mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 11:16:37 +00:00
Denys Zaitsev
193 lines
7.1 KiB
Python
193 lines
7.1 KiB
Python
import pytest
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pytest.skip("Obsolete test file replaced by test_f14_result_manager", allow_module_level=True)
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import os
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import json
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import csv
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from f13_result_manager import ResultManager, ResultData, GPSPoint
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@pytest.fixture
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def temp_result_manager(tmp_path):
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"""Creates a ResultManager with a temporary isolated SQLite database."""
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db_path = tmp_path / "test_results.db"
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return ResultManager(db_path=str(db_path))
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def test_store_initial_result(temp_result_manager):
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"""Test Case 1: Store Initial Result from the Vision Pipeline."""
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res = ResultData(
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flight_id="Test_Flight_001",
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image_id="AD000001.jpg",
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sequence_number=1,
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estimated_gps=GPSPoint(lat=48.275290, lon=37.385218),
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ground_truth_gps=GPSPoint(lat=48.275292, lon=37.385220),
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confidence=0.92,
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source="L3",
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processing_time_ms=450,
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metadata={"layer": "L3", "inlier_ratio": 0.85}
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)
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stored = temp_result_manager.store_result(res)
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assert stored.version == 1
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assert stored.error_m is not None
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assert stored.error_m > 0.0 # Haversine distance should be calculated
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retrieved = temp_result_manager.get_result("Test_Flight_001", "AD000001.jpg")
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assert retrieved is not None
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assert retrieved.version == 1
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assert retrieved.confidence == 0.92
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assert retrieved.metadata["layer"] == "L3"
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def test_store_refined_result_versions(temp_result_manager):
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"""Test Case 2 & 12: Store Refined Result and verify versioning history (AC-8)."""
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# 1. Initial Estimate
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res1 = ResultData(
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flight_id="Test_Flight_001",
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image_id="AD000001.jpg",
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sequence_number=1,
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estimated_gps=GPSPoint(lat=48.275290, lon=37.385218),
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confidence=0.5,
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source="vo_frontend"
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)
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temp_result_manager.store_result(res1)
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# 2. Refined Estimate (e.g., after Factor Graph convergence)
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res2 = ResultData(
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flight_id="Test_Flight_001",
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image_id="AD000001.jpg",
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sequence_number=1,
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estimated_gps=GPSPoint(lat=48.275291, lon=37.385219),
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confidence=0.95,
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source="factor_graph",
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refinement_reason="new_anchor"
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)
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stored2 = temp_result_manager.store_result(res2)
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assert stored2.version == 2
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# Verify fetching latest defaults to version 2
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latest = temp_result_manager.get_result("Test_Flight_001", "AD000001.jpg")
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assert latest.version == 2
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assert latest.source == "factor_graph"
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# Verify history contains both
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history = temp_result_manager.get_result_history("Test_Flight_001", "AD000001.jpg")
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assert len(history) == 2
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assert history[0].version == 1
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assert history[1].version == 2
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def test_batch_store_and_retrieve_flight(temp_result_manager):
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"""Test Case 3 & 5: Batch Store Results and Retrieve Flight Results."""
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batch = []
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for i in range(1, 11):
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batch.append(ResultData(
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flight_id="Test_Flight_002",
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image_id=f"AD{i:06d}.jpg",
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sequence_number=i,
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estimated_gps=GPSPoint(lat=48.0 + (i*0.001), lon=37.0),
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confidence=0.9
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))
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temp_result_manager.store_results_batch(batch)
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results = temp_result_manager.get_flight_results("Test_Flight_002")
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assert len(results) == 10
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assert results[0].sequence_number == 1
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assert results[-1].sequence_number == 10
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def test_retrieve_with_filtering(temp_result_manager):
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"""Test Case 6: Retrieve with Filtering by confidence and error."""
