| """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 |
| 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) |
|
|
