feat: stage8 — Global Place Recognition and Metric Refinement

tests/test_gpr.py

@@ -0,0 +1,41 @@
+"""Tests for Global Place Recognition (F08)."""
+
+import numpy as np
+import pytest
+
+from gps_denied.core.gpr import GlobalPlaceRecognition
+from gps_denied.core.models import ModelManager
+from gps_denied.schemas.gpr import TileCandidate
+
+
+@pytest.fixture
+def gpr():
+    manager = ModelManager()
+    gpr = GlobalPlaceRecognition(manager)
+    gpr.load_index("flight_123", "dummy_path.faiss")
+    return gpr
+
+def test_compute_location_descriptor(gpr):
+    img = np.zeros((200, 200, 3), dtype=np.uint8)
+    desc = gpr.compute_location_descriptor(img)
+    
+    assert desc.shape == (4096,)
+    # Should be L2 normalized
+    assert np.isclose(np.linalg.norm(desc), 1.0)
+
+def test_retrieve_candidate_tiles(gpr):
+    img = np.zeros((200, 200, 3), dtype=np.uint8)
+    candidates = gpr.retrieve_candidate_tiles(img, top_k=5)
+    
+    assert len(candidates) == 5
+    for c in candidates:
+        assert isinstance(c, TileCandidate)
+        assert c.similarity_score >= 0.0
+
+def test_retrieve_candidate_tiles_for_chunk(gpr):
+    imgs = [np.zeros((200, 200, 3), dtype=np.uint8) for _ in range(5)]
+    candidates = gpr.retrieve_candidate_tiles_for_chunk(imgs, top_k=3)
+    
+    assert len(candidates) == 3
+    # Ensure they are sorted
+    assert candidates[0].similarity_score >= candidates[1].similarity_score