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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
42 lines
1.3 KiB
Python
42 lines
1.3 KiB
Python
"""Tests for Global Place Recognition (F08)."""
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import numpy as np
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import pytest
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from gps_denied.core.gpr import GlobalPlaceRecognition
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from gps_denied.core.models import ModelManager
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from gps_denied.schemas.gpr import TileCandidate
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@pytest.fixture
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def gpr():
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manager = ModelManager()
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gpr = GlobalPlaceRecognition(manager)
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gpr.load_index("flight_123", "dummy_path.faiss")
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return gpr
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def test_compute_location_descriptor(gpr):
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img = np.zeros((200, 200, 3), dtype=np.uint8)
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desc = gpr.compute_location_descriptor(img)
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assert desc.shape == (4096,)
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# Should be L2 normalized
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assert np.isclose(np.linalg.norm(desc), 1.0)
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def test_retrieve_candidate_tiles(gpr):
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img = np.zeros((200, 200, 3), dtype=np.uint8)
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candidates = gpr.retrieve_candidate_tiles(img, top_k=5)
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assert len(candidates) == 5
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for c in candidates:
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assert isinstance(c, TileCandidate)
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assert c.similarity_score >= 0.0
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def test_retrieve_candidate_tiles_for_chunk(gpr):
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imgs = [np.zeros((200, 200, 3), dtype=np.uint8) for _ in range(5)]
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candidates = gpr.retrieve_candidate_tiles_for_chunk(imgs, top_k=3)
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assert len(candidates) == 3
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# Ensure they are sorted
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assert candidates[0].similarity_score >= candidates[1].similarity_score
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