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。
88 lines
3.1 KiB
Python
88 lines
3.1 KiB
Python
"""匹配器测试（规格 §6.2/§11.4：硬约束各一例、贪心排序、一一配对、cost ≥ 1 拒绝）。"""
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import pytest
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from stereo_ranger import Detection, GreedyMatcher, SamplePoint, StereoConfig, sample_point
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CFG = StereoConfig()
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MATCHER = GreedyMatcher()
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def _point(cx: float, cy: float, *, w: float = 60.0, h: float = 40.0, class_id: int = 0) -> SamplePoint:
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return sample_point(
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Detection(cx - w / 2.0, cy - h / 2.0, cx + w / 2.0, cy + h / 2.0, class_id=class_id)
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)
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def test_class_mismatch_rejected():
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assert MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 500.0, class_id=1)], CFG) == []
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def test_dy_beyond_tau_rejected():
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assert MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 502.1)], CFG) == []
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def test_dy_within_tau_accepted_with_cost():
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pairs = MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 501.9)], CFG)
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assert len(pairs) == 1
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assert pairs[0].cost == pytest.approx(1.9 / CFG.tau_y_px)
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def test_height_ratio_beyond_tau_rejected():
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assert MATCHER.match([_point(1000.0, 500.0, h=100.0)], [_point(1000.0, 500.0, h=140.0)], CFG) == []
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def test_height_ratio_near_tau_accepted():
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pairs = MATCHER.match([_point(1000.0, 500.0, h=120.0)], [_point(1000.0, 500.0, h=159.0)], CFG)
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assert len(pairs) == 1
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def test_cost_at_one_rejected():
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# dy = tau_y ⇒ cost = 1.0，严格 cost < 1 才接受（§6.2）
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assert MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 502.0)], CFG) == []
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def test_combined_cost_at_one_rejected():
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# dy/tau = 0.5 与 Δh/(tau_h·h_max) = 0.5 相加恰为 1.0 → 拒绝
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assert MATCHER.match([_point(1000.0, 500.0, h=112.0)], [_point(1000.0, 501.0, h=128.0)], CFG) == []
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def test_greedy_pairs_cheapest_first_and_one_to_one():
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left = [_point(1000.0, 500.0), _point(1000.0, 501.0)]
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right = [_point(1000.0, 500.0), _point(1000.0, 501.0)]
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pairs = MATCHER.match(left, right, CFG)
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assert [(p.left_index, p.right_index) for p in pairs] == [(0, 0), (1, 1)]
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assert pairs[0].cost == pytest.approx(0.0)
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def test_one_left_claims_cheapest_right():
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pairs = MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 500.0), _point(1000.0, 500.5)], CFG)
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assert [(p.left_index, p.right_index) for p in pairs] == [(0, 0)]
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def test_two_lefts_cannot_share_one_right():
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left = [_point(1000.0, 500.0), _point(1000.0, 500.2)]
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right = [_point(1000.0, 500.0)]
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pairs = MATCHER.match(left, right, CFG)
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assert len(pairs) == 1
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assert pairs[0].left_index == 0
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def test_unmatched_right_is_not_paired():
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pairs = MATCHER.match([_point(1000.0, 500.0)], [_point(1000.0, 500.0), _point(1400.0, 500.0)], CFG)
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assert len(pairs) == 1
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assert pairs[0].right_index == 0
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def test_non_finite_points_excluded():
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bad = sample_point(Detection(float("nan"), 500.0, 1060.0, 540.0))
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good = _point(1000.0, 500.0)
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assert MATCHER.match([bad], [good], CFG) == []
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assert MATCHER.match([good], [bad], CFG) == []
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def test_zero_height_box_rejected():
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left = sample_point(Detection(970.0, 500.0, 1030.0, 500.0))
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right = sample_point(Detection(970.0, 500.0, 1030.0, 500.0))
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assert MATCHER.match([left], [right], CFG) == []
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