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