mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:11:12 +00:00
Oleksandr Bezdieniezhnykh
88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
from anchor_verification import AnchorFrame, GeometryGatedAnchorVerifier, MatchEvidence
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from shared.contracts import VprCandidate
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def _candidate(freshness_status: str = "fresh") -> VprCandidate:
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return VprCandidate(
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chunk_id="chunk-1",
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tile_id="tile-1",
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score=0.91,
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footprint={"min_lat": 49.0, "max_lat": 49.2, "min_lon": 36.0, "max_lon": 36.2},
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freshness_status=freshness_status,
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)
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def _evidence(**overrides: object) -> MatchEvidence:
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payload: dict[str, object] = {
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"candidate": _candidate(),
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"matcher_profile": "aliked_lightglue",
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"inliers": 48,
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"mean_reprojection_error_px": 1.4,
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"homography": {"h00": 1.0, "h11": 1.0, "h22": 1.0},
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"runtime_ms": 72.5,
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"provenance_trusted": True,
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}
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payload.update(overrides)
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return MatchEvidence.model_validate(payload)
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def test_candidate_verification_emits_acceptance_evidence() -> None:
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# Arrange
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verifier = GeometryGatedAnchorVerifier()
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frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
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# Act
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result = verifier.verify(frame, _evidence())
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# Assert
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assert result.decision.accepted is True
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assert result.decision.inliers == 48
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assert result.decision.mean_reprojection_error_px == 1.4
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assert result.reason == "accepted_geometry"
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assert result.homography == {"h00": 1.0, "h11": 1.0, "h22": 1.0}
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def test_unsafe_candidate_is_rejected_with_reason() -> None:
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# Arrange
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verifier = GeometryGatedAnchorVerifier()
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frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
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evidence = _evidence(
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candidate=_candidate(freshness_status="stale"),
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inliers=6,
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mean_reprojection_error_px=8.0,
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)
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# Act
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result = verifier.verify(frame, evidence)
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# Assert
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assert result.decision.accepted is False
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assert result.decision.estimated_pose is None
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assert result.decision.rejection_reason == "stale_or_untrusted_provenance"
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assert result.reason == "stale_or_untrusted_provenance"
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def test_matcher_benchmark_reports_profile_runtime_and_quality_metrics() -> None:
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# Arrange
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verifier = GeometryGatedAnchorVerifier()
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frame = AnchorFrame(frame_id="frame-1", image_ref="replay/frame-1.jpg")
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# Act
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report = verifier.benchmark(
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frame,
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(
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_evidence(matcher_profile="aliked_lightglue", runtime_ms=72.5),
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_evidence(matcher_profile="sift_orb", inliers=12, runtime_ms=18.0),
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),
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)
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# Assert
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assert [result.matcher_profile for result in report.results] == [
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"aliked_lightglue",
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"sift_orb",
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]
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assert report.results[0].accepted is True
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assert report.results[0].runtime_ms == 72.5
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assert report.results[1].accepted is False
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assert report.results[1].reason == "low_inliers"
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