新增双目yolo实现python代码

2026-09-14 15:05:03 +08:00
parent 538ae4c6c7
commit 3a8e2c7f4b
65 changed files with 2467 additions and 10 deletions
@@ -0,0 +1,94 @@
+"""StereoConfig 校验与 JSON 加载测试（规格 §9：配置外置、fail-fast）。"""
+
+import json
+from pathlib import Path
+
+import pytest
+
+from stereo_ranger import StereoConfig, load_from_json
+
+CONFIG_PATH = Path(__file__).resolve().parents[2] / "config" / "stereo_ranger.json"
+
+
+def _config_dict() -> dict:
+    return json.loads(CONFIG_PATH.read_text(encoding="utf-8"))
+
+
+def _write(tmp_path: Path, data: dict) -> str:
+    path = tmp_path / "stereo.json"
+    path.write_text(json.dumps(data, ensure_ascii=False), encoding="utf-8")
+    return str(path)
+
+
+def test_defaults_are_valid_and_domains_are_consistent():
+    cfg = StereoConfig()
+    assert cfg.focal_baseline_px_m == pytest.approx(cfg.fx_px * cfg.baseline_m)
+    assert cfg.z_min_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_max_px)
+    assert cfg.z_max_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_min_px)
+    assert cfg.z_error_budget_max_m == pytest.approx((cfg.max_delta_z_m * cfg.focal_baseline_px_m) ** 0.5)
+
+
+def test_load_from_json_matches_defaults():
+    assert load_from_json(str(CONFIG_PATH)) == StereoConfig()
+
+
+def test_missing_field_rejected(tmp_path):
+    data = _config_dict()
+    data.pop("baseline_m")
+    with pytest.raises(ValueError, match="缺少配置字段"):
+        load_from_json(_write(tmp_path, data))
+
+
+def test_unknown_field_rejected(tmp_path):
+    data = _config_dict()
+    data["radar_fallback"] = True
+    with pytest.raises(ValueError, match="未知配置字段"):
+        load_from_json(_write(tmp_path, data))
+
+
+@pytest.mark.parametrize(
+    "field,value",
+    [
+        ("fx_px", "960"),
+        ("consistency_N_frames", 3.5),
+        ("smooth_alpha", True),
+    ],
+)
+def test_type_error_rejected(tmp_path, field, value):
+    data = _config_dict()
+    data[field] = value
+    with pytest.raises(ValueError, match="配置类型非法"):
+        load_from_json(_write(tmp_path, data))
+
+
+@pytest.mark.parametrize(
+    "field,value",
+    [
+        ("fx_px", 0.0),
+        ("fy_px", -1.0),
+        ("cx_px", -0.5),
+        ("cy_px", -0.5),
+        ("baseline_m", 0.0),
+        ("tau_y_px", 0.0),
+        ("tau_h_ratio", 0.0),
+        ("disparity_min_px", 0.0),
+        ("disparity_min_px", 60.0),
+        ("max_delta_z_m", 0.0),
+        ("consistency_N_frames", 0),
+        ("consistency_M_frames", 2),
+        ("consistency_jump_px", 0.0),
+        ("smooth_alpha", 0.0),
+        ("smooth_alpha", 1.5),
+        ("jump_reset_m", 0.0),
+        ("filter_reset_frames", 0),
+        ("isolation_gate_px", 0.0),
+    ],
+)
+def test_invalid_values_rejected(field, value):
+    with pytest.raises(ValueError, match="配置非法"):
+        StereoConfig(**{field: value})
+
+
+def test_boundary_values_accepted():
+    cfg = StereoConfig(disparity_min_px=3.0, disparity_max_px=3.0 + 1e-9, smooth_alpha=1.0, consistency_M_frames=3)
+    assert cfg.z_max_m > cfg.z_min_m