feat: add test script for coordinate mapping

calibration_scan_180_360/test_mapping.py

@@ -0,0 +1,58 @@
+import argparse
+import json
+
+
+def load_mapping(path: str):
+    with open(path, 'r', encoding='utf-8') as f:
+        data = json.load(f)
+    pan_lookup = data['pan_lookup']
+    tilt_lookup = data['tilt_lookup']
+
+    def interp(lookup, ratio):
+        if not lookup:
+            return 0.0
+        if len(lookup) == 1:
+            return lookup[0][1]
+        if ratio <= lookup[0][0]:
+            return lookup[0][1]
+        if ratio >= lookup[-1][0]:
+            return lookup[-1][1]
+        lo, hi = 0, len(lookup) - 1
+        while lo < hi - 1:
+            mid = (lo + hi) // 2
+            if lookup[mid][0] <= ratio:
+                lo = mid
+            else:
+                hi = mid
+        x0, v0 = lookup[lo]
+        x1, v1 = lookup[hi]
+        if abs(x1 - x0) < 1e-10:
+            return v0
+        return v0 + (ratio - x0) / (x1 - x0) * (v1 - v0)
+
+    def transform(x: int, y: int):
+        x_ratio = x / 3840.0
+        y_ratio = y / 1080.0
+        pan = interp(pan_lookup, x_ratio) % 360
+        tilt = max(-90, min(90, interp(tilt_lookup, y_ratio)))
+        return pan, tilt
+
+    return transform, data
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--mapping', default='calibration_group1.json')
+    parser.add_argument('--x', type=int, default=1920)
+    parser.add_argument('--y', type=int, default=540)
+    args = parser.parse_args()
+
+    transform, data = load_mapping(args.mapping)
+    pan, tilt = transform(args.x, args.y)
+    print(f'Input: ({args.x}, {args.y})')
+    print(f'Output: pan={pan:.2f}°, tilt={tilt:.2f}°')
+    print(f'RMS error: {data.get("rms_error", -1):.2f}°')
+
+
+if __name__ == '__main__':
+    main()