Выстроена готовая 3Д сцена

2026-09-13 14:26:50 +03:00
parent 397e33bd08
commit ae30c02ddd
12 changed files with 129 additions and 32 deletions
@@ -41,3 +41,6 @@ def test_cpu_rgbd_scene(tmp_path, mode, names):
        np.testing.assert_allclose(np.array(meta["optical_from_world"]) @ meta["world_from_optical"], np.eye(4), atol=1e-6)
        if name == "overhead":
            assert valid.any()
+        else:
+            # The aperture must not sit inside the camera's 26 mm collision box.
+            assert (data["depth"] > .05).any()