from dataclasses import dataclass


@dataclass
class GeometryFrame:
    depth: object
    validity: object
    intrinsics: object
    normal: object | None = None
    points: object | None = None

    def __post_init__(self):
        import numpy as np

        depth = np.asarray(self.depth)
        validity = np.asarray(self.validity)
        intrinsics = np.asarray(self.intrinsics)
        if depth.dtype != np.float32 or depth.ndim != 2:
            raise ValueError("Geometry depth must be a 2D float32 field")
        if validity.dtype != np.float32 or validity.shape != depth.shape:
            raise ValueError("Geometry validity must match the depth as float32")
        if intrinsics.dtype != np.float32 or intrinsics.shape != (3, 3):
            raise ValueError("Geometry intrinsics must be a 3x3 float32 matrix")
        for name in ("normal", "points"):
            value = getattr(self, name)
            if value is None:
                continue
            field = np.asarray(value)
            if field.dtype != np.float32 or field.shape != (*depth.shape, 3):
                raise ValueError(
                    f"Geometry {name} must match the depth as three-channel float32"
                )