Adriano Dal PastroandClaude Opus 4.7
876224a71d
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
77 lines
2.9 KiB
Python
77 lines
2.9 KiB
Python
"""Unit tests for partition_by_plane."""
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from __future__ import annotations
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import numpy as np
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import pytest
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from presa_mano.perception.work_plane import WorkPlane, partition_by_plane
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def _wp(offset_mm: float = 0.0) -> WorkPlane:
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"""Work surface at z=0.5m in OpenCV camera frame (camera at origin
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looking +Z). Normal=[0,0,-1] points toward the camera — same convention
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as fit_plane_svd. Plane equation: -z + 0.5 = 0."""
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return WorkPlane(
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normal=[0.0, 0.0, -1.0],
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offset=0.5,
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centroid=[0.0, 0.0, 0.5],
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n_inliers=100,
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fit_rms_mm=0.5,
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roi=[0, 0, 100, 100],
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offset_mm=offset_mm,
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created_at=0.0,
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)
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def test_partition_no_plane_returns_all_accepted():
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pts = np.array([[0.0, 0.0, 1.0], [1.0, 2.0, 3.0]])
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accepted, excluded, info = partition_by_plane(pts, None)
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assert np.array_equal(accepted, pts)
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assert excluded.shape == (0, 3)
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assert info == {"plane_applied": False, "n_points_before_plane": 2}
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def test_partition_empty_input():
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pts = np.empty((0, 3), dtype=np.float64)
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accepted, excluded, info = partition_by_plane(pts, _wp())
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assert accepted.shape == (0, 3)
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assert excluded.shape == (0, 3)
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assert info["plane_applied"] is False
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assert info["n_points_before_plane"] == 0
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def test_partition_splits_by_offset():
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"""Plane at z=0.5, normal=-Z, offset_mm=5.
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Camera-side ("above") is z<0.5. Filter keeps points up to offset_mm
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*below* the plane (i.e. z<=0.505) and excludes farther-than-offset
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points (z>0.505)."""
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pts = np.array([
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[0.0, 0.0, 0.40], # 100mm above → accepted
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[0.0, 0.0, 0.50], # on plane → accepted (boundary)
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[0.0, 0.0, 0.504], # 4mm below → accepted (within offset 5mm)
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[0.0, 0.0, 0.510], # 10mm below → excluded
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[0.0, 0.0, 1.000], # 500mm below → excluded
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])
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accepted, excluded, info = partition_by_plane(pts, _wp(offset_mm=5.0))
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assert accepted.shape[0] == 3
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assert excluded.shape[0] == 2
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assert info["plane_applied"] is True
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assert info["n_points_before_plane"] == 5
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# partition: nessuna sovrapposizione
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union = np.vstack([accepted, excluded])
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assert sorted(union[:, 2].tolist()) == sorted(pts[:, 2].tolist())
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def test_partition_consistent_with_apply_below_plane_filter():
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"""`accepted` di partition_by_plane deve essere bit-identico a quello
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ritornato da apply_below_plane_filter (l'API legacy non deve cambiare)."""
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from presa_mano.perception.work_plane import apply_below_plane_filter
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rng = np.random.default_rng(42)
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pts = rng.normal(scale=0.1, size=(200, 3))
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wp = _wp(offset_mm=10.0)
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accepted_new, _excluded, _info = partition_by_plane(pts, wp)
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accepted_legacy, info_legacy = apply_below_plane_filter(pts, wp)
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np.testing.assert_array_equal(accepted_new, accepted_legacy)
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assert info_legacy["n_points_before_plane"] == 200
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