dsh/dual_camera_system/tests/test_calibration.py

import json
import math

import pytest

from core.calibration import CalibrationMapper


def test_calibration_mapper_offset_scale(tmp_path):
    calib = {
        "pan_offset": 200.0,
        "pan_scale_x": 104.0,
        "pan_scale_y": 0.0,
        "tilt_offset": -10.0,
        "tilt_scale_x": 0.0,
        "tilt_scale_y": 30.0,
    }
    path = tmp_path / "calib.json"
    path.write_text(json.dumps(calib), encoding="utf-8")

    mapper = CalibrationMapper(
        str(path),
        {"pan_range": (-90, 90), "pan_center": 0, "tilt_range": (-5, 20), "tilt_center": 7},
    )
    assert mapper.is_loaded()

    # visual pan=0 (center, x=0.5) -> pan=200+104*0.5=252
    device_pan, device_tilt = mapper.visual_to_device(0, 7)
    assert device_pan == pytest.approx(252.0)
    # visual tilt=7 (center, y=0.5) -> tilt=-10+30*0.5=5
    assert device_tilt == pytest.approx(5.0)

    # visual pan=30 (x=0.6667) -> pan=200+104*0.6667=269.3
    device_pan, _ = mapper.visual_to_device(30, 7)
    assert device_pan == pytest.approx(269.333, abs=0.01)


def test_calibration_mapper_lookup(tmp_path):
    calib = {
        "pan_lookup": [[0.0, 200.0], [0.5, 250.0], [1.0, 300.0]],
        "tilt_lookup": [[0.0, 10.0], [0.5, 0.0], [1.0, -10.0]],
    }
    path = tmp_path / "calib.json"
    path.write_text(json.dumps(calib), encoding="utf-8")

    mapper = CalibrationMapper(
        str(path),
        {"pan_range": (-90, 90), "pan_center": 0, "tilt_range": (-5, 20), "tilt_center": 7},
    )
    # visual pan=0 -> x=0.5 -> pan=250
    device_pan, device_tilt = mapper.visual_to_device(0, 7)
    assert device_pan == pytest.approx(250.0)
    assert device_tilt == pytest.approx(0.0)


def test_calibration_mapper_missing_file():
    mapper = CalibrationMapper(
        "/nonexistent/calib.json",
        {"pan_range": (-90, 90), "pan_center": 0, "tilt_range": (-5, 20), "tilt_center": 7},
    )
    assert not mapper.is_loaded()
    device_pan, device_tilt = mapper.visual_to_device(30, 5)
    assert device_pan == pytest.approx(30.0)
    assert device_tilt == pytest.approx(5.0)


def test_calibration_mapper_flips_and_mount_type(tmp_path):
    calib = {
        "pan_offset": 200.0,
        "pan_scale_x": 100.0,
        "pan_scale_y": 0.0,
        "tilt_offset": 0.0,
        "tilt_scale_x": 0.0,
        "tilt_scale_y": 50.0,
        "mount_type": "ceiling",
        "pan_flip": True,
        "tilt_flip": False,
    }
    path = tmp_path / "calib.json"
    path.write_text(json.dumps(calib), encoding="utf-8")

    mapper = CalibrationMapper(str(path), {})
    assert mapper.mount_type == "ceiling"
    assert mapper.pan_flip is True
    assert mapper.tilt_flip is False