mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:26:38 +00:00
Yuzviak
89 lines
2.9 KiB
Python
89 lines
2.9 KiB
Python
"""EuRoCAdapter unit tests — uses a minimal fabricated MH_01-style directory."""
|
|
|
|
from pathlib import Path
|
|
|
|
import pytest
|
|
|
|
from gps_denied.testing.datasets.base import (
|
|
DatasetNotAvailableError,
|
|
PlatformClass,
|
|
)
|
|
from gps_denied.testing.datasets.euroc import EuRoCAdapter
|
|
|
|
|
|
@pytest.fixture
|
|
def fake_euroc_root(tmp_path: Path) -> Path:
|
|
mav0 = tmp_path / "mav0"
|
|
(mav0 / "cam0" / "data").mkdir(parents=True)
|
|
(mav0 / "imu0").mkdir(parents=True)
|
|
(mav0 / "state_groundtruth_estimate0").mkdir(parents=True)
|
|
|
|
# Two frames
|
|
for ts in (1403636579763555584, 1403636579813555456):
|
|
img = mav0 / "cam0" / "data" / f"{ts}.png"
|
|
img.write_bytes(b"\x89PNG\r\n\x1a\n") # stub header
|
|
(mav0 / "cam0" / "data.csv").write_text(
|
|
"#timestamp [ns],filename\n"
|
|
"1403636579763555584,1403636579763555584.png\n"
|
|
"1403636579813555456,1403636579813555456.png\n"
|
|
)
|
|
|
|
# IMU: two samples
|
|
(mav0 / "imu0" / "data.csv").write_text(
|
|
"#timestamp [ns],w_RS_S_x [rad s^-1],w_RS_S_y,w_RS_S_z,"
|
|
"a_RS_S_x [m s^-2],a_RS_S_y,a_RS_S_z\n"
|
|
"1403636579763555584,0.01,0.02,0.03,0.1,0.2,-9.7\n"
|
|
"1403636579813555456,0.01,0.02,0.03,0.1,0.2,-9.7\n"
|
|
)
|
|
|
|
# GT: two poses
|
|
(mav0 / "state_groundtruth_estimate0" / "data.csv").write_text(
|
|
"#timestamp [ns],p_RS_R_x [m],p_RS_R_y,p_RS_R_z,"
|
|
"q_RS_w [],q_RS_x,q_RS_y,q_RS_z,"
|
|
"v_RS_R_x,v_RS_R_y,v_RS_R_z,b_w_x,b_w_y,b_w_z,b_a_x,b_a_y,b_a_z\n"
|
|
"1403636579763555584,0.0,0.0,0.0,1.0,0.0,0.0,0.0,"
|
|
"0,0,0,0,0,0,0,0,0\n"
|
|
"1403636579813555456,0.05,0.0,0.0,1.0,0.0,0.0,0.0,"
|
|
"0,0,0,0,0,0,0,0,0\n"
|
|
)
|
|
return tmp_path
|
|
|
|
|
|
def test_adapter_raises_when_missing(tmp_path: Path):
|
|
with pytest.raises(DatasetNotAvailableError):
|
|
EuRoCAdapter(tmp_path / "nope")
|
|
|
|
|
|
def test_adapter_capabilities(fake_euroc_root: Path):
|
|
adapter = EuRoCAdapter(fake_euroc_root)
|
|
cap = adapter.capabilities
|
|
assert cap.has_raw_imu is True
|
|
assert cap.has_rtk_gt is False # EuRoC uses Vicon, not RTK
|
|
assert cap.platform_class == PlatformClass.INDOOR
|
|
|
|
|
|
def test_adapter_iter_frames(fake_euroc_root: Path):
|
|
adapter = EuRoCAdapter(fake_euroc_root)
|
|
frames = list(adapter.iter_frames())
|
|
assert len(frames) == 2
|
|
assert frames[0].timestamp_ns == 1403636579763555584
|
|
assert frames[0].image_path.endswith("1403636579763555584.png")
|
|
|
|
|
|
def test_adapter_iter_imu(fake_euroc_root: Path):
|
|
adapter = EuRoCAdapter(fake_euroc_root)
|
|
imu = list(adapter.iter_imu())
|
|
assert len(imu) == 2
|
|
assert imu[0].gyro == (0.01, 0.02, 0.03)
|
|
assert imu[0].accel == (0.1, 0.2, -9.7)
|
|
|
|
|
|
def test_adapter_iter_ground_truth(fake_euroc_root: Path):
|
|
adapter = EuRoCAdapter(fake_euroc_root)
|
|
gt = list(adapter.iter_ground_truth())
|
|
assert len(gt) == 2
|
|
assert gt[0].qw == 1.0
|
|
# First pose is the fictitious origin
|
|
assert gt[0].lat == pytest.approx(49.0)
|
|
assert gt[0].lon == pytest.approx(32.0)
|