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。
|
||
|
||
移植自 reference-c++/target_tracker/tests/tracklet_test.cpp。
|
||
覆盖（视觉追踪技术路线 §3.2/§5.2/§6.1/§7）：框互转、IoU 边界、
|
||
IsDead/IsCoasting 判定（严格大于）、Predict/Update/MarkMiss 计数语义。
|
||
"""
|
||
|
||
import pytest
|
||
|
||
from target_tracker.tracklet import (BoxXYXY, BoxCXCYWH, Tracklet, compute_iou,
|
||
to_center_size, to_xyxy)
|
||
|
||
|
||
# ---- 框表示互转（§7） ----
|
||
|
||
def test_round_trip_preserves_values():
|
||
box = BoxXYXY(10.0, 20.0, 50.0, 80.0)
|
||
c = to_center_size(box)
|
||
assert c.cx == 30.0 # (10+50)/2
|
||
assert c.cy == 50.0 # (20+80)/2
|
||
assert c.w == 40.0 # 50−10
|
||
assert c.h == 60.0 # 80−20
|
||
|
||
back = to_xyxy(c)
|
||
assert back.x1 == box.x1
|
||
assert back.y1 == box.y1
|
||
assert back.x2 == box.x2
|
||
assert back.y2 == box.y2
|
||
|
||
|
||
# ---- IoU 边界（§5.2） ----
|
||
|
||
def test_identical_boxes_return_one():
|
||
a = BoxXYXY(10.0, 10.0, 30.0, 30.0)
|
||
assert compute_iou(a, a) == pytest.approx(1.0, abs=1e-12) # 完全重合 = 1
|
||
|
||
|
||
def test_disjoint_boxes_return_zero():
|
||
a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
|
||
b = BoxXYXY(20.0, 20.0, 30.0, 30.0)
|
||
assert compute_iou(a, b) == 0.0 # 零交集
|
||
|
||
|
||
def test_touching_edges_return_zero():
|
||
# 仅边/角相接：交集宽高为 0 → 交集面积 ≤ 0 返回 0（§5.2）
|
||
a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
|
||
b = BoxXYXY(10.0, 0.0, 20.0, 10.0) # 右边缘相接
|
||
assert compute_iou(a, b) == 0.0
|
||
c = BoxXYXY(10.0, 10.0, 20.0, 20.0) # 角点相接
|
||
assert compute_iou(a, c) == 0.0
|
||
|
||
|
||
def test_empty_box_returns_zero():
|
||
normal = BoxXYXY(0.0, 0.0, 10.0, 10.0)
|
||
zero_area = BoxXYXY(5.0, 5.0, 5.0, 5.0) # 零面积
|
||
inverted = BoxXYXY(10.0, 10.0, 0.0, 0.0) # 反向（负宽高）
|
||
assert compute_iou(normal, zero_area) == 0.0
|
||
assert compute_iou(zero_area, normal) == 0.0
|
||
assert compute_iou(normal, inverted) == 0.0
|
||
assert compute_iou(zero_area, zero_area) == 0.0
|
||
|
||
|
||
def test_partial_overlap_is_correct():
|
||
# A = [0,0,10,10]（面积 100），B = [5,5,15,15]（面积 100），交集 25
|
||
a = BoxXYXY(0.0, 0.0, 10.0, 10.0)
|
||
b = BoxXYXY(5.0, 5.0, 15.0, 15.0)
|
||
assert compute_iou(a, b) == pytest.approx(25.0 / 175.0, abs=1e-12)
|
||
assert compute_iou(b, a) == pytest.approx(25.0 / 175.0, abs=1e-12) # 对称性
|
||
|
||
|
||
# ---- 构造与派生状态（§3.2 / §6.1） ----
|
||
|
||
def test_construction_initial_fields():
|
||
t = Tracklet(7, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 1, 8)
|
||
|
||
assert t.track_id == 7
|
||
assert t.lost_count == 0
|
||
assert t.max_lost == 8
|
||
assert t.confidence == 0.9
|
||
assert t.cls_id == 1
|
||
assert t.age == 1 # 创建时为 1（§3.2）
|
||
assert t.hits == 1 # 创建时为 1（§3.2）
|
||
assert t.last_center == (100.0, 100.0)
|
||
assert t.last_box is not None # 创建当帧即赋 last_box（§7 步骤 5）
|
||
assert t.last_box.x1 == 90.0
|
||
assert t.last_box.y1 == 90.0
|
||
assert t.last_box.x2 == 110.0
|
||
assert t.last_box.y2 == 110.0
|
||
assert not t.is_dead
|
||
assert not t.is_coasting
|
||
|
||
|
||
def test_is_dead_uses_strictly_greater():
|
||
# IsDead 使用严格大于：lost_count == max_lost 仍存活（§6.1 注记 2）
|
||
t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
|
||
for _ in range(8):
|
||
t.mark_miss()
|
||
assert not t.is_dead, f"lost_count={t.lost_count} 未超过 max_lost 不应判死"
|
||
assert t.lost_count == 8
|
||
t.mark_miss() # lost_count = 9 > 8
|
||
assert t.is_dead
|
||
|
||
|
||
def test_is_coasting_when_lost_positive():
|
||
t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
|
||
assert not t.is_coasting
|
||
t.mark_miss()
|
||
assert t.is_coasting # lost_count > 0 即 Coast（§3.2）
|
||
|
||
|
||
# ---- 生命周期方法计数语义（§7） ----
|
||
|
||
def test_predict_advances_age_and_updates_last_state():
|
||
t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
|
||
age_before = t.age
|
||
t.predict() # 速度为零：位置不变，但 age+1、last_box 更新为预测框
|
||
assert t.age == age_before + 1
|
||
assert t.last_box is not None
|
||
assert t.last_center[0] == pytest.approx(100.0, abs=1e-9)
|
||
assert t.last_center[1] == pytest.approx(100.0, abs=1e-9)
|
||
# hits / lost_count / confidence 不受预测影响
|
||
assert t.hits == 1
|
||
assert t.lost_count == 0
|
||
assert t.confidence == 0.9
|
||
|
||
|
||
def test_update_resets_lost_and_increments_hits():
|
||
t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
|
||
t.mark_miss()
|
||
t.mark_miss()
|
||
assert t.lost_count == 2
|
||
assert t.is_coasting
|
||
|
||
age_before = t.age
|
||
box = BoxXYXY(150.0, 160.0, 170.0, 180.0)
|
||
t.update(box, 0.75, 2)
|
||
|
||
assert t.lost_count == 0 # 匹配成功清零（§7）
|
||
assert t.hits == 2 # hits+1
|
||
assert t.age == age_before + 1 # age+1
|
||
assert t.confidence == 0.75
|
||
assert t.cls_id == 2
|
||
assert t.last_center == (160.0, 170.0) # ((150+170)/2, (160+180)/2)
|
||
assert t.last_box is not None
|
||
assert t.last_box.x1 == box.x1
|
||
assert t.last_raw_box is not None # 实测框同步记录
|
||
assert t.last_raw_box.x2 == box.x2
|
||
assert not t.is_coasting
|
||
|
||
|
||
def test_mark_miss_increments_lost_and_age():
|
||
t = Tracklet(0, BoxCXCYWH(100.0, 100.0, 20.0, 20.0), 0.9, 0, 8)
|
||
age_before = t.age
|
||
t.mark_miss()
|
||
assert t.lost_count == 1
|
||
assert t.age == age_before + 1
|
||
# MarkMiss 不影响 hits / confidence
|
||
assert t.hits == 1
|
||
assert t.confidence == 0.9
|