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add tests
gen_tests updated solution.md updated
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Oleksandr Bezdieniezhnykh
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# Integration Test: Image Input Pipeline
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## Summary
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Validate the Image Input Pipeline component for loading, preprocessing, and preparing UAV images for processing by vision algorithms.
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## Component Under Test
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**Component**: Image Input Pipeline
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**Location**: `gps_denied_05_image_input_pipeline`
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**Dependencies**:
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- Image loading libraries (PIL/OpenCV)
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- Image Rotation Manager (for orientation correction)
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- File system access
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- Configuration Manager
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## Detailed Description
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This test validates that the Image Input Pipeline can:
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1. Load UAV images from disk in various formats (JPG, PNG)
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2. Read and validate image metadata (resolution, EXIF if available)
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3. Resize images appropriately for different processing layers
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4. Normalize pixel values for neural network input
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5. Handle high-resolution images (6252x4168) efficiently
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6. Detect and handle corrupted images gracefully
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7. Maintain consistent image quality during preprocessing
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8. Support batch loading for multiple images
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The component is the entry point for all UAV imagery into the ASTRAL-Next system.
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## Input Data
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### Test Case 1: Standard Resolution Image
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- **Image**: AD000001.jpg
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- **Expected Resolution**: 6252x4168 (26MP)
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- **Format**: JPEG
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- **Expected**: Load successfully, extract metadata
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### Test Case 2: Batch Loading
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- **Images**: AD000001-AD000010 (10 images)
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- **Expected**: All load successfully, maintain order
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### Test Case 3: Image Resizing for Vision Layers
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- **Image**: AD000015.jpg
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- **Target Resolutions**:
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- L1 (Sequential VO): 1024x683 (for SuperPoint)
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- L2 (Global PR): 512x341 (for AnyLoc)
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- L3 (Metric Ref): 640x427 (for LiteSAM)
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- **Expected**: Maintain aspect ratio, preserve image quality
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### Test Case 4: Pixel Normalization
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- **Image**: AD000020.jpg
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- **Target Format**: Float32, range [0, 1] or [-1, 1]
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- **Expected**: Correct normalization for neural network input
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### Test Case 5: EXIF Data Extraction
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- **Image**: AD000001.jpg
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- **Expected EXIF**: Camera model, focal length, ISO, capture time
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- **Note**: May not be present in all images
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### Test Case 6: Image Sequence Loading
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- **Images**: AD000001-AD000060 (all 60 images)
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- **Expected**: Load in order, track sequence number
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### Test Case 7: Corrupted Image Handling
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- **Image**: Create test file with corrupted data
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- **Expected**: Detect corruption, fail gracefully with clear error
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### Test Case 8: Rotation Detection
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- **Image**: AD000025.jpg (may have orientation metadata)
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- **Expected**: Detect if rotation needed, coordinate with Image Rotation Manager
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## Expected Output
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For each test case:
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```json
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{
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"success": true/false,
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"image_path": "path/to/image.jpg",
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"image_id": "AD000001",
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"original_resolution": {"width": 6252, "height": 4168},
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"loaded_resolution": {"width": <int>, "height": <int>},
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"format": "JPEG",
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"file_size_kb": <float>,
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"exif_data": {
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"camera_model": "string",
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"focal_length_mm": <float>,
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"iso": <int>,
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"capture_time": "timestamp"
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},
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"preprocessing_applied": ["resize", "normalize"],
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"output_dtype": "float32",
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"pixel_value_range": {"min": <float>, "max": <float>},
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"loading_time_ms": <float>,
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"preprocessing_time_ms": <float>,
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"memory_mb": <float>
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}
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```
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## Success Criteria
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**Test Case 1 (Standard Loading)**:
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- success = true
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- original_resolution matches expected (6252x4168)
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- format detected correctly
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- loading_time_ms < 500
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- memory_mb < 200 (for single 26MP image)
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**Test Case 2 (Batch Loading)**:
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- All 10 images load successfully
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- Images maintain sequential order
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- Total loading_time < 5 seconds
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- Memory usage scales linearly
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**Test Case 3 (Resizing)**:
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- All target resolutions achieved
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- Aspect ratio preserved (within 1%)
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- No significant quality degradation (PSNR > 30dB)
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- Resizing time < 200ms per image
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**Test Case 4 (Normalization)**:
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- Pixel values in expected range
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- No clipping (min ≥ 0, max ≤ 1 for [0,1] normalization)
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- Mean and std dev reasonable for natural images
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- Normalization time < 100ms
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**Test Case 5 (EXIF)**:
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- EXIF data extracted if present
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- Missing EXIF handled gracefully (not error)
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- Camera model matches known: "ADTi Surveyor Lite 26S v2"
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- Focal length matches known: 25mm
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**Test Case 6 (Sequence)**:
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- All 60 images load successfully
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- Sequential order maintained
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- Total loading time < 30 seconds
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- Memory usage stays bounded (< 2GB)
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**Test Case 7 (Corruption)**:
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- Corruption detected
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- Clear error message provided
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- No crash or hang
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- Other images in batch can still load
