feat: stage9 — Factor Graph and Chunks

tests/test_graph.py

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+"""Tests for Factor Graph Optimizer (F10)."""
+
+import numpy as np
+import pytest
+
+from gps_denied.core.graph import FactorGraphOptimizer
+from gps_denied.schemas.flight import GPSPoint
+from gps_denied.schemas.graph import FactorGraphConfig
+from gps_denied.schemas.vo import RelativePose
+from gps_denied.schemas.metric import Sim3Transform
+
+
+@pytest.fixture
+def optimizer():
+    config = FactorGraphConfig()
+    return FactorGraphOptimizer(config)
+
+
+def test_add_relative_factor(optimizer):
+    flight_id = "test_f_1"
+    
+    # Needs initial node, using chunk creation wrapper to mock initial
+    optimizer.create_chunk_subgraph(flight_id, "ch_1", start_frame_id=0)
+    
+    # Mock relative pose logic: in mock graph logic it's added via "add_relative_factor_to_chunk" 
+    # OR we need an initial root via add_absolute/relative. Our mock for `add_relative` is simple.
+    
+    rel1 = RelativePose(
+        translation=np.array([1.0, 0.0, 0.0]),
+        rotation=np.eye(3),
+        covariance=np.eye(6),
+        confidence=0.9,
+        inlier_count=100,
+        total_matches=120,
+        tracking_good=True
+    )
+    
+    # Test global logic requires frame exist, let's inject a zero frame
+    optimizer._init_flight(flight_id)
+    optimizer._flights_state[flight_id]["poses"][0] = optimizer._chunks_state["ch_1"]["poses"][0]
+    
+    res = optimizer.add_relative_factor(flight_id, 0, 1, rel1, np.eye(6))
+    assert res is True
+    
+    traj = optimizer.get_trajectory(flight_id)
+    assert 1 in traj
+    assert np.allclose(traj[1].position, [1.0, 0.0, 0.0])
+
+def test_add_absolute_factor(optimizer):
+    flight_id = "test_f_2"
+    optimizer._init_flight(flight_id)
+    
+    # Inject 0
+    from gps_denied.schemas.graph import Pose
+    from datetime import datetime
+    optimizer._flights_state[flight_id]["poses"][0] = Pose(
+        frame_id=0, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
+    )
+    
+    gps = GPSPoint(lat=49.1, lon=30.1)
+    res = optimizer.add_absolute_factor(flight_id, 0, gps, np.eye(2), is_user_anchor=True)
+    assert res is True
+    
+    # Verify modification
+    traj = optimizer.get_trajectory(flight_id)
+    # The x,y are roughly calcualted
+    assert traj[0].position[1] > 1000  # lat 49.1 > 49.0
+    
+def test_optimize_and_retrieve(optimizer):
+    flight_id = "test_f_3"
+    optimizer._init_flight(flight_id)
+    
+    res = optimizer.optimize(flight_id, 5)
+    assert res.converged is True
+    assert res.iterations_used == 5
+    
+    traj = optimizer.get_trajectory(flight_id)
+    assert isinstance(traj, dict)
+    
+def test_chunk_merging(optimizer):
+    flight_id = "test_f_4"
+    c1 = "chunk1"
+    c2 = "chunk2"
+    
+    assert optimizer.create_chunk_subgraph(flight_id, c1, 0) is True
+    assert optimizer.create_chunk_subgraph(flight_id, c2, 10) is True
+    
+    rel = RelativePose(
+        translation=np.array([5.0, 0, 0]),
+        rotation=np.eye(3),
+        covariance=np.eye(6),
+        confidence=0.9,
+        inlier_count=100,
+        total_matches=120,
+        tracking_good=True
+    )
+    optimizer.add_relative_factor_to_chunk(flight_id, c2, 10, 11, rel, np.eye(6))
+    
+    sim3 = Sim3Transform(translation=np.array([100.0, 0, 0]), rotation=np.eye(3), scale=1.0)
+    res = optimizer.merge_chunk_subgraphs(flight_id, c2, c1, sim3)
+    
+    assert res is True
+    
+    c1_poses = optimizer.get_chunk_trajectory(flight_id, c1)
+    # 10 and 11 should now be in c1, transformed!
+    assert 10 in c1_poses
+    assert 11 in c1_poses
+    
+    # 100 translation
+    assert c1_poses[10].position[0] == 100.0
+    assert c1_poses[11].position[0] == 105.0