| """Check point-derived evidence on a synthetic periodic cylinder.""" |
|
|
| import sys |
| from pathlib import Path |
|
|
| import numpy as np |
|
|
| ROOT = Path(__file__).resolve().parents[1] |
| sys.path.insert(0, str(ROOT)) |
| from geopano.evidence import derive_point_evidence |
|
|
| height, width = 96, 192 |
| theta = np.arange(width, dtype=np.float32) * (2 * np.pi / width) |
| z = np.linspace(-1, 1, height, dtype=np.float32) |
| tt, zz = np.meshgrid(theta, z) |
| points = np.stack([np.cos(tt), np.sin(tt), zz], axis=-1).astype(np.float32) |
| valid = np.ones((height, width), dtype=bool) |
| |
| valid[40:45, 70:75] = False |
| points[~valid] = 0 |
| disagreement = np.zeros((height, width), dtype=np.float32) |
| evidence = derive_point_evidence(points, valid, disagreement) |
| normal = evidence["normals"] |
| normal_mask = evidence["normal_mask"] |
| confidence = evidence["normal_confidence"] |
| expected = -np.stack([np.cos(tt), np.sin(tt), np.zeros_like(zz)], axis=-1) |
| interior = normal_mask & valid & (np.abs(zz) < 0.9) |
| high_confidence = interior & (confidence > 0.8) |
| cosine = np.sum(normal[high_confidence] * expected[high_confidence], axis=-1) |
| assert high_confidence.mean() > 0.8, high_confidence.mean() |
| assert float(np.quantile(cosine, 0.05)) > 0.98, np.quantile(cosine, 0.05) |
| assert np.isfinite(normal).all() and np.isfinite(confidence).all() |
| assert np.all((confidence >= 0) & (confidence <= 1)) |
| assert not normal_mask[~valid].any() |
| curvature = evidence["curvature"] |
| curvature_mask = evidence["curvature_mask"] |
| assert curvature_mask.any() and np.isfinite(curvature).all() |
| assert np.all(curvature[~curvature_mask] == 0) |
| |
| assert normal_mask[height // 2, 0] and normal_mask[height // 2, -1] |
| print("PASS: finite camera-facing normals, seam wrapping, hole masks, confidence and curvature proxy") |
|
|
