File size: 1,676 Bytes
1b63144 0483bf4 1b63144 0483bf4 1b63144 0483bf4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | """Headless core tests (pure numpy) — never import the UI."""
import numpy as np
import pytest
from splasher import ArraySource, ChannelKind, ChannelSpec, channels_of_kind
from splasher.core.colormap import colormap
def _tiny_source():
specs = [
ChannelSpec("lidar", ChannelKind.POINTCLOUD, np.dtype("float32"), (None, 4)),
ChannelSpec("cam", ChannelKind.IMAGE, np.dtype("uint8"), (4, 4, 3)),
ChannelSpec("pose", ChannelKind.POSE, np.dtype("float32"), (4, 4)),
]
frames = [
{
"lidar": np.zeros((10, 4), np.float32),
"cam": np.zeros((4, 4, 3), np.uint8),
"pose": np.eye(4, dtype=np.float32),
}
for _ in range(3)
]
return ArraySource(specs, frames)
def test_array_source_basic():
src = _tiny_source()
assert len(src) == 3
frame = src[0]
assert set(frame.keys()) == {"lidar", "cam", "pose"}
assert frame.timestamp is None # synchronous
assert frame["lidar"].shape == (10, 4)
def test_channels_of_kind():
src = _tiny_source()
assert channels_of_kind(src, ChannelKind.POINTCLOUD) == ["lidar"]
assert channels_of_kind(src, ChannelKind.IMAGE) == ["cam"]
assert channels_of_kind(src, ChannelKind.POSE) == ["pose"]
def test_array_source_missing_channel_raises():
specs = [ChannelSpec("lidar", ChannelKind.POINTCLOUD)]
with pytest.raises(ValueError):
ArraySource(specs, [{"other": np.zeros((1, 3))}])
def test_colormap_rgba_range():
rgba = colormap(np.array([0.0, 1.0, 2.0, np.nan]))
assert rgba.shape == (4, 4)
assert rgba.min() >= 0.0 and rgba.max() <= 1.0
assert np.allclose(rgba[:, 3], 1.0)
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