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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
fd54af2d9f
Caps the iteration length (and the matching GT slice) when set, so CI tiers can stay fast on multi-thousand-frame sequences like EuRoC MH_01 (3682 frames ≈ 3+ hours at 3-5s/frame). Also useful for eyeballing a new adapter's first N frames before committing to a full run. Three new harness tests cover truncation, explicit None, and over-large limits. No change to existing adapters or downstream tests. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
67 lines
2.6 KiB
Python
67 lines
2.6 KiB
Python
"""Harness smoke test: synthetic adapter → FlightProcessor → sink → metrics.
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The synthetic adapter produces a straight-line trajectory; we only check that
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the harness runs to completion and produces one estimate per input frame.
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Correctness of VO on synthetic is out of scope — that's unit-test territory.
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"""
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import pytest
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from gps_denied.testing.datasets.synthetic import SyntheticAdapter
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from gps_denied.testing.harness import E2EHarness, HarnessResult
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@pytest.mark.asyncio
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async def test_harness_processes_every_frame():
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adapter = SyntheticAdapter(num_frames=5, fps=5.0)
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harness = E2EHarness(adapter)
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result: HarnessResult = await harness.run()
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assert isinstance(result, HarnessResult)
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assert result.num_frames_submitted == 5
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# Product may emit estimates for every frame or skip some during warm-up.
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# Smoke assertion: we got SOMETHING back.
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assert result.num_estimates >= 0
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assert result.ground_truth.shape[0] == 5
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assert result.ground_truth.shape[1] == 3
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@pytest.mark.asyncio
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async def test_harness_captures_ground_truth_as_enu():
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adapter = SyntheticAdapter(num_frames=3, fps=5.0, speed_m_s=10.0)
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harness = E2EHarness(adapter)
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result = await harness.run()
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# Starting at origin, 10 m/s east, at t=0.4s we expect ~4m east
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# GT array ordered by frame index
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east_disp = result.ground_truth[-1, 0] - result.ground_truth[0, 0]
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# Allow 5% tolerance for the lat/lon → ENU conversion approximation
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assert abs(east_disp - 4.0) < 0.5
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@pytest.mark.asyncio
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async def test_harness_max_frames_truncates_iteration():
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# Adapter says 10 frames; harness with max_frames=3 should stop at 3.
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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harness = E2EHarness(adapter, max_frames=3)
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result = await harness.run()
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assert result.num_frames_submitted == 3
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# GT aligned to the same truncation so downstream metrics match lengths
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assert result.ground_truth.shape[0] == 3
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@pytest.mark.asyncio
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async def test_harness_max_frames_none_runs_full():
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# Explicit None = no limit (same as omitting the parameter).
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adapter = SyntheticAdapter(num_frames=4, fps=5.0)
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harness = E2EHarness(adapter, max_frames=None)
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result = await harness.run()
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assert result.num_frames_submitted == 4
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@pytest.mark.asyncio
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async def test_harness_max_frames_larger_than_dataset_is_harmless():
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# Limit above dataset size should not over-extend.
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adapter = SyntheticAdapter(num_frames=4, fps=5.0)
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harness = E2EHarness(adapter, max_frames=100)
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result = await harness.run()
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assert result.num_frames_submitted == 4
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