feat: stage5 — Satellite tiles (F04) and Coordinates (F13)

tests/test_coordinates.py

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+"""Tests for CoordinateTransformer (F13)."""
+
+import pytest
+
+from gps_denied.core.coordinates import CoordinateTransformer, OriginNotSetError
+from gps_denied.schemas import CameraParameters, GPSPoint
+
+
+@pytest.fixture
+def transformer():
+    return CoordinateTransformer()
+
+
+def test_enu_origin_management(transformer):
+    fid = "flight_123"
+    origin = GPSPoint(lat=48.0, lon=37.0)
+    
+    # Before setting
+    with pytest.raises(OriginNotSetError):
+        transformer.get_enu_origin(fid)
+        
+    # After setting
+    transformer.set_enu_origin(fid, origin)
+    assert transformer.get_enu_origin(fid).lat == 48.0
+
+
+def test_gps_to_enu(transformer):
+    fid = "flight_123"
+    origin = GPSPoint(lat=48.0, lon=37.0)
+    transformer.set_enu_origin(fid, origin)
+    
+    # Same point -> 0, 0, 0
+    enu = transformer.gps_to_enu(fid, origin)
+    assert enu == (0.0, 0.0, 0.0)
+    
+    # Point north
+    target = GPSPoint(lat=48.01, lon=37.0)
+    enu_n = transformer.gps_to_enu(fid, target)
+    assert enu_n[0] == 0.0
+    assert enu_n[1] > 1000.0  # 0.01 deg lat is > 1km
+    assert enu_n[2] == 0.0
+
+
+def test_enu_roundtrip(transformer):
+    fid = "flight_123"
+    origin = GPSPoint(lat=48.0, lon=37.0)
+    transformer.set_enu_origin(fid, origin)
+    
+    test_gps = GPSPoint(lat=48.056, lon=37.123)
+    enu = transformer.gps_to_enu(fid, test_gps)
+    
+    recovered = transformer.enu_to_gps(fid, enu)
+    assert pytest.approx(recovered.lat, abs=1e-6) == test_gps.lat
+    assert pytest.approx(recovered.lon, abs=1e-6) == test_gps.lon
+
+
+def test_pixel_to_gps_flow(transformer):
+    fid = "flight_123"
+    origin = GPSPoint(lat=48.0, lon=37.0)
+    transformer.set_enu_origin(fid, origin)
+    
+    cam = CameraParameters(
+        focal_length=25.0,
+        sensor_width=23.5,
+        sensor_height=15.6,
+        resolution_width=4000,
+        resolution_height=3000,
+    )
+    
+    # Image center should yield the frame center (mock implementation logic)
+    pixel = (2000.0, 1500.0)
+    pose = {"position": [0, 0, 0]}
+    
+    gps_res = transformer.pixel_to_gps(fid, pixel, pose, cam, 100.0)
+    assert gps_res.lat == origin.lat
+    assert gps_res.lon == origin.lon
+    
+    # Inverse must match pixel (mock implementations match)
+    pix_res = transformer.gps_to_pixel(fid, gps_res, pose, cam, 100.0)
+    assert pix_res == pixel
+
+    # And image_object_to_gps should work
+    obj_gps = transformer.image_object_to_gps(fid, 1, pixel)
+    assert obj_gps.lat == origin.lat