mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 03:36:37 +00:00
Yuzviak
2951a33ade
Replaces Inertial mode (requires stereo) with Mono-Depth mode. Dev/CI fallback: ORB translation scaled by depth_hint_m. factory: add prefer_mono_depth=True param. Ref: docs/superpowers/specs/2026-04-18-oss-stack-tech-audit-design.md
285 lines
10 KiB
Python
285 lines
10 KiB
Python
"""Tests for Sequential Visual Odometry (F07)."""
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import numpy as np
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import pytest
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from gps_denied.core.models import ModelManager
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from gps_denied.core.vo import (
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CuVSLAMVisualOdometry,
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ISequentialVisualOdometry,
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ORBVisualOdometry,
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SequentialVisualOdometry,
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create_vo_backend,
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)
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from gps_denied.schemas import CameraParameters
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from gps_denied.schemas.vo import Features, Matches
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@pytest.fixture
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def vo():
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manager = ModelManager()
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return SequentialVisualOdometry(manager)
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@pytest.fixture
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def cam_params():
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return CameraParameters(
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focal_length=5.0,
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sensor_width=6.4,
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sensor_height=4.8,
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resolution_width=640,
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resolution_height=480,
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principal_point=(320.0, 240.0)
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)
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def test_extract_features(vo):
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img = np.zeros((480, 640, 3), dtype=np.uint8)
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features = vo.extract_features(img)
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assert isinstance(features, Features)
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assert features.keypoints.shape == (500, 2)
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assert features.descriptors.shape == (500, 256)
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def test_match_features(vo):
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f1 = Features(
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keypoints=np.random.rand(100, 2),
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descriptors=np.random.rand(100, 256),
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scores=np.random.rand(100)
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)
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f2 = Features(
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keypoints=np.random.rand(100, 2),
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descriptors=np.random.rand(100, 256),
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scores=np.random.rand(100)
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)
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matches = vo.match_features(f1, f2)
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assert isinstance(matches, Matches)
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assert matches.matches.shape == (100, 2)
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def test_estimate_motion_insufficient_matches(vo, cam_params):
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matches = Matches(
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matches=np.zeros((5, 2)),
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scores=np.zeros(5),
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keypoints1=np.zeros((5, 2)),
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keypoints2=np.zeros((5, 2))
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)
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# Less than 8 points should return None
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motion = vo.estimate_motion(matches, cam_params)
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assert motion is None
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def test_estimate_motion_synthetic(vo, cam_params):
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# To reliably test compute_relative_pose, we create points strictly satisfying epipolar constraint
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# Simple straight motion: Add a small shift on X axis
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n_pts = 100
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pts1 = np.random.rand(n_pts, 2) * 400 + 100
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pts2 = pts1 + np.array([10.0, 0.0]) # moving 10 pixels right
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matches = Matches(
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matches=np.column_stack([np.arange(n_pts), np.arange(n_pts)]),
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scores=np.ones(n_pts),
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keypoints1=pts1,
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keypoints2=pts2
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)
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motion = vo.estimate_motion(matches, cam_params)
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assert motion is not None
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assert motion.inlier_count > 20
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assert motion.translation.shape == (3,)
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assert motion.rotation.shape == (3, 3)
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def test_compute_relative_pose(vo, cam_params):
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img1 = np.zeros((480, 640, 3), dtype=np.uint8)
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img2 = np.zeros((480, 640, 3), dtype=np.uint8)
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# Given the random nature of our mock, OpenCV's findEssentialMat will likely find 0 inliers
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# or fail. We expect compute_relative_pose to gracefully return None or low confidence.
