mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:46:36 +00:00
Yuzviak
89 lines
2.9 KiB
Python
89 lines
2.9 KiB
Python
"""EuRoCAdapter unit tests — uses a minimal fabricated MH_01-style directory."""
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from pathlib import Path
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import pytest
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from gps_denied.testing.datasets.base import (
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DatasetNotAvailableError,
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PlatformClass,
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)
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from gps_denied.testing.datasets.euroc import EuRoCAdapter
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@pytest.fixture
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def fake_euroc_root(tmp_path: Path) -> Path:
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mav0 = tmp_path / "mav0"
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(mav0 / "cam0" / "data").mkdir(parents=True)
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(mav0 / "imu0").mkdir(parents=True)
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(mav0 / "state_groundtruth_estimate0").mkdir(parents=True)
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# Two frames
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for ts in (1403636579763555584, 1403636579813555456):
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img = mav0 / "cam0" / "data" / f"{ts}.png"
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img.write_bytes(b"\x89PNG\r\n\x1a\n") # stub header
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(mav0 / "cam0" / "data.csv").write_text(
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"#timestamp [ns],filename\n"
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"1403636579763555584,1403636579763555584.png\n"
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"1403636579813555456,1403636579813555456.png\n"
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)
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# IMU: two samples
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(mav0 / "imu0" / "data.csv").write_text(
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"#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y,w_RS_S_z,"
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"a_RS_S_x [m s^-2],a_RS_S_y,a_RS_S_z\n"
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"1403636579763555584,0.01,0.02,0.03,0.1,0.2,-9.7\n"
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"1403636579813555456,0.01,0.02,0.03,0.1,0.2,-9.7\n"
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)
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# GT: two poses
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(mav0 / "state_groundtruth_estimate0" / "data.csv").write_text(
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"#timestamp [ns],p_RS_R_x [m],p_RS_R_y,p_RS_R_z,"
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"q_RS_w [],q_RS_x,q_RS_y,q_RS_z,"
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"v_RS_R_x,v_RS_R_y,v_RS_R_z,b_w_x,b_w_y,b_w_z,b_a_x,b_a_y,b_a_z\n"
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"1403636579763555584,0.0,0.0,0.0,1.0,0.0,0.0,0.0,"
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"0,0,0,0,0,0,0,0,0\n"
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"1403636579813555456,0.05,0.0,0.0,1.0,0.0,0.0,0.0,"
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"0,0,0,0,0,0,0,0,0\n"
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)
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return tmp_path
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def test_adapter_raises_when_missing(tmp_path: Path):
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with pytest.raises(DatasetNotAvailableError):
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EuRoCAdapter(tmp_path / "nope")
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def test_adapter_capabilities(fake_euroc_root: Path):
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adapter = EuRoCAdapter(fake_euroc_root)
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cap = adapter.capabilities
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assert cap.has_raw_imu is True
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assert cap.has_rtk_gt is False # EuRoC uses Vicon, not RTK
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assert cap.platform_class == PlatformClass.INDOOR
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def test_adapter_iter_frames(fake_euroc_root: Path):
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adapter = EuRoCAdapter(fake_euroc_root)
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frames = list(adapter.iter_frames())
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assert len(frames) == 2
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assert frames[0].timestamp_ns == 1403636579763555584
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assert frames[0].image_path.endswith("1403636579763555584.png")
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def test_adapter_iter_imu(fake_euroc_root: Path):
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adapter = EuRoCAdapter(fake_euroc_root)
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imu = list(adapter.iter_imu())
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assert len(imu) == 2
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assert imu[0].gyro == (0.01, 0.02, 0.03)
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assert imu[0].accel == (0.1, 0.2, -9.7)
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def test_adapter_iter_ground_truth(fake_euroc_root: Path):
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adapter = EuRoCAdapter(fake_euroc_root)
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gt = list(adapter.iter_ground_truth())
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assert len(gt) == 2
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assert gt[0].qw == 1.0
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# First pose is the fictitious origin
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assert gt[0].lat == pytest.approx(49.0)
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assert gt[0].lon == pytest.approx(32.0)
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