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temp_result_manager.store_result(ResultData(
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flight_id="Test_Flight_003", image_id="1.jpg", sequence_number=1,
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estimated_gps=GPSPoint(lat=48.0, lon=37.0), ground_truth_gps=GPSPoint(lat=48.0, lon=37.0),
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confidence=0.95
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)) # Perfect match, high confidence
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temp_result_manager.store_result(ResultData(
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flight_id="Test_Flight_003", image_id="2.jpg", sequence_number=2,
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estimated_gps=GPSPoint(lat=48.0, lon=37.0), ground_truth_gps=GPSPoint(lat=48.1, lon=37.1),
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confidence=0.4
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)) # High error, low confidence
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# Filter by confidence > 0.9
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high_conf = temp_result_manager.get_flight_results("Test_Flight_003", min_confidence=0.9)
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assert len(high_conf) == 1
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assert high_conf[0].image_id == "1.jpg"
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# Filter by max error < 50m
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low_err = temp_result_manager.get_flight_results("Test_Flight_003", max_error=50.0)
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assert len(low_err) == 1
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assert low_err[0].image_id == "1.jpg"
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def test_store_user_fix(temp_result_manager):
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"""Test Case 10: Store User Fix (AC-6)."""
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fix = temp_result_manager.store_user_fix(
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flight_id="Test_Flight_001",
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image_id="AD000005.jpg",
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sequence_number=5,
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gps=GPSPoint(lat=48.273997, lon=37.379828)
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)
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assert fix.source == "user"
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assert fix.confidence == 1.0
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assert fix.refinement_reason == "Manual User Fix"
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retrieved = temp_result_manager.get_result("Test_Flight_001", "AD000005.jpg")
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assert retrieved.source == "user"
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assert retrieved.confidence == 1.0
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def test_calculate_statistics(temp_result_manager):
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"""Test Case 11: Calculate Statistics for AC-1 / AC-2 validation."""
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# Add simulated results with varying errors
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for i in range(10):
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# Shift estimated gps slightly to create an error
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offset = i * 0.0001
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temp_result_manager.store_result(ResultData(
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flight_id="Test_Flight_Stats",
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image_id=f"{i}.jpg",
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sequence_number=i,
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estimated_gps=GPSPoint(lat=48.0 + offset, lon=37.0),
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ground_truth_gps=GPSPoint(lat=48.0, lon=37.0),
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confidence=0.9
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))
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stats = temp_result_manager.calculate_statistics("Test_Flight_Stats", total_flight_images=12)
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assert stats is not None
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assert stats.total_images == 12
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assert stats.processed_images == 10
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assert stats.registration_rate == pytest.approx((10/12)*100.0)
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assert stats.mean_error_m > 0
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assert stats.rmse_m > 0
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assert 0.0 <= stats.percent_under_20m <= 100.0
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assert 0.0 <= stats.percent_under_50m <= 100.0
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def test_export_formats(temp_result_manager, tmp_path):
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"""Test Case 7, 8, 9: Export to JSON, CSV, KML."""
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flight_id = "Test_Export"
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temp_result_manager.store_result(ResultData(
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flight_id=flight_id, image_id="1.jpg", sequence_number=1,
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estimated_gps=GPSPoint(lat=48.1, lon=37.1), confidence=0.9
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))
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# JSON Export
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json_path = str(tmp_path / "export.json")
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temp_result_manager.export_results(flight_id, format="json", filepath=json_path)
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assert os.path.exists(json_path)
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with open(json_path, 'r') as f:
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data = json.load(f)
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assert data["flight_id"] == flight_id
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assert len(data["results"]) == 1
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# CSV Export
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csv_path = str(tmp_path / "export.csv")
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temp_result_manager.export_results(flight_id, format="csv", filepath=csv_path)
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assert os.path.exists(csv_path)
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with open(csv_path, 'r') as f:
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reader = csv.reader(f)
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assert "image" in next(reader) # header
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# KML Export
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kml_path = str(tmp_path / "export.kml")
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temp_result_manager.export_results(flight_id, format="kml", filepath=kml_path)
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assert os.path.exists(kml_path) |