import numpy as np

from depth_bridge import depth_view_to_points, fuse_depth_views


def test_depth_bridge_projects_and_applies_world_transform():
    depth = np.ones((2, 2), dtype=np.float32)
    colors = np.full((2, 2, 3), 100, dtype=np.uint8)
    pose = np.eye(4, dtype=np.float32)
    pose[0, 3] = 2.0
    points, output_colors, confidence = depth_view_to_points(depth, colors, pose=pose)
    base_points, _, _ = depth_view_to_points(depth, colors)
    assert points.shape == (4, 3)
    assert np.allclose(output_colors, 100)
    assert np.allclose(confidence, 1.0)
    assert np.allclose(points[:, 0], base_points[:, 0] - 2.0)


def test_depth_bridge_fuses_overlap_and_records_sources():
    depth = np.ones((1, 1), dtype=np.float32)
    colors = np.zeros((1, 1, 3), dtype=np.uint8)
    result = fuse_depth_views([
        {"depth": depth, "colors": colors},
        {"depth": depth, "colors": colors},
    ], voxel_size=10_000.0)
    assert len(result["points"]) == 1
    assert result["source_masks"].tolist() == [3]
    assert result["source_views"].tolist() == [0]