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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
46 lines
1.4 KiB
Python
46 lines
1.4 KiB
Python
"""Trajectory comparison metrics."""
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import numpy as np
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import pytest
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from gps_denied.testing.metrics import (
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absolute_trajectory_error,
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relative_pose_error,
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trajectory_rmse,
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)
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def test_rmse_identical_trajectories_is_zero():
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est = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [2.0, 0.0, 0.0]])
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gt = est.copy()
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assert trajectory_rmse(est, gt) == pytest.approx(0.0)
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def test_rmse_constant_offset():
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# Constant 1m offset in x
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est = np.array([[1.0, 0.0, 0.0], [2.0, 0.0, 0.0]])
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gt = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0]])
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assert trajectory_rmse(est, gt) == pytest.approx(1.0)
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def test_rmse_rejects_length_mismatch():
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est = np.zeros((3, 3))
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gt = np.zeros((4, 3))
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with pytest.raises(ValueError):
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trajectory_rmse(est, gt)
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def test_ate_returns_summary_stats():
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est = np.array([[1.0, 0.0, 0.0], [2.0, 0.0, 0.0], [3.0, 0.0, 0.0]])
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gt = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [2.0, 0.0, 0.0]])
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result = absolute_trajectory_error(est, gt)
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assert result["rmse"] == pytest.approx(1.0)
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assert result["mean"] == pytest.approx(1.0)
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assert result["max"] == pytest.approx(1.0)
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def test_rpe_identical_trajectories_is_zero():
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traj = np.array([[0.0, 0.0, 0.0], [1.0, 0.0, 0.0], [2.0, 0.0, 0.0]])
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result = relative_pose_error(traj, traj, delta=1)
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assert result["rmse"] == pytest.approx(0.0)
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