gps-denied-onboard/docs/02_components/10_Test_Data_Driver/spec.md

Test Data Driver Component

Detailed Description

The Test Data Driver acts as a mock input source for the ASTRAL-Next system in the sandbox/validation environment. It replaces the real hardware camera drivers. It is responsible for iterating through the provided dataset (AD*.jpg), managing the simulation clock, and providing the "Ground Truth" camera intrinsics.

It serves as the primary feeder for Integration Tests, ensuring the system can be validated against a known sequence of events.

API Methods

initialize_source

• Input: source_path: str, camera_config_path: str
• Output: bool
• Description: Opens the image directory. Loads the camera intrinsic parameters (K matrix, distortion model) from the config file. Prepares the iterator.
• Test Cases:
  • Valid path -> Returns True, internal state ready.
  • Invalid path -> Returns False, logs error.

get_next_frame

• Input: void
• Output: FrameObject | None
• Description: Retrieves the next available image from the sequence.
  • Structure of FrameObject:
    • image_raw: np.array (Original resolution)
    • timestamp: float
    • frame_id: int
    • intrinsics: CameraIntrinsics object
• Test Cases:
  • End of sequence -> Returns None.
  • Corrupt image file -> Skips or raises error.

get_intrinsics

• Input: void
• Output: CameraIntrinsics
• Description: Returns the loaded camera parameters (fx, fy, cx, cy, distortion).
• Test Cases:
  • Check against known values in data_parameters.md.

Integration Tests

• Sequence Replay: Point to docs/00_problem/input_data, iterate through all AD*.jpg files. verify correct ordering and total count (60 frames).

Non-functional Tests

• File I/O: Efficiently read large files from disk without blocking the test runner for extended periods.