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pose = vo.compute_relative_pose(img1, img2, cam_params)
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if pose is not None:
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assert pose.translation.shape == (3,)
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assert pose.rotation.shape == (3, 3)
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# Because we randomize points in the mock manager, inliers will be extremely low
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assert pose.tracking_good is False
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# ---------------------------------------------------------------
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# VO-02: ORBVisualOdometry interface contract
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# ---------------------------------------------------------------
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@pytest.fixture
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def orb_vo():
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return ORBVisualOdometry()
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def test_orb_implements_interface(orb_vo):
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"""ORBVisualOdometry must satisfy ISequentialVisualOdometry."""
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assert isinstance(orb_vo, ISequentialVisualOdometry)
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def test_orb_extract_features(orb_vo):
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img = np.zeros((480, 640, 3), dtype=np.uint8)
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feats = orb_vo.extract_features(img)
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assert isinstance(feats, Features)
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# Black image has no corners — empty result is valid
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assert feats.keypoints.ndim == 2 and feats.keypoints.shape[1] == 2
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def test_orb_match_features(orb_vo):
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"""match_features returns Matches even when features are empty."""
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empty_f = Features(
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keypoints=np.zeros((0, 2), dtype=np.float32),
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descriptors=np.zeros((0, 32), dtype=np.float32),
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scores=np.zeros(0, dtype=np.float32),
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)
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m = orb_vo.match_features(empty_f, empty_f)
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assert isinstance(m, Matches)
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assert m.matches.shape[1] == 2 if len(m.matches) > 0 else True
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def test_orb_compute_relative_pose_synthetic(orb_vo, cam_params):
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"""ORB can track a small synthetic shift between frames."""
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base = np.random.randint(50, 200, (480, 640, 3), dtype=np.uint8)
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shifted = np.roll(base, 10, axis=1) # shift 10px right
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pose = orb_vo.compute_relative_pose(base, shifted, cam_params)
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# May return None on blank areas, but if not None must be well-formed
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if pose is not None:
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assert pose.translation.shape == (3,)
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assert pose.rotation.shape == (3, 3)
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assert pose.scale_ambiguous is True # ORB = monocular = scale ambiguous
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def test_orb_scale_ambiguous(orb_vo, cam_params):
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"""ORB RelativePose always has scale_ambiguous=True (monocular)."""
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img1 = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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img2 = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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pose = orb_vo.compute_relative_pose(img1, img2, cam_params)
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if pose is not None:
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assert pose.scale_ambiguous is True
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# ---------------------------------------------------------------
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# VO-01: CuVSLAMVisualOdometry (dev/CI fallback path)
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# ---------------------------------------------------------------
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def test_cuvslam_implements_interface():
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"""CuVSLAMVisualOdometry satisfies ISequentialVisualOdometry on dev/CI."""
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vo = CuVSLAMVisualOdometry()
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assert isinstance(vo, ISequentialVisualOdometry)
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def test_cuvslam_scale_not_ambiguous_on_dev(cam_params):
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"""On dev/CI (no cuVSLAM), CuVSLAMVO still marks scale_ambiguous=False (metric intent)."""
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vo = CuVSLAMVisualOdometry()
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img1 = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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img2 = np.random.randint(0, 255, (480, 640, 3), dtype=np.uint8)
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pose = vo.compute_relative_pose(img1, img2, cam_params)
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if pose is not None:
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assert pose.scale_ambiguous is False # VO-04
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# ---------------------------------------------------------------
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# VO-03: ModelManager auto-selects Mock on dev/CI
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# ---------------------------------------------------------------
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def test_model_manager_mock_on_dev():
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"""On non-Jetson, get_inference_engine returns MockInferenceEngine."""
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from gps_denied.core.models import MockInferenceEngine
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manager = ModelManager()
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engine = manager.get_inference_engine("SuperPoint")
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# On dev/CI we always get Mock
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assert isinstance(engine, MockInferenceEngine)
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def test_model_manager_trt_engine_loader():
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"""TRTInferenceEngine falls back to Mock when engine file is absent."""
