakToSidelobeDb(
|
||||
values,
|
||||
scan,
|
||||
truths,
|
||||
globalPeak,
|
||||
sidelobeExclusionRadiusM,
|
||||
dynamicRangeDb,
|
||||
),
|
||||
energyInsideTruthRatio: energyInsideRatio(values, scan, truths, truthRadiusM, globalPeak?.value ?? 0),
|
||||
precision,
|
||||
recall,
|
||||
},
|
||||
diagnostics: {
|
||||
mainLobe,
|
||||
mainLobeWidthM: mainLobe?.equivalentDiameterM ?? 0,
|
||||
gridResolutionM: resolution,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
/** Select only metric names accepted by result.schema.json. */
|
||||
export function selectResultMetrics(evaluationOrMetrics, metricNames = RESULT_METRIC_KEYS) {
|
||||
const metrics = evaluationOrMetrics?.metrics ?? evaluationOrMetrics;
|
||||
if (!metrics || typeof metrics !== "object") throw new TypeError("evaluation metrics are required.");
|
||||
if (!Array.isArray(metricNames)) throw new TypeError("metricNames must be an array.");
|
||||
const selected = {};
|
||||
for (const metricName of metricNames) {
|
||||
if (!RESULT_METRIC_KEY_SET.has(metricName)) {
|
||||
throw new RangeError(`result.schema.json does not allow metric: ${metricName}`);
|
||||
}
|
||||
const value = metrics[metricName];
|
||||
requireFinite(`metrics.${metricName}`, value);
|
||||
selected[metricName] = value;
|
||||
}
|
||||
return selected;
|
||||
}
|
||||
|
||||
/** Convert an evaluation to the schema-safe `peaks` and `metrics` band fields. */
|
||||
export function exportBandEvaluation(evaluation, options = {}) {
|
||||
if (!evaluation || typeof evaluation !== "object") throw new TypeError("evaluation is required.");
|
||||
const maximumPeaks = options.maximumPeaks ?? 128;
|
||||
if (!Number.isInteger(maximumPeaks) || maximumPeaks < 0 || maximumPeaks > 128) {
|
||||
throw new RangeError("maximumPeaks must be an integer from zero through 128.");
|
||||
}
|
||||
const matchByPeakIndex = new Map();
|
||||
for (const match of evaluation.sourceMatches ?? []) {
|
||||
if (match.withinTolerance && match.peak) matchByPeakIndex.set(match.peak.index, match);
|
||||
}
|
||||
const peaks = (evaluation.detections ?? []).slice(0, maximumPeaks).map((peak) => {
|
||||
const resultPeak = { position: [...peak.position], value: peak.value };
|
||||
const match = matchByPeakIndex.get(peak.index);
|
||||
if (match) {
|
||||
resultPeak.sourceId = match.sourceId;
|
||||
resultPeak.localizationErrorM = match.localizationErrorM;
|
||||
}
|
||||
return resultPeak;
|
||||
});
|
||||
return {
|
||||
peaks,
|
||||
metrics: selectResultMetrics(evaluation, options.metricNames ?? RESULT_METRIC_KEYS),
|
||||
};
|
||||
}
|
||||
Reference in New Issue
Block a user