mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
bf5b0e3ae2
- Move pytestmark after all imports in 35 test files (E402: not-at-top) - Add TYPE_CHECKING guard for FlightProcessor in composition.py (F821) - Sort import blocks in src/ and tests/ (I001 auto-fix via ruff --fix) - ruff check src/ tests/ now exits 0 with no errors Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
106 lines
3.7 KiB
Python
106 lines
3.7 KiB
Python
"""VPAIRAdapter unit tests with a fabricated layout matching the real VPAIR sample.
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Real VPAIR poses_query.txt columns:
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filepath,x,y,z,undulation,roll,pitch,yaw,landcover
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x/y/z = ECEF metres; roll/pitch/yaw = radians; landcover = int tag (ignored).
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"""
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from pathlib import Path
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import numpy as np
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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.vpair import VPAIRAdapter
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pytestmark = [pytest.mark.unit]
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# ECEF for a point at roughly lat=50.737°, lon=7.095°, alt=350m (Bonn/Eifel region).
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# Chosen to hit the real VPAIR geographic area so the adapter's conversion
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# produces plausible numbers the tests can assert on.
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_ECEF_ROW0 = (4023518.0, 510303.75, 4906569.65)
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_ECEF_ROW1 = (4023484.45, 510291.89, 4906597.63)
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@pytest.fixture
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def fake_vpair_root(tmp_path: Path) -> Path:
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(tmp_path / "queries").mkdir()
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for fn in ("00001.png", "00002.png"):
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# minimal PNG header bytes; OpenCV won't actually need to read these in
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# unit tests (adapter only stores paths).
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(tmp_path / "queries" / fn).write_bytes(b"\x89PNG\r\n\x1a\n")
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(tmp_path / "poses_query.txt").write_text(
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"filepath,x,y,z,undulation,roll,pitch,yaw,landcover\n"
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f"queries/00001.png,{_ECEF_ROW0[0]},{_ECEF_ROW0[1]},{_ECEF_ROW0[2]},"
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"47.8,-0.0073764682747423,0.0095759807154536,-0.0762864127755165,1\n"
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f"queries/00002.png,{_ECEF_ROW1[0]},{_ECEF_ROW1[1]},{_ECEF_ROW1[2]},"
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"47.8,0.0266015380620956,-0.0029512757901102,-0.0540984831750392,3\n"
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)
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return tmp_path
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def test_raises_when_missing(tmp_path: Path):
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with pytest.raises(DatasetNotAvailableError):
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VPAIRAdapter(tmp_path / "nope")
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def test_raises_when_poses_file_missing(tmp_path: Path):
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(tmp_path / "queries").mkdir()
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# no poses_query.txt
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with pytest.raises(DatasetNotAvailableError):
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VPAIRAdapter(tmp_path)
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def test_capabilities_no_raw_imu(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_root)
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cap = adapter.capabilities
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assert cap.has_raw_imu is False
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assert cap.platform_class == PlatformClass.FIXED_WING
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def test_iter_frames_indices_and_paths(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_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].frame_idx == 0
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assert Path(frames[0].image_path).name == "00001.png"
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assert frames[1].frame_idx == 1
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def test_iter_frames_synthesizes_timestamps_at_5hz(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_root)
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frames = list(adapter.iter_frames())
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# 5 Hz → 200 ms = 200_000_000 ns
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assert frames[0].timestamp_ns == 0
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assert frames[1].timestamp_ns == 200_000_000
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def test_iter_imu_empty(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_root)
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assert list(adapter.iter_imu()) == []
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def test_iter_ground_truth_converts_ecef_to_wgs84(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_root)
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gt = list(adapter.iter_ground_truth())
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assert len(gt) == 2
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# Bonn/Eifel area — rough bounds
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assert 50.0 < gt[0].lat < 51.5
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assert 6.5 < gt[0].lon < 8.0
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# Altitude above ellipsoid, hundreds of metres
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assert 100.0 < gt[0].alt < 700.0
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def test_iter_ground_truth_converts_euler_to_unit_quaternion(fake_vpair_root: Path):
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adapter = VPAIRAdapter(fake_vpair_root)
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gt = list(adapter.iter_ground_truth())
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for pose in gt:
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norm = np.sqrt(pose.qx**2 + pose.qy**2 + pose.qz**2 + pose.qw**2)
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assert norm == pytest.approx(1.0, abs=1e-10)
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# First row roll/pitch/yaw are small angles ≈0 → quaternion close to identity
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# qw should be close to 1 (but not exactly; roll/pitch/yaw != 0)
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assert gt[0].qw > 0.99
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