mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:46:36 +00:00
Yuzviak
65 lines
1.8 KiB
Python
65 lines
1.8 KiB
Python
"""MARSLVIGAdapter — reads pre-extracted per-topic files from a sequence dir."""
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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.mars_lvig import MARSLVIGAdapter
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@pytest.fixture
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def fake_mars_seq(tmp_path: Path) -> Path:
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seq = tmp_path / "HKairport_01"
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(seq / "images").mkdir(parents=True)
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for ts in (100_000_000, 200_000_000):
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(seq / "images" / f"{ts}.jpg").write_bytes(b"\xff\xd8\xff\xd9")
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(seq / "imu.csv").write_text(
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"timestamp_ns,ax,ay,az,gx,gy,gz\n"
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"100000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
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"200000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
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)
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(seq / "gnss.csv").write_text(
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"timestamp_ns,lat,lon,alt\n"
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"100000000,22.32,114.17,100.0\n"
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"200000000,22.3201,114.1702,100.0\n"
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)
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return seq
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def test_raises_when_missing(tmp_path: Path):
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with pytest.raises(DatasetNotAvailableError):
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MARSLVIGAdapter(tmp_path / "nope")
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def test_capabilities(fake_mars_seq: Path):
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adapter = MARSLVIGAdapter(fake_mars_seq)
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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 True
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assert cap.platform_class == PlatformClass.ROTARY
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def test_iter_frames(fake_mars_seq: Path):
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adapter = MARSLVIGAdapter(fake_mars_seq)
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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 == 100_000_000
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def test_iter_imu(fake_mars_seq: Path):
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adapter = MARSLVIGAdapter(fake_mars_seq)
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imu = list(adapter.iter_imu())
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assert len(imu) == 2
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assert imu[0].accel == (0.0, 0.0, -9.81)
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def test_iter_ground_truth(fake_mars_seq: Path):
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adapter = MARSLVIGAdapter(fake_mars_seq)
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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].lat == pytest.approx(22.32)
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