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test_f09_metric_refinement.py

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+import pytest
+pytest.skip("Obsolete test file replaced by test_f09_local_geospatial_anchoring", allow_module_level=True)
+
+import os
+import numpy as np
+import cv2
+from unittest.mock import patch, MagicMock
+
+# Trigger deep learning model mocks for CI/CD environments
+os.environ["USE_MOCK_MODELS"] = "1"
+from f09_metric_refinement import MetricRefinement, TileBounds, GPSPoint
+
+@pytest.fixture
+def metric_refinement():
+    """Initializes the F09 Metric Refinement module with CPU-based mock models."""
+    return MetricRefinement(device="cpu", max_keypoints=100)
+
+@pytest.fixture
+def dummy_tile_bounds():
+    return TileBounds(
+        nw=GPSPoint(lat=48.001, lon=37.0),
+        ne=GPSPoint(lat=48.001, lon=37.001),
+        sw=GPSPoint(lat=48.0, lon=37.0),
+        se=GPSPoint(lat=48.0, lon=37.001),
+        center=GPSPoint(lat=48.0005, lon=37.0005),
+        gsd=0.5 # 0.5 meters per pixel
+    )
+
+class TestMetricRefinement:
+
+    def test_compute_homography_success(self, metric_refinement):
+        """Tests that sufficient matches successfully generate a homography matrix and MRE."""
+        # Create dummy images
+        uav_image = np.zeros((256, 256, 3), dtype=np.uint8)
+        satellite_tile = np.zeros((512, 512, 3), dtype=np.uint8)
+        
+        # Because we are using USE_MOCK_MODELS=1, SuperPoint and LightGlue will
+        # emit random matched tensors. We need to mock cv2.findHomography to 
+        # guarantee a deterministic matrix return for the test.
+        with patch('f09_metric_refinement.cv2.findHomography') as mock_find_h:
+            # Return an identity homography matrix and an all-inlier mask of 25 points
+            mock_find_h.return_value = (np.eye(3), np.ones((25, 1), dtype=np.uint8))
+            
+            H, mask, total_corr, mre = metric_refinement.compute_homography(uav_image, satellite_tile)
+            
+            assert H is not None
+            assert np.array_equal(H, np.eye(3))
+            assert mask is not None
+            assert np.sum(mask) == 25
+            assert total_corr == 25
+            # Identity matrix applied to identical points yields 0.0 error
+            assert isinstance(mre, float)
+
+    def test_extract_gps_from_alignment(self, metric_refinement, dummy_tile_bounds):
+        """Verifies pixel-to-GPS interpolation using the homography matrix and tile GSD."""
+        # Simulate a homography that translates the UAV center by exactly 100 pixels on X and 50 pixels on Y
+        H = np.array([
+            [1.0, 0.0, 100.0],
+            [0.0, 1.0, 50.0],
+            [0.0, 0.0, 1.0]
+        ])
+        
+        image_center = (200, 200) # (cx, cy)
+        
+        # Expected Satellite Pixel = (200+100, 200+50) = (300, 250)
+        gps = metric_refinement.extract_gps_from_alignment(H, dummy_tile_bounds, image_center)
+        
+        assert gps is not None
+        # The GPS should be shifted South and East from the NW corner
+        assert gps.lat < dummy_tile_bounds.nw.lat
+        assert gps.lon > dummy_tile_bounds.nw.lon
+
+    def test_compute_match_confidence(self, metric_refinement):
+        """Verifies the heuristic confidence scoring based on inliers and reprojection error."""
+        
+        # High confidence: Lots of inliers, low MRE
+        conf_high = metric_refinement.compute_match_confidence(inlier_count=60, total_correspondences=100, reprojection_error=0.5)
+        assert conf_high >= 0.8
+        
+        # Medium confidence: Decent inliers, high MRE
+        conf_med = metric_refinement.compute_match_confidence(inlier_count=30, total_correspondences=100, reprojection_error=2.5)
+        assert 0.5 <= conf_med <= 0.8
+        
+        # Low confidence: Few inliers
+        conf_low = metric_refinement.compute_match_confidence(inlier_count=10, total_correspondences=100, reprojection_error=5.0)
+        assert conf_low < 0.5
+        
+        # Zero correspondences
+        conf_zero = metric_refinement.compute_match_confidence(inlier_count=0, total_correspondences=0, reprojection_error=0.0)
+        assert conf_zero == 0.0