mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 10:46:37 +00:00
Denys Zaitsev
114 lines
4.3 KiB
Python
114 lines
4.3 KiB
Python
import pytest
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import numpy as np
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from unittest.mock import Mock, patch
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from datetime import datetime
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from f10_factor_graph_optimizer import FactorGraphOptimizer, FactorGraphConfig
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from f07_sequential_visual_odometry import RelativePose
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from f02_1_flight_lifecycle_manager import GPSPoint
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from f09_local_geospatial_anchoring import Sim3Transform
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@pytest.fixture
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def fgo():
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return FactorGraphOptimizer()
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@pytest.fixture
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def dummy_relative_pose():
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return RelativePose(
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translation=np.array([1.0, 0.0, 0.0]),
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rotation=np.eye(3),
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confidence=0.9,
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inlier_count=100,
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total_matches=120,
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tracking_good=True
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)
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class TestFactorGraphOptimizer:
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# --- 10.01 Core Factor Management ---
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def test_add_relative_factor_scales_translation(self, fgo, dummy_relative_pose):
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flight_id = "flight_1"
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cov = np.eye(6)
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res = fgo.add_relative_factor(flight_id, 1, 2, dummy_relative_pose, cov)
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assert res is True
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# Verify scaling logic via internal state inspection
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state = fgo._get_or_create_flight_graph(flight_id)
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if not state.isam2: # If mocking
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T = state.global_values[2]
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assert np.isclose(T[0, 3], 100.0) # Scaled by default 100m frame spacing
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def test_add_absolute_factor_converts_gps_to_enu(self, fgo):
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flight_id = "flight_abs"
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gps_origin = GPSPoint(lat=48.0, lon=37.0)
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gps_target = GPSPoint(lat=48.001, lon=37.001)
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fgo.add_absolute_factor(flight_id, 1, gps_origin, np.eye(3), is_user_anchor=True)
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fgo.add_absolute_factor(flight_id, 2, gps_target, np.eye(3), is_user_anchor=False)
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state = fgo._get_or_create_flight_graph(flight_id)
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assert state.reference_origin.lat == 48.0
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# --- 10.02 Trajectory Optimization ---
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def test_optimize_incremental(self, fgo, dummy_relative_pose):
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flight_id = "flight_opt"
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fgo.add_relative_factor(flight_id, 1, 2, dummy_relative_pose, np.eye(6))
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result = fgo.optimize(flight_id, iterations=3)
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assert result.converged is True
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assert result.iterations_used == 3
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traj = fgo.get_trajectory(flight_id)
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assert len(traj) > 0
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assert 2 in traj
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assert isinstance(traj[2].position, np.ndarray)
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def test_get_marginal_covariance_returns_6x6(self, fgo, dummy_relative_pose):
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fgo.add_relative_factor("flight_cov", 1, 2, dummy_relative_pose, np.eye(6))
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cov = fgo.get_marginal_covariance("flight_cov", 2)
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assert cov.shape == (6, 6)
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# --- 10.03 Chunk Subgraph Operations ---
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def test_chunk_creation_and_isolation(self, fgo, dummy_relative_pose):
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fid = "flight_chunk"
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assert fgo.create_chunk_subgraph(fid, "chunk1", 10) is True
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assert fgo.create_chunk_subgraph(fid, "chunk1", 10) is False # Duplicate fails
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assert fgo.add_relative_factor_to_chunk(fid, "chunk1", 10, 11, dummy_relative_pose, np.eye(6)) is True
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assert fgo.add_relative_factor_to_chunk(fid, "chunk_missing", 10, 11, dummy_relative_pose, np.eye(6)) is False
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traj = fgo.get_chunk_trajectory(fid, "chunk1")
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assert len(traj) == 2
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assert 11 in traj
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def test_optimize_chunk_isolation(self, fgo, dummy_relative_pose):
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fid = "flight_iso"
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fgo.create_chunk_subgraph(fid, "C1", 1)
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fgo.create_chunk_subgraph(fid, "C2", 20)
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res = fgo.optimize_chunk(fid, "C1", 5)
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assert res.converged is True
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# --- 10.04 Chunk Merging ---
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def test_merge_applies_sim3_transform(self, fgo, dummy_relative_pose):
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fid = "flight_merge"
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fgo.create_chunk_subgraph(fid, "main", 1)
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fgo.create_chunk_subgraph(fid, "new", 10)
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fgo.add_relative_factor_to_chunk(fid, "new", 10, 11, dummy_relative_pose, np.eye(6))
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transform = Sim3Transform(translation=np.array([50.0, 0.0, 0.0]), rotation=np.eye(3), scale=2.0)
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assert fgo.merge_chunk_subgraphs(fid, "new", "main", transform) is True
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# Verify new chunk is absorbed
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state = fgo._get_or_create_flight_graph(fid)
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assert "new" not in state.chunk_subgraphs
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assert state.frame_to_chunk[11] == "main"
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traj = fgo.get_chunk_trajectory(fid, "main")
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assert 11 in traj |