"""뷰어 입력 파일 형식 (src/vkgs/src/viewer.cpp 의 load_rig / load_lines 와 짝)."""

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)  # 행 우선, 원점 기준


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]]))  # 가로지르는 선분
    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])  # +x 로 가면 왼쪽은 +y
    assert np.allclose(_offset_polyline(pts, -3.0), pts - [0.0, 3.0])