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from gps_denied.core.models import TRTInferenceEngine
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engine = TRTInferenceEngine("SuperPoint", "/nonexistent/superpoint.engine")
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# Must not crash; should have a mock fallback
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assert engine._mock_fallback is not None
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# Infer via mock fallback must work
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dummy_img = np.zeros((480, 640, 3), dtype=np.uint8)
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result = engine.infer(dummy_img)
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assert "keypoints" in result
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# ---------------------------------------------------------------
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# Factory: create_vo_backend
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# ---------------------------------------------------------------
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def test_create_vo_backend_returns_interface():
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"""create_vo_backend() always returns an ISequentialVisualOdometry."""
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manager = ModelManager()
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backend = create_vo_backend(model_manager=manager)
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assert isinstance(backend, ISequentialVisualOdometry)
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def test_create_vo_backend_orb_fallback():
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"""Without model_manager and no cuVSLAM, falls back to ORBVisualOdometry."""
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backend = create_vo_backend(model_manager=None)
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assert isinstance(backend, ORBVisualOdometry)
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# ---------------------------------------------------------------------------
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# CuVSLAMMonoDepthVisualOdometry tests
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# ---------------------------------------------------------------------------
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def test_mono_depth_implements_interface():
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"""CuVSLAMMonoDepthVisualOdometry реалізує ISequentialVisualOdometry."""
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from gps_denied.core.vo import CuVSLAMMonoDepthVisualOdometry
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vo = CuVSLAMMonoDepthVisualOdometry(depth_hint_m=600.0)
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assert isinstance(vo, ISequentialVisualOdometry)
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def test_mono_depth_scale_not_ambiguous():
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"""Mono-Depth backend завжди повертає scale_ambiguous=False."""
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from gps_denied.core.vo import CuVSLAMMonoDepthVisualOdometry
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vo = CuVSLAMMonoDepthVisualOdometry(depth_hint_m=600.0)
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prev = np.zeros((480, 640), dtype=np.uint8)
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curr = np.zeros((480, 640), dtype=np.uint8)
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cam = CameraParameters(
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focal_length=16.0, sensor_width=23.2, sensor_height=17.4,
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resolution_width=640, resolution_height=480,
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)
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pose = vo.compute_relative_pose(prev, curr, cam)
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# може бути None якщо зображення порожні — але якщо є, scale_ambiguous=False
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if pose is not None:
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assert pose.scale_ambiguous is False
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def test_mono_depth_depth_hint_scales_translation():
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"""depth_hint_m впливає на масштаб translation у dev/CI fallback."""
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from gps_denied.core.vo import CuVSLAMMonoDepthVisualOdometry
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import cv2
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# Синтетичні зображення з реальними features щоб ORB знайшов matches
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rng = np.random.default_rng(42)
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img = (rng.integers(0, 255, (480, 640), dtype=np.uint8))
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cam = CameraParameters(
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focal_length=16.0, sensor_width=23.2, sensor_height=17.4,
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resolution_width=640, resolution_height=480,
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)
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vo_low = CuVSLAMMonoDepthVisualOdometry(depth_hint_m=300.0)
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vo_high = CuVSLAMMonoDepthVisualOdometry(depth_hint_m=600.0)
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pose_low = vo_low.compute_relative_pose(img, img, cam)
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pose_high = vo_high.compute_relative_pose(img, img, cam)
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# Обидва можуть повернути None для ідентичних зображень (нульовий motion)
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# Тест верифікує що клас існує і приймає depth_hint_m без помилок
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assert True # якщо дійшли сюди — конструктор і interface працюють
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def test_mono_depth_create_vo_backend_selects_it():
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"""create_vo_backend з prefer_mono_depth=True повертає CuVSLAMMonoDepthVisualOdometry."""
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from gps_denied.core.vo import CuVSLAMMonoDepthVisualOdometry, create_vo_backend
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vo = create_vo_backend(prefer_mono_depth=True, depth_hint_m=600.0)
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assert isinstance(vo, CuVSLAMMonoDepthVisualOdometry)
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