nx_cam_test.nx source

1// nx_cam_test.nx -- smoke for V9 camera primitives. 2 3import "syscalls.nx" 4import "nx_image.nx" 5import "nx_cam.nx" 6 7func main() -> i64 { 8 // === Test 1: pinhole projection === 9 // World point (100, 200, 1000), fx=fy=500, cx=cy=256. 10 // u = 500 * 100 / 1000 + 256 = 50 + 256 = 306 11 // v = 500 * 200 / 1000 + 256 = 100 + 256 = 356 12 let u: *i64 = (sys_mmap(8)) as *i64 13 let v: *i64 = (sys_mmap(8)) as *i64 14 nx_cam_pinhole_project(100, 200, 1000, 500, 500, 256, 256, u, v) 15 if u[0] != 306 { return 1 } 16 if v[0] != 356 { return 2 } 17 // Z=0 -> error 18 if nx_cam_pinhole_project(1, 1, 0, 500, 500, 256, 256, u, v) != -1 { return 3 } 19 20 // === Test 2: identity homography preserves points === 21 let H: *i64 = (sys_mmap(9 * 8)) as *i64 22 nx_cam_homography_identity(H) 23 nx_cam_homography_apply(H, 100, 200, u, v) 24 if u[0] != 100 { return 10 } 25 if v[0] != 200 { return 11 } 26 27 // === Test 3: translation homography === 28 nx_cam_homography_translate(H, 50, -30) 29 nx_cam_homography_apply(H, 100, 200, u, v) 30 if u[0] != 150 { return 20 } 31 if v[0] != 170 { return 21 } 32 33 // === Test 4: scale homography === 34 // 2x scale: pass 2 * Q14 = 32768 35 nx_cam_homography_scale(H, 2 * 16384, 2 * 16384) 36 nx_cam_homography_apply(H, 100, 50, u, v) 37 if u[0] != 200 { return 30 } 38 if v[0] != 100 { return 31 } 39 40 // === Test 5: rotation homography (90 degrees) === 41 // (1, 0) rotated 90 deg around origin -> (0, 1) (y-down convention). 42 // With matrix [cos(90)=0, -sin(90)=-1, 0; 1, 0, 0; 0, 0, 1]: 43 // u' = 0*1 + (-1)*0 + 0 = 0 44 // v' = 1*1 + 0*0 + 0 = 1 45 nx_cam_homography_rotate(H, 90) 46 nx_cam_homography_apply(H, 100, 0, u, v) 47 // Allow small precision slop from Q10 cos/sin. 48 var du: i64 = u[0] 49 if du < 0 { du = -du } 50 if du > 5 { return 40 } 51 if v[0] < 95 { return 41 } 52 if v[0] > 105 { return 42 } 53 54 // === Test 6: image warp with identity preserves image === 55 let img: *Image = nx_image_alloc(8, 8, 1) 56 var y: i64 = 0 57 while y < 8 { 58 var x: i64 = 0 59 while x < 8 { 60 nx_image_set(img, x, y, 0, x * 16 + y) 61 x = x + 1 62 } 63 y = y + 1 64 } 65 nx_cam_homography_identity(H) 66 let warped_id: *Image = nx_cam_warp_image(img, H) 67 if nx_image_get(warped_id, 3, 5, 0) != nx_image_get(img, 3, 5, 0) { return 50 } 68 if nx_image_get(warped_id, 7, 7, 0) != nx_image_get(img, 7, 7, 0) { return 51 } 69 70 // === Test 7: image warp with translation shifts content === 71 // H_inv for translation by (2, 1) is translation by (-2, -1). 72 // dst[x, y] = src[x - 2, y - 1] -- so the image shifts RIGHT 2, DOWN 1. 73 nx_cam_homography_translate(H, -2, -1) 74 let warped_t: *Image = nx_cam_warp_image(img, H) 75 // dst[3, 5] should equal src[3 - 2, 5 - 1] = src[1, 4] = 1*16+4 = 20. 76 let v_actual: i64 = nx_image_get(warped_t, 3, 5, 0) 77 let v_expected: i64 = nx_image_get(img, 1, 4, 0) 78 if v_actual != v_expected { return 60 } 79 80 // === Test 8: compose identity * H = H === 81 let A: *i64 = (sys_mmap(9 * 8)) as *i64 82 let B: *i64 = (sys_mmap(9 * 8)) as *i64 83 let C: *i64 = (sys_mmap(9 * 8)) as *i64 84 nx_cam_homography_identity(A) 85 nx_cam_homography_translate(B, 10, 20) 86 nx_cam_homography_compose(A, B, C) 87 // C should equal B (within precision). 88 var i: i64 = 0 89 while i < 9 { 90 let d: i64 = C[i] - B[i] 91 var ad: i64 = d 92 if ad < 0 { ad = -ad } 93 if ad > 1 { return 70 } 94 i = i + 1 95 } 96 97 // === Test 9: compose translate(5, 0) * translate(3, 0) = translate(8, 0) === 98 nx_cam_homography_translate(A, 5, 0) 99 nx_cam_homography_translate(B, 3, 0) 100 nx_cam_homography_compose(A, B, C) 101 nx_cam_homography_apply(C, 0, 0, u, v) 102 if u[0] != 8 { return 80 } 103 if v[0] != 0 { return 81 } 104 105 return 0 106}