mirror of
https://github.com/ruvnet/RuView.git
synced 2026-08-26 02:04:55 +00:00
0df48df7b2
* feat(ios): add RuView LiDAR frame protocol * feat(ios): capture ARKit scene depth for RuView * feat(ios): stream compact LiDAR frames over websocket * feat(ios): add native LiDAR capture UI * feat(ios): add RuView LiDAR app entrypoint * feat(web): add LiDAR bridge web package * feat(web): decode RuView LiDAR wire frames * feat(web): add local LiDAR websocket relay * feat(web): add LiDAR browser viewer * feat(web): render live LiDAR point cloud * fix(ios): use wall clock time for LiDAR provenance * feat(web): style LiDAR viewer * test(web): add LiDAR codec tests * docs: add iPhone LiDAR integration guide * docs(adr): define iPhone LiDAR sensor bridge * fix(ios): harden and validate LiDAR bridge * fix(ios): qualify LiDAR wire depth type
70 lines
2.7 KiB
JavaScript
70 lines
2.7 KiB
JavaScript
import test from 'node:test';
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import assert from 'node:assert/strict';
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import { decodeLiDARPacket, depthToPointCloud } from './codec.mjs';
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function b64(bytes) {
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return Buffer.from(bytes).toString('base64');
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}
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test('decodes u16 millimeter depth and confidence', () => {
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const packet = {
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type: 'ruview.lidar.depth.v1',
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intrinsics: { fx: 100, fy: 100, cx: 1, cy: 1, imageWidth: 2, imageHeight: 2 },
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pose: { matrix: Array(16).fill(0) },
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depth: {
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width: 2,
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height: 2,
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encoding: 'u16le-mm+u8-confidence',
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millimetersBase64: b64([0xe8,0x03,0xd0,0x07,0xb8,0x0b,0xa0,0x0f]),
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confidenceBase64: b64([2,2,1,0]),
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},
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provenance: { sensor: 'test', source: 'live', privacyClass: 'geometry-only', sequence: 1, timestampNs: 1, schema: 'ruview.lidar.depth.v1' },
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};
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const frame = decodeLiDARPacket(packet);
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assert.deepEqual(Array.from(frame.depth.meters), [1,2,3,4]);
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assert.deepEqual(Array.from(frame.depth.confidence), [2,2,1,0]);
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});
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test('rejects malformed payload length', () => {
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assert.throws(() => decodeLiDARPacket({
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type: 'ruview.lidar.depth.v1',
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intrinsics: { fx: 100, fy: 100, cx: 1, cy: 1, imageWidth: 2, imageHeight: 2 },
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pose: { matrix: Array(16).fill(0) },
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depth: { width: 2, height: 2, encoding: 'u16le-mm+u8-confidence', millimetersBase64: b64([1,2]), confidenceBase64: b64([1,1,1,1]) },
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}), /length mismatch/);
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});
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test('rejects invalid dimensions, intrinsics, pose, and base64', () => {
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const valid = {
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type: 'ruview.lidar.depth.v1',
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intrinsics: { fx: 100, fy: 100, cx: 0, cy: 0, imageWidth: 1, imageHeight: 1 },
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pose: { matrix: Array(16).fill(0) },
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depth: {
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width: 1,
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height: 1,
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encoding: 'u16le-mm+u8-confidence',
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millimetersBase64: b64([0xe8, 0x03]),
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confidenceBase64: b64([2]),
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},
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};
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assert.throws(() => decodeLiDARPacket({ ...valid, depth: { ...valid.depth, width: 0 } }), /positive integer/);
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assert.throws(() => decodeLiDARPacket({ ...valid, intrinsics: { ...valid.intrinsics, fx: 0 } }), /intrinsics/);
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assert.throws(() => decodeLiDARPacket({ ...valid, pose: { matrix: [1] } }), /pose/);
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assert.throws(() => decodeLiDARPacket({
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...valid,
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depth: { ...valid.depth, millimetersBase64: '!!!!' },
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}), /canonical base64/);
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});
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test('projects depth into a point cloud and honors confidence', () => {
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const frame = {
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intrinsics: { fx: 100, fy: 100, cx: 0, cy: 0, imageWidth: 2, imageHeight: 2 },
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depth: { width: 2, height: 2, meters: Float32Array.from([1,1,1,1]), confidence: Uint8Array.from([2,0,2,0]) },
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};
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const points = depthToPointCloud(frame, 1);
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assert.equal(points.length, 2);
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assert.deepEqual(points[0], [0, 0, -1]);
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});
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