| """๋ทฐ์ด ์
๋ ฅ ํ์ผ ํ์ (src/vkgs/src/viewer.cpp ์ load_rig / load_lines ์ ์ง).""" |
|
|
| import pytest |
|
|
| np = pytest.importorskip("numpy") |
|
|
| from nusim.maps.expansion import BBox |
| from nusim.recon.dataset import build_views |
| from nusim.recon.init import scene_origin |
| from nusim.render.export import write_views |
|
|
| from test_recon import _scene |
|
|
|
|
| def test_views_file_roundtrip(tmp_path): |
| s = _scene() |
| views = build_views(s, None, scene_origin(s), downscale=2, load_images=False, holdout_every=0).all |
| p = tmp_path / "v.txt" |
| assert write_views(p, views) == len(views) |
| rows = [l.split() for l in p.read_text().splitlines() if l.startswith("C ")] |
| assert len(rows) == len(views) |
| for row, v in zip(rows, views): |
| assert row[3] == "CAM_FRONT" and int(row[4]) == 800 and int(row[5]) == 450 |
| assert np.isclose(float(row[6]), v.K[0, 0]) and np.isclose(float(row[8]), v.K[0, 2]) |
| w2c = np.array([float(x) for x in row[10:26]]).reshape(4, 4) |
| assert np.allclose(w2c, v.w2c, atol=1e-5) |
|
|
|
|
| def test_bbox_overlap(): |
| b = BBox(0, 0, 10, 10) |
| assert b.overlaps(np.array([[5.0, 5.0], [20.0, 20.0]])) |
| assert b.overlaps(np.array([[-5.0, 5.0], [15.0, 5.0]])) |
| assert not b.overlaps(np.array([[11.0, 0.0], [20.0, 5.0]])) |
|
|
|
|
| def test_offset_polyline_is_parallel(): |
| from nusim.render.export import _offset_polyline |
|
|
| pts = np.array([[0.0, 0.0], [10.0, 0.0], [20.0, 0.0]]) |
| left = _offset_polyline(pts, 3.0) |
| assert np.allclose(left, pts + [0.0, 3.0]) |
| assert np.allclose(_offset_polyline(pts, -3.0), pts - [0.0, 3.0]) |
|
|
