stereo_mount assembly: SDK-free ZED + Mid-360 recording rig

[jeff-hykin]

needed for stereo recording ( DIM-1196 ), blueprints+modules

dimos run stereo-mount-record

[codecov]

❌ 1 Tests Failed:

Tests completed	Failed	Passed	Skipped
2746	1	2745	29

View the top 1 failed test(s) by shortest run time

dimos.msgs.sensor_msgs.test_image::test_sharpness_barrier

Stack Traces | 0.16s run time

def test_sharpness_barrier() -> None:
        import time
        from unittest.mock import MagicMock
    
        # Create mock images with known sharpness values
        # This avoids loading real data from disk
        mock_images = []
        sharpness_values = [0.3711, 0.3241, 0.3067, 0.2583, 0.3665]  # Just 5 images for 1 window
    
        for i, sharp in enumerate(sharpness_values):
            img = MagicMock()
            img.sharpness = sharp
            img.ts = 1758912038.208 + i * 0.01  # Simulate timestamps
            mock_images.append(img)
    
        # Track what goes into windows and what comes out
        start_wall_time = None
        window_contents = []  # List of (wall_time, image)
        emitted_images = []
    
        def track_input(img):
            """Track all images going into sharpness_barrier with wall-clock time"""
            nonlocal start_wall_time
            wall_time = time.time()
            if start_wall_time is None:
                start_wall_time = wall_time
            relative_time = wall_time - start_wall_time
            window_contents.append((relative_time, img))
            return img
    
        def track_output(img) -> None:
            """Track what sharpness_barrier emits"""
            emitted_images.append(img)
    
        # macOS timer coalescing causes jitter at high frequencies, so use
        # wider windows (2Hz) there. Linux handles 20Hz windows fine.
        _freq = 2 if _IS_MACOS else 20
        from reactivex import from_iterable, interval
    
        source = from_iterable(mock_images).pipe(
            ops.zip(interval(0.01)),  # 100Hz emission rate
            ops.map(lambda x: x[0]),  # Extract just the image
        )
    
        source.pipe(
            ops.do_action(track_input),  # Track inputs
            sharpness_barrier(_freq),
            ops.do_action(track_output),  # Track outputs
        ).run()
    
        time.sleep(0.6 if _IS_MACOS else 0.08)
    
        if _IS_MACOS:
            # At 2Hz all 5 images land in one 500ms window → exactly 1 emission
            assert len(emitted_images) == 1, (
                f"Expected exactly 1 emission (one window), got {len(emitted_images)}"
            )
            assert emitted_images[0].sharpness == 0.3711
        else:
            # Items span 2 windows at 20Hz: items 1-4 in first, item 5 in second
>           assert len(emitted_images) == 2, (
                f"Expected exactly 2 emissions (one per window), got {len(emitted_images)}"
            )
E           AssertionError: Expected exactly 2 emissions (one per window), got 1
E           assert 1 == 2
E            +  where 1 = len([<MagicMock id='139791052068512'>])

MagicMock  = <class 'unittest.mock.MagicMock'>
_freq      = 20
emitted_images = [<MagicMock id='139791052068512'>]
from_iterable = <function from_iterable at 0x7f25e8dcf560>
i          = 4
img        = <MagicMock id='139791051591120'>
interval   = <function interval at 0x7f25e8dcfba0>
mock_images = [<MagicMock id='139791052068512'>, <MagicMock id='139791051954448'>, <MagicMock id='139791051949456'>, <MagicMock id='139791050075808'>, <MagicMock id='139791051591120'>]
sharp      = 0.3665
sharpness_values = [0.3711, 0.3241, 0.3067, 0.2583, 0.3665]
source     = <reactivex.observable.observable.Observable object at 0x7f23a3f923f0>
start_wall_time = 1784587642.1474354
time       = <module 'time' (built-in)>
track_input = <function test_sharpness_barrier.<locals>.track_input at 0x7f23a3ea4040>
track_output = <function test_sharpness_barrier.<locals>.track_output at 0x7f23a3ea40e0>
window_contents = [(0.0, <MagicMock id='139791052068512'>), (0.010113000869750977, <MagicMock id='139791051954448'>), (0.020273447036743...6'>), (0.03042745590209961, <MagicMock id='139791050075808'>), (0.04052853584289551, <MagicMock id='139791051591120'>)]

.../msgs/sensor_msgs/test_image.py:131: AssertionError

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