Function assertParity

src/shaders/undistortionParity.test.ts:270–288

(cls: ProjectionClass, overrides: Partial<CameraIntrinsics>)

  const TOL = 1e-4;

  function assertParity(cls: ProjectionClass, overrides: Partial<CameraIntrinsics>): void {
    const i: CameraIntrinsics = { ...BASE_I, ...overrides };
    for (const p of GRID) {
      const canonical = DISTORTION_STRATEGIES[cls].forward(p, i);
      const glslRef   = glslForwardReference(cls, p, i);
      const errX = Math.abs(glslRef.x - canonical.x);
      const errY = Math.abs(glslRef.y - canonical.y);
      expect(
        errX,
        `cls='${cls}' p={${p.x},${p.y}}: ` +
        `glslRef.x=${glslRef.x.toFixed(8)} canonical.x=${canonical.x.toFixed(8)} errX=${errX.toExponential(2)}`,
      ).toBeLessThan(TOL);
      expect(
        errY,
        `cls='${cls}' p={${p.x},${p.y}}: ` +
        `glslRef.y=${glslRef.y.toFixed(8)} canonical.y=${canonical.y.toFixed(8)} errY=${errY.toExponential(2)}`,
      ).toBeLessThan(TOL);
    }
  }

  it("'perspective-radial' (FULL_OPENCV: rational radial + tangential) matches canonical", () => {
    assertParity('perspective-radial', {