mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:36:37 +00:00
Yuzviak
119 lines
4.0 KiB
Python
119 lines
4.0 KiB
Python
"""Tests for Factor Graph Optimizer (F10)."""
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import numpy as np
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import pytest
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.schemas.flight import GPSPoint
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from gps_denied.schemas.graph import FactorGraphConfig
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from gps_denied.schemas.vo import RelativePose
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from gps_denied.schemas.metric import Sim3Transform
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@pytest.fixture
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def optimizer():
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config = FactorGraphConfig()
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return FactorGraphOptimizer(config)
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def test_add_relative_factor(optimizer):
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flight_id = "test_f_1"
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# Needs initial node, using chunk creation wrapper to mock initial
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optimizer.create_chunk_subgraph(flight_id, "ch_1", start_frame_id=0)
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# Mock relative pose logic: in mock graph logic it's added via "add_relative_factor_to_chunk"
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# OR we need an initial root via add_absolute/relative. Our mock for `add_relative` is simple.
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rel1 = RelativePose(
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translation=np.array([1.0, 0.0, 0.0]),
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rotation=np.eye(3),
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covariance=np.eye(6),
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confidence=0.9,
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inlier_count=100,
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total_matches=120,
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tracking_good=True
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)
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# Test global logic requires frame exist, let's inject a zero frame
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optimizer._init_flight(flight_id)
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optimizer._flights_state[flight_id]["poses"][0] = optimizer._chunks_state["ch_1"]["poses"][0]
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res = optimizer.add_relative_factor(flight_id, 0, 1, rel1, np.eye(6))
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assert res is True
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traj = optimizer.get_trajectory(flight_id)
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assert 1 in traj
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assert np.allclose(traj[1].position, [1.0, 0.0, 0.0])
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def test_add_absolute_factor(optimizer):
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flight_id = "test_f_2"
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optimizer._init_flight(flight_id)
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# Inject frame 0 and frame 1
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from gps_denied.schemas.graph import Pose
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from datetime import datetime
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optimizer._flights_state[flight_id]["poses"][0] = Pose(
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frame_id=0, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
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)
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optimizer._flights_state[flight_id]["poses"][1] = Pose(
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frame_id=1, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
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)
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# First GPS sets the ENU origin → position becomes [0,0,0]
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origin_gps = GPSPoint(lat=49.0, lon=30.0)
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optimizer.add_absolute_factor(flight_id, 0, origin_gps, np.eye(2), is_user_anchor=True)
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assert np.allclose(optimizer.get_trajectory(flight_id)[0].position, [0, 0, 0])
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# Second GPS at different coords → should produce non-zero ENU displacement
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gps2 = GPSPoint(lat=49.1, lon=30.1)
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res = optimizer.add_absolute_factor(flight_id, 1, gps2, np.eye(2), is_user_anchor=True)
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assert res is True
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traj = optimizer.get_trajectory(flight_id)
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assert traj[1].position[1] > 1000 # ~11 km north
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def test_optimize_and_retrieve(optimizer):
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flight_id = "test_f_3"
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optimizer._init_flight(flight_id)
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res = optimizer.optimize(flight_id, 5)
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assert res.converged is True
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assert res.iterations_used == 5
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traj = optimizer.get_trajectory(flight_id)
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assert isinstance(traj, dict)
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def test_chunk_merging(optimizer):
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flight_id = "test_f_4"
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c1 = "chunk1"
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c2 = "chunk2"
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assert optimizer.create_chunk_subgraph(flight_id, c1, 0) is True
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assert optimizer.create_chunk_subgraph(flight_id, c2, 10) is True
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rel = RelativePose(
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translation=np.array([5.0, 0, 0]),
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rotation=np.eye(3),
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covariance=np.eye(6),
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confidence=0.9,
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inlier_count=100,
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total_matches=120,
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tracking_good=True
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)
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optimizer.add_relative_factor_to_chunk(flight_id, c2, 10, 11, rel, np.eye(6))
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sim3 = Sim3Transform(translation=np.array([100.0, 0, 0]), rotation=np.eye(3), scale=1.0)
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res = optimizer.merge_chunk_subgraphs(flight_id, c2, c1, sim3)
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assert res is True
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c1_poses = optimizer.get_chunk_trajectory(flight_id, c1)
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# 10 and 11 should now be in c1, transformed!
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assert 10 in c1_poses
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assert 11 in c1_poses
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# 100 translation
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assert c1_poses[10].position[0] == 100.0
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assert c1_poses[11].position[0] == 105.0
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