双目测距方案重构与其他小修改

2026-09-10 16:16:05 +08:00
parent 3325465359
commit 538ae4c6c7
39 changed files with 2285 additions and 1444 deletions
@@ -1,76 +0,0 @@
-"""StereoConfig 默认值、派生区间与 JSON 加载测试（规格 §2：参数全部外置）。"""
-
-import json
-
-import pytest
-
-from stereo_ranger.config import StereoConfig, load_from_json
-
-VALID = {
-    "fx_px": 1663.0, "fy_px": 1663.0, "cx_px": 960.0, "cy_px": 540.0,
-    "baseline_m": 0.12, "z_min_m": 2.0, "z_max_m": 40.0,
-    "vertical_tau_px": 3.0, "height_ratio_tau": 0.3,
-    "disparity_min_px": 4.0, "range_tol_m": 3.0, "disp_noise_px": 1.5,
-    "use_center_fallback": False, "filter_enabled": True,
-    "filter_alpha": 0.5, "filter_jump_ratio": 0.1, "warn_interval_s": 1.0,
-}
-
-
-def test_defaults_and_disparity_window():
-    cfg = StereoConfig()
-    assert cfg.baseline_m == 0.06 and cfg.fx_px == 960.0
-    # FB = 57.6，z 窗口 [1, 50] m -> D 窗口 [57.6/50, 57.6/1]
-    lo, hi = cfg.disparity_bounds_px()
-    assert lo == pytest.approx(1.152)
-    assert hi == pytest.approx(57.6)
-
-
-@pytest.mark.parametrize("kwargs", [
-    {"baseline_m": 0.0},
-    {"fx_px": -1.0},
-    {"fy_px": 0.0},
-    {"cx_px": -1.0},
-    {"z_min_m": 0.0},
-    {"z_max_m": 10.0, "z_min_m": 20.0},
-    {"vertical_tau_px": 0.0},
-    {"height_ratio_tau": 0.0},
-    {"disparity_min_px": 0.0},
-    {"range_tol_m": 0.0},
-    {"disp_noise_px": 0.0},
-    {"filter_alpha": 0.0},
-    {"filter_alpha": 1.5},
-    {"filter_jump_ratio": -0.1},
-    {"warn_interval_s": -1.0},
-])
-def test_invalid_config_raises(kwargs):
-    with pytest.raises(ValueError):
-        StereoConfig(**kwargs)
-
-
-def test_load_from_json_roundtrip(tmp_path):
-    p = tmp_path / "stereo.json"
-    p.write_text(json.dumps(VALID), encoding="utf-8")
-    cfg = load_from_json(str(p))
-    for field, value in VALID.items():
-        assert getattr(cfg, field) == value
-    lo, hi = cfg.disparity_bounds_px()
-    assert hi == pytest.approx(1663.0 * 0.12 / 2.0)  # FB / z_min
-    assert lo == pytest.approx(1663.0 * 0.12 / 40.0)  # FB / z_max
-
-
-def test_load_from_json_missing_field_reports_name(tmp_path):
-    p = tmp_path / "stereo.json"
-    data = dict(VALID)
-    del data["baseline_m"]
-    p.write_text(json.dumps(data), encoding="utf-8")
-    with pytest.raises(ValueError, match="baseline_m"):
-        load_from_json(str(p))
-
-
-def test_load_from_json_unknown_field_rejected(tmp_path):
-    p = tmp_path / "stereo.json"
-    data = dict(VALID)
-    data["magic_extra"] = 1
-    p.write_text(json.dumps(data), encoding="utf-8")
-    with pytest.raises(ValueError, match="magic_extra"):
-        load_from_json(str(p))