keita
df91b1110e
归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。 目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。 自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。 任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。 入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。 新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。
160 lines
5.4 KiB
Python
160 lines
5.4 KiB
Python
"""tracklet_test.py —— Tracklet 与几何工具单元测试。
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移植自 reference-c++/target_tracker/tests/tracklet_test.cpp。
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覆盖（视觉追踪技术路线 §3.2/§5.2/§6.1/§7）：框互转、IoU 边界、
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IsDead/IsCoasting 判定（严格大于）、Predict/Update/MarkMiss 计数语义。
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"""
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import pytest
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from target_tracker.tracklet import (BoxXYXY, BoxCXCYWH, Tracklet, compute_iou,
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to_center_size, to_xyxy)
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# ---- 框表示互转（§7） ----
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def test_round_trip_preserves_values():
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box = BoxXYXY(10.0, 20.0, 50.0, 80.0)
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c = to_center_size(box)
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assert c.cx == 30.0 # (10+50)/2
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assert c.cy == 50.0 # (20+80)/2
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assert c.w == 40.0 # 50−10
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assert c.h == 60.0 # 80−20
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back = to_xyxy(c)
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assert back.x1 == box.x1
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assert back.y1 == box.y1
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assert back.x2 == box.x2
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assert back.y2 == box.y2
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# ---- IoU 边界（§5.2） ----
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def test_identical_boxes_return_one():
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a = BoxXYXY(10.0, 10.0, 30.0, 30.0)
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assert compute_iou(a, a) == pytest.approx(1.0, abs=1e-12) # 完全重合 = 1
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def test_disjoint_boxes_return_zero():
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a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
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b = BoxXYXY(20.0, 20.0, 30.0, 30.0)
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assert compute_iou(a, b) == 0.0 # 零交集
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def test_touching_edges_return_zero():
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# 仅边/角相接：交集宽高为 0 → 交集面积 ≤ 0 返回 0（§5.2）
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a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
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b = BoxXYXY(10.0, 0.0, 20.0, 10.0) # 右边缘相接
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assert compute_iou(a, b) == 0.0
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c = BoxXYXY(10.0, 10.0, 20.0, 20.0) # 角点相接
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assert compute_iou(a, c) == 0.0
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def test_empty_box_returns_zero():
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normal = BoxXYXY(0.0, 0.0, 10.0, 10.0)
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zero_area = BoxXYXY(5.0, 5.0, 5.0, 5.0) # 零面积
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inverted = BoxXYXY(10.0, 10.0, 0.0, 0.0) # 反向（负宽高）
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assert compute_iou(normal, zero_area) == 0.0
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assert compute_iou(zero_area, normal) == 0.0
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assert compute_iou(normal, inverted) == 0.0
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assert compute_iou(zero_area, zero_area) == 0.0
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def test_partial_overlap_is_correct():
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# A = [0,0,10,10]（面积 100），B = [5,5,15,15]（面积 100），交集 25
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a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
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b = BoxXYXY(5.0, 5.0, 15.0, 15.0)
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assert compute_iou(a, b) == pytest.approx(25.0 / 175.0, abs=1e-12)
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assert compute_iou(b, a) == pytest.approx(25.0 / 175.0, abs=1e-12) # 对称性
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# ---- 构造与派生状态（§3.2 / §6.1） ----
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def test_construction_initial_fields():
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t = Tracklet(7, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 1, 8)
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assert t.track_id == 7
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assert t.lost_count == 0
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assert t.max_lost == 8
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assert t.confidence == 0.9
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assert t.cls_id == 1
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assert t.age == 1 # 创建时为 1（§3.2）
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assert t.hits == 1 # 创建时为 1（§3.2）
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assert t.last_center == (100.0, 100.0)
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assert t.last_box is not None # 创建当帧即赋 last_box（§7 步骤 5）
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assert t.last_box.x1 == 90.0
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assert t.last_box.y1 == 90.0
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assert t.last_box.x2 == 110.0
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assert t.last_box.y2 == 110.0
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assert not t.is_dead
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assert not t.is_coasting
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def test_is_dead_uses_strictly_greater():
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# IsDead 使用严格大于：lost_count == max_lost 仍存活（§6.1 注记 2）
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t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
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for _ in range(8):
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t.mark_miss()
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assert not t.is_dead, f"lost_count={t.lost_count} 未超过 max_lost 不应判死"
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assert t.lost_count == 8
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t.mark_miss() # lost_count = 9 > 8
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assert t.is_dead
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def test_is_coasting_when_lost_positive():
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t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
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assert not t.is_coasting
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t.mark_miss()
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assert t.is_coasting # lost_count > 0 即 Coast（§3.2）
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# ---- 生命周期方法计数语义（§7） ----
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def test_predict_advances_age_and_updates_last_state():
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t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
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age_before = t.age
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t.predict() # 速度为零：位置不变，但 age+1、last_box 更新为预测框
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assert t.age == age_before + 1
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assert t.last_box is not None
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assert t.last_center[0] == pytest.approx(100.0, abs=1e-9)
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assert t.last_center[1] == pytest.approx(100.0, abs=1e-9)
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# hits / lost_count / confidence 不受预测影响
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assert t.hits == 1
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assert t.lost_count == 0
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assert t.confidence == 0.9
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def test_update_resets_lost_and_increments_hits():
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t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
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t.mark_miss()
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t.mark_miss()
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assert t.lost_count == 2
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assert t.is_coasting
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age_before = t.age
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box = BoxXYXY(150.0, 160.0, 170.0, 180.0)
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t.update(box, 0.75, 2)
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assert t.lost_count == 0 # 匹配成功清零（§7）
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assert t.hits == 2 # hits+1
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assert t.age == age_before + 1 # age+1
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assert t.confidence == 0.75
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assert t.cls_id == 2
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assert t.last_center == (160.0, 170.0) # ((150+170)/2, (160+180)/2)
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assert t.last_box is not None
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assert t.last_box.x1 == box.x1
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assert t.last_raw_box is not None # 实测框同步记录
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assert t.last_raw_box.x2 == box.x2
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assert not t.is_coasting
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def test_mark_miss_increments_lost_and_age():
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t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
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age_before = t.age
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t.mark_miss()
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assert t.lost_count == 1
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assert t.age == age_before + 1
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# MarkMiss 不影响 hits / confidence
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assert t.hits == 1
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assert t.confidence == 0.9
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