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import json
from pathlib import Path
import numpy as np
from ylff.services.sensor_adapters import align_depth_nearest, load_arkit_poses_json
def test_align_depth_nearest_resizes():
d = np.arange(4, dtype=np.float32).reshape(2, 2)
out = align_depth_nearest(d, out_shape_hw=(4, 4))
assert out.shape == (4, 4)
assert float(out[0, 0]) == float(d[0, 0])
def test_load_arkit_poses_json(tmp_path: Path):
poses = [np.eye(4).tolist(), (np.eye(4) * 2).tolist()]
p = tmp_path / "poses.json"
p.write_text(json.dumps({"poses": poses}))
arr = load_arkit_poses_json(p)
assert arr.shape == (2, 4, 4)
assert float(arr[1, 0, 0]) == 2.0
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