from __future__ import annotations

from kitti_c2l.decalibration import sample_dual_decalibration
from kitti_c2l.geometry import matrix_to_euler_deg
from kitti_c2l.stages import STAGES


def test_sampled_values_within_stage_bounds():
    for stage in STAGES:
        for seed in range(10):
            dual = sample_dual_decalibration(seed, stage)
            for decal in (dual.lidar, dual.camera):
                assert (abs(decal.euler_deg) <= stage.max_rotation_deg + 1e-6).all()
                assert (abs(decal.translation_cm) <= stage.max_translation_cm + 1e-6).all()
                euler_from_matrix = matrix_to_euler_deg(decal.rotation)
                assert (abs(euler_from_matrix) <= stage.max_rotation_deg + 1e-3).all()


def test_lidar_and_camera_draws_are_independent():
    dual = sample_dual_decalibration(seed=42, stage=STAGES[0])
    assert not (dual.lidar.euler_deg == dual.camera.euler_deg).all()
    assert not (dual.lidar.translation_cm == dual.camera.translation_cm).all()


def test_same_seed_reproducible():
    first = sample_dual_decalibration(seed=123, stage=STAGES[2])
    second = sample_dual_decalibration(seed=123, stage=STAGES[2])
    assert (first.lidar.euler_deg == second.lidar.euler_deg).all()
    assert (first.camera.translation_cm == second.camera.translation_cm).all()


def test_different_seeds_differ():
    a = sample_dual_decalibration(seed=1, stage=STAGES[0])
    b = sample_dual_decalibration(seed=2, stage=STAGES[0])
    assert not (a.lidar.euler_deg == b.lidar.euler_deg).all()