mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
85 lines
2.4 KiB
Python
85 lines
2.4 KiB
Python
"""Tests for CoordinateTransformer (F13)."""
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import pytest
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from gps_denied.core.coordinates import CoordinateTransformer, OriginNotSetError
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from gps_denied.schemas import CameraParameters, GPSPoint
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@pytest.fixture
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def transformer():
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return CoordinateTransformer()
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def test_enu_origin_management(transformer):
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fid = "flight_123"
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origin = GPSPoint(lat=48.0, lon=37.0)
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# Before setting
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with pytest.raises(OriginNotSetError):
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transformer.get_enu_origin(fid)
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# After setting
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transformer.set_enu_origin(fid, origin)
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assert transformer.get_enu_origin(fid).lat == 48.0
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def test_gps_to_enu(transformer):
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fid = "flight_123"
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origin = GPSPoint(lat=48.0, lon=37.0)
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transformer.set_enu_origin(fid, origin)
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# Same point -> 0, 0, 0
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enu = transformer.gps_to_enu(fid, origin)
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assert enu == (0.0, 0.0, 0.0)
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# Point north
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target = GPSPoint(lat=48.01, lon=37.0)
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enu_n = transformer.gps_to_enu(fid, target)
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assert enu_n[0] == 0.0
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assert enu_n[1] > 1000.0 # 0.01 deg lat is > 1km
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assert enu_n[2] == 0.0
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def test_enu_roundtrip(transformer):
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fid = "flight_123"
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origin = GPSPoint(lat=48.0, lon=37.0)
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transformer.set_enu_origin(fid, origin)
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test_gps = GPSPoint(lat=48.056, lon=37.123)
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enu = transformer.gps_to_enu(fid, test_gps)
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recovered = transformer.enu_to_gps(fid, enu)
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assert pytest.approx(recovered.lat, abs=1e-6) == test_gps.lat
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assert pytest.approx(recovered.lon, abs=1e-6) == test_gps.lon
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def test_pixel_to_gps_flow(transformer):
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fid = "flight_123"
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origin = GPSPoint(lat=48.0, lon=37.0)
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transformer.set_enu_origin(fid, origin)
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cam = CameraParameters(
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focal_length=25.0,
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sensor_width=23.5,
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sensor_height=15.6,
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resolution_width=4000,
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resolution_height=3000,
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)
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# Image center should yield the frame center (mock implementation logic)
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pixel = (2000.0, 1500.0)
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pose = {"position": [0, 0, 0]}
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gps_res = transformer.pixel_to_gps(fid, pixel, pose, cam, 100.0)
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assert gps_res.lat == origin.lat
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assert gps_res.lon == origin.lon
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# Inverse must match pixel (mock implementations match)
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pix_res = transformer.gps_to_pixel(fid, gps_res, pose, cam, 100.0)
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assert pix_res == pixel
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# And image_object_to_gps should work
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obj_gps = transformer.image_object_to_gps(fid, 1, pixel)
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assert obj_gps.lat == origin.lat
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