mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 05:36:36 +00:00
Yuzviak
58 lines
1.7 KiB
Python
58 lines
1.7 KiB
Python
"""VPAIRAdapter unit tests with a fabricated vpair_sample/ layout."""
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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.vpair import VPAIRAdapter
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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 ("q_00000.jpg", "q_00001.jpg"):
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(tmp_path / "queries" / fn).write_bytes(b"\xff\xd8\xff\xd9") # minimal JPEG
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(tmp_path / "poses.csv").write_text(
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"filename,lat,lon,alt,qx,qy,qz,qw,timestamp_ns\n"
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"q_00000.jpg,50.737,7.095,350.0,0,0,0,1,0\n"
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"q_00001.jpg,50.7372,7.0952,350.0,0,0,0,1,1000000000\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_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(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 Path(frames[0].image_path).name == "q_00000.jpg"
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assert frames[1].timestamp_ns == 1_000_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(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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assert gt[0].lat == pytest.approx(50.737)
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assert gt[0].alt == pytest.approx(350.0)
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