mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 22:51:14 +00:00
Oleksandr Bezdieniezhnykh
e86084da6b
Implement the first runtime component boundaries around the shared contracts so downstream batches can consume typed frame, MAVLink, tile, and FDR behavior with focused tests and batch evidence. Co-authored-by: Cursor <cursoragent@cursor.com>
77 lines
2.0 KiB
Python
77 lines
2.0 KiB
Python
import pytest
|
|
from pydantic import ValidationError
|
|
|
|
from camera_ingest_calibration import (
|
|
CalibrationMetadata,
|
|
CameraFrameIngestor,
|
|
NavigationFrame,
|
|
)
|
|
|
|
|
|
def _calibration() -> CalibrationMetadata:
|
|
return CalibrationMetadata(
|
|
calibration_id="calib-front-1",
|
|
camera_model="global-shutter",
|
|
image_width_px=1920,
|
|
image_height_px=1080,
|
|
focal_length_px=840.0,
|
|
distortion_model="plumb_bob",
|
|
)
|
|
|
|
|
|
def test_valid_frame_packet_contains_metadata_reports_and_normalization_hint() -> None:
|
|
# Arrange
|
|
frame = NavigationFrame(
|
|
frame_id="frame-1",
|
|
timestamp_ns=1_000,
|
|
image_ref="replay/frame-1.jpg",
|
|
mean_luma=0.7,
|
|
contrast=0.6,
|
|
north_up_degrees=12.5,
|
|
)
|
|
|
|
# Act
|
|
packet = CameraFrameIngestor().ingest(frame, _calibration())
|
|
|
|
# Assert
|
|
assert packet.contract.timestamp_ns == 1_000
|
|
assert packet.contract.calibration_id == "calib-front-1"
|
|
assert packet.quality_report.state == "usable"
|
|
assert packet.occlusion_report.state == "clear"
|
|
assert packet.normalization_hint.should_normalize_downstream is True
|
|
|
|
|
|
def test_total_occlusion_marks_frame_unusable_for_vio_and_anchor() -> None:
|
|
# Arrange
|
|
frame = NavigationFrame(
|
|
frame_id="frame-blackout",
|
|
timestamp_ns=2_000,
|
|
image_ref="replay/frame-blackout.jpg",
|
|
mean_luma=0.01,
|
|
contrast=0.01,
|
|
)
|
|
|
|
# Act
|
|
packet = CameraFrameIngestor().ingest(frame, _calibration())
|
|
|
|
# Assert
|
|
assert packet.occlusion_report.state == "total"
|
|
assert packet.usable_for_vio is False
|
|
assert packet.usable_for_anchor is False
|
|
|
|
|
|
def test_raw_frame_payload_retention_is_rejected() -> None:
|
|
# Act
|
|
with pytest.raises(ValidationError) as error:
|
|
NavigationFrame(
|
|
frame_id="frame-raw",
|
|
timestamp_ns=3_000,
|
|
image_ref="replay/frame-raw.jpg",
|
|
mean_luma=0.7,
|
|
contrast=0.6,
|
|
raw_frame_retained=True,
|
|
)
|
|
|
|
# Assert
|
|
assert "references only" in str(error.value)
|