"""Test di non-regressione su precisione e recall (GT sintetica).

Soglie derivate dalle misure di Fase 2 (errore mediano ~0.05 deg /
~0.08 px) con margine 3-4x per assorbire rumore tra run/macchine.
Una regressione del refine (es. score saturo, minMaxLoc sul plateau)
riporterebbe gli errori a 2-4 deg / 4 px e fa fallire i test con
margine enorme.
"""
from __future__ import annotations

import numpy as np

from pm2d import LineShapeMatcher
from tests.conftest import GT_POSES, match_errors


def _find(template, scene, step, **kw):
    m = LineShapeMatcher(angle_step_deg=step, num_features=96)
    m.train(template)
    return m.find(scene, min_score=0.5, max_matches=10, **kw)


def test_recall_and_precision_step5(template, scene):
    matches = _find(template, scene, 5.0)
    errs_a, errs_p, miss = match_errors(matches, GT_POSES)
    assert miss == 0, f"{miss} pose GT non trovate"
    assert float(np.median(errs_a)) < 0.2, f"err angolo mediano {np.median(errs_a):.3f} deg"
    assert float(np.max(errs_a)) < 0.5, f"err angolo max {np.max(errs_a):.3f} deg"
    assert float(np.median(errs_p)) < 0.3, f"err posizione mediano {np.median(errs_p):.3f} px"
    assert float(np.max(errs_p)) < 1.0, f"err posizione max {np.max(errs_p):.3f} px"


def test_recall_and_precision_step2(template, scene):
    # Step fine: storicamente il caso peggiore (plateau con piu' varianti
    # dentro la tolleranza spread → scelta variante arbitraria).
    matches = _find(template, scene, 2.0)
    errs_a, errs_p, miss = match_errors(matches, GT_POSES)
    assert miss == 0, f"{miss} pose GT non trovate"
    assert float(np.median(errs_a)) < 0.2
    assert float(np.max(errs_a)) < 0.5
    assert float(np.median(errs_p)) < 0.3


def test_no_false_positives(template, scene):
    # max_matches alto: non devono comparire match spuri oltre le 7 pose.
    matches = _find(template, scene, 5.0)
    assert len(matches) <= len(GT_POSES) + 1, (
        f"{len(matches)} match per {len(GT_POSES)} oggetti reali"
    )


def test_full_scan_path_equivalent(template, scene):
    # Il path full-scan (propagate off) deve trovare le stesse pose.
    matches = _find(template, scene, 5.0, pyramid_propagate=False)
    _, _, miss = match_errors(matches, GT_POSES)
    assert miss == 0