update test and build scripts

tests/test_backends.py

@@ -0,0 +1,66 @@
+import os
+
+import numpy as np
+
+
+def _collect_vnormal_sequence(sensor, frames: int) -> np.ndarray:
+    seq = []
+    for _ in range(frames):
+        img = sensor.get_img()
+        assert img is not None
+        sensor.compute_deformation(check_motion=False)
+        (vnormal,) = sensor.read_info(sensor.info.VNORMAL)
+        seq.append(vnormal.copy())
+    return np.asarray(seq)
+
+
+def test_available_backends_smoke(sensor_factory, available_backends):
+    for backend in available_backends:
+        sensor = sensor_factory(backend=backend)
+        try:
+            img = sensor.get_img()
+            assert img is not None
+            sensor.compute_deformation(check_motion=False)
+            flow, vnormal, vshear = sensor.read_info(
+                sensor.info.VRAW,
+                sensor.info.VNORMAL,
+                sensor.info.VSHEAR,
+            )
+            assert flow.shape == vnormal.shape == vshear.shape
+            assert flow.shape[-1] == 2
+            assert np.isfinite(flow).all()
+            assert np.isfinite(vnormal).all()
+            assert np.isfinite(vshear).all()
+        finally:
+            sensor.disconnect()
+
+
+def test_backend_parity_against_cpu(sensor_factory, available_backends):
+    if len(available_backends) <= 1:
+        return
+
+    compare_frames = int(os.getenv("ORISYS_PARITY_FRAMES", "30"))
+    warmup = int(os.getenv("ORISYS_PARITY_WARMUP", "5"))
+    tol = float(os.getenv("ORISYS_PARITY_REL_TOL", "2.0"))
+
+    cpu_sensor = sensor_factory(backend="cpu")
+    try:
+        cpu_seq = _collect_vnormal_sequence(cpu_sensor, compare_frames)
+    finally:
+        cpu_sensor.disconnect()
+
+    cpu_ref = cpu_seq[warmup:].mean(axis=0)
+    cpu_scale = float(np.mean(np.abs(cpu_ref))) + 1e-6
+
+    for backend in available_backends:
+        if backend == "cpu":
+            continue
+        sensor = sensor_factory(backend=backend)
+        try:
+            seq = _collect_vnormal_sequence(sensor, compare_frames)
+        finally:
+            sensor.disconnect()
+
+        cand_ref = seq[warmup:].mean(axis=0)
+        rel = float(np.mean(np.abs(cand_ref - cpu_ref)) / cpu_scale)
+        assert rel < tol, f"{backend} parity drift too high: relative_error={rel:.4f}, tol={tol}"