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**Test Case 8 (Rotation)**:
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- Rotation metadata detected if present
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- Coordinates with Image Rotation Manager
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- Correct orientation applied
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## Maximum Expected Time
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- **Single image load**: < 500ms (6252x4168)
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- **Single image resize**: < 200ms
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- **Single image normalize**: < 100ms
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- **Batch 60 images**: < 30 seconds
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- **Total test suite**: < 60 seconds
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## Test Execution Steps
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1. **Setup Phase**:
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a. Initialize Image Input Pipeline
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b. Configure preprocessing parameters
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c. Verify test images exist
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d. Create corrupted test image
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2. **Test Case 1 - Standard Loading**:
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a. Load AD000001.jpg
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b. Verify resolution and format
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c. Check metadata extraction
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d. Measure timing and memory
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3. **Test Case 2 - Batch Loading**:
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a. Load AD000001-AD000010
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b. Verify all load successfully
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c. Check sequential order
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d. Measure batch timing
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4. **Test Case 3 - Resizing**:
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a. Load AD000015.jpg
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b. Resize to multiple target resolutions
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c. Verify aspect ratio preservation
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d. Check image quality (visual or PSNR)
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5. **Test Case 4 - Normalization**:
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a. Load and normalize AD000020.jpg
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b. Check pixel value range
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c. Verify data type conversion
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d. Validate statistics (mean/std)
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6. **Test Case 5 - EXIF**:
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a. Load AD000001.jpg
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b. Attempt EXIF extraction
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c. Verify known camera parameters
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d. Handle missing EXIF gracefully
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7. **Test Case 6 - Sequence**:
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a. Load all 60 images
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b. Verify complete and ordered
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c. Monitor memory usage
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d. Check for memory leaks
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8. **Test Case 7 - Corruption**:
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a. Attempt to load corrupted test file
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b. Verify error detection
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c. Check error message quality
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d. Ensure no crash
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9. **Test Case 8 - Rotation**:
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a. Check for orientation metadata
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b. Apply rotation if needed
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c. Verify correct orientation
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d. Measure rotation timing
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## Pass/Fail Criteria
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**Overall Test Passes If**:
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- At least 7 out of 8 test cases pass (Test Case 5 may fail if EXIF missing)
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- All valid images load successfully
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- No crashes or hangs
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- Memory usage bounded
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- Timing constraints met
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**Test Fails If**:
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- Any valid image fails to load
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- Resolution or format detection fails
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- Memory leak detected (>500MB growth)
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- Any timing exceeds 2x maximum expected
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- Corrupted images cause crash
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- Batch loading loses or reorders images
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## Additional Validation
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**Image Quality Tests**:
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1. **Lossy Preprocessing**: Verify resizing doesn't introduce artifacts
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2. **Color Space**: Verify RGB ordering (not BGR)
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3. **Bit Depth**: Handle 8-bit and 16-bit images
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4. **Compression**: Test various JPEG quality levels
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**Memory Management**:
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1. **Cleanup**: Verify images released from memory after processing
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2. **Large Batch**: Test with 100+ images (memory should not explode)
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3. **Repeated Loading**: Load same image 1000 times (no memory growth)
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**Format Support**:
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1. **JPEG**: Primary format (required)
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2. **PNG**: Should support (for satellite tiles)
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3. **TIFF**: Optional (may be used for high-quality)
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4. **RAW**: Not required but document limitations
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**Edge Cases**:
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1. **Non-Existent File**: Should fail with clear file-not-found error
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2. **Empty File**: Should detect as corrupted
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3. **Non-Image File**: Should reject with clear error
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4. **Symbolic Links**: Should follow or reject appropriately
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5. **Permissions**: Should handle read permission errors
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**Performance Benchmarks**:
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- Load 1000 FullHD images in < 60 seconds
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- Resize 100 images to 640x480 in < 10 seconds
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- Normalize 100 images in < 5 seconds
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- Memory footprint per loaded image < 200MB
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## Configuration Testing
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Test various configuration options:
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- **Resize Method**: bilinear, bicubic, lanczos
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- **Normalization**: [0,1], [-1,1], ImageNet statistics
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- **Color Mode**: RGB, grayscale
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- **Cache Behavior**: cache vs load-on-demand
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## Camera Parameters Validation
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For the known camera (ADTi Surveyor Lite 26S v2):
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- Resolution: 6252x4168 (26MP) ✓
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- Focal Length: 25mm ✓
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- Sensor Width: 23.5mm ✓
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- Expected Ground Sampling Distance (GSD) at 400m altitude: ~37.6 cm/pixel
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Calculate and validate GSD: `GSD = (altitude * sensor_width) / (focal_length * image_width)`
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- GSD = (400m * 23.5mm) / (25mm * 6252) = 0.0602m = 6.02cm/pixel per sensor pixel
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- Effective GSD in final image ≈ 6cm/pixel
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## Error Handling Tests
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Verify appropriate errors for:
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- File path with invalid characters
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- Image with unsupported format
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- Image with invalid header
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- Truncated image file
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- Image with mismatched metadata
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- Empty directory
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- Directory instead of file path
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