178 lines
6.4 KiB
C++
178 lines
6.4 KiB
C++
// =============================================================================
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// tracklet_test.cpp —— Tracklet 与几何工具单元测试
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//
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// 覆盖 docs/视觉追踪技术路线.md：
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// - IoU 边界（空框 / 零交集 / 完全重合=1，§5.2）
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// - IsDead / IsCoasting 判定（§3.2 派生状态，§6.1 严格大于）
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// - Predict / Update / MarkMiss 计数语义（§7 末尾伪代码）
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// - BoxXYXY ↔ BoxCXCYWH 互转（§7）
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// =============================================================================
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#include <gtest/gtest.h>
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#include "target_tracker/tracklet.h"
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using drone::tracker::BoxCXCYWH;
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using drone::tracker::BoxXYXY;
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using drone::tracker::ComputeIoU;
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using drone::tracker::ToCenterSize;
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using drone::tracker::ToXYXY;
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using drone::tracker::Tracklet;
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namespace {
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// ---- 框表示互转（§7） ----
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TEST(BoxConversionTest, RoundTripPreservesValues) {
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const BoxXYXY box{10.0, 20.0, 50.0, 80.0};
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const BoxCXCYWH c = ToCenterSize(box);
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EXPECT_DOUBLE_EQ(c.cx, 30.0); // (10+50)/2
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EXPECT_DOUBLE_EQ(c.cy, 50.0); // (20+80)/2
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EXPECT_DOUBLE_EQ(c.w, 40.0); // 50−10
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EXPECT_DOUBLE_EQ(c.h, 60.0); // 80−20
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const BoxXYXY back = ToXYXY(c);
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EXPECT_DOUBLE_EQ(back.x1, box.x1);
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EXPECT_DOUBLE_EQ(back.y1, box.y1);
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EXPECT_DOUBLE_EQ(back.x2, box.x2);
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EXPECT_DOUBLE_EQ(back.y2, box.y2);
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}
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// ---- IoU 边界（§5.2） ----
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TEST(IoUTest, IdenticalBoxesReturnOne) {
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const BoxXYXY a{10.0, 10.0, 30.0, 30.0};
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EXPECT_NEAR(ComputeIoU(a, a), 1.0, 1e-12); // 完全重合 = 1
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}
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TEST(IoUTest, DisjointBoxesReturnZero) {
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const BoxXYXY a{0.0, 0.0, 10.0, 10.0};
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const BoxXYXY b{20.0, 20.0, 30.0, 30.0};
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EXPECT_DOUBLE_EQ(ComputeIoU(a, b), 0.0); // 零交集
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}
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TEST(IoUTest, TouchingEdgesReturnZero) {
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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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const BoxXYXY a{0.0, 0.0, 10.0, 10.0};
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const BoxXYXY b{10.0, 0.0, 20.0, 10.0}; // 右边缘相接
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EXPECT_DOUBLE_EQ(ComputeIoU(a, b), 0.0);
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const BoxXYXY c{10.0, 10.0, 20.0, 20.0}; // 角点相接
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EXPECT_DOUBLE_EQ(ComputeIoU(a, c), 0.0);
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}
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TEST(IoUTest, EmptyBoxReturnsZero) {
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const BoxXYXY normal{0.0, 0.0, 10.0, 10.0};
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const BoxXYXY zero_area{5.0, 5.0, 5.0, 5.0}; // 零面积
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const BoxXYXY inverted{10.0, 10.0, 0.0, 0.0}; // 反向（负宽高）
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EXPECT_DOUBLE_EQ(ComputeIoU(normal, zero_area), 0.0);
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EXPECT_DOUBLE_EQ(ComputeIoU(zero_area, normal), 0.0);
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EXPECT_DOUBLE_EQ(ComputeIoU(normal, inverted), 0.0);
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EXPECT_DOUBLE_EQ(ComputeIoU(zero_area, zero_area), 0.0);
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}
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TEST(IoUTest, PartialOverlapIsCorrect) {
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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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const BoxXYXY a{0.0, 0.0, 10.0, 10.0};
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const BoxXYXY b{5.0, 5.0, 15.0, 15.0};
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EXPECT_NEAR(ComputeIoU(a, b), 25.0 / 175.0, 1e-12);
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EXPECT_NEAR(ComputeIoU(b, a), 25.0 / 175.0, 1e-12); // 对称性
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}
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// ---- 构造与派生状态（§3.2 / §6.1） ----
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TEST(TrackletTest, ConstructionInitialFields) {
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const BoxCXCYWH meas{100.0, 100.0, 20.0, 20.0};
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Tracklet t(7, meas, 0.9, 1, 8);
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EXPECT_EQ(t.track_id, 7);
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EXPECT_EQ(t.lost_count, 0);
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EXPECT_EQ(t.max_lost, 8);
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EXPECT_DOUBLE_EQ(t.confidence, 0.9);
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EXPECT_EQ(t.cls_id, 1);
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EXPECT_EQ(t.age, 1); // 创建时为 1（§3.2）
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EXPECT_EQ(t.hits, 1); // 创建时为 1（§3.2）
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EXPECT_DOUBLE_EQ(t.last_center.first, 100.0);
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EXPECT_DOUBLE_EQ(t.last_center.second, 100.0);
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ASSERT_TRUE(t.last_box.has_value()); // 创建当帧即赋 last_box（§7 步骤 5）
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EXPECT_DOUBLE_EQ(t.last_box->x1, 90.0);
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EXPECT_DOUBLE_EQ(t.last_box->y1, 90.0);
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EXPECT_DOUBLE_EQ(t.last_box->x2, 110.0);
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EXPECT_DOUBLE_EQ(t.last_box->y2, 110.0);
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EXPECT_FALSE(t.IsDead());
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EXPECT_FALSE(t.IsCoasting());
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}
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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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TEST(TrackletTest, IsDeadUsesStrictlyGreater) {
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Tracklet t(0, {100.0, 100.0, 20.0, 20.0}, 0.9, 0, 8);
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for (int i = 0; i < 8; ++i) {
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t.MarkMiss();
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EXPECT_FALSE(t.IsDead()) << "lost_count=" << t.lost_count
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<< " 未超过 max_lost 不应判死";
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}
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EXPECT_EQ(t.lost_count, 8);
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t.MarkMiss(); // lost_count = 9 > 8
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EXPECT_TRUE(t.IsDead());
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}
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TEST(TrackletTest, IsCoastingWhenLostPositive) {
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Tracklet t(0, {100.0, 100.0, 20.0, 20.0}, 0.9, 0, 8);
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EXPECT_FALSE(t.IsCoasting());
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t.MarkMiss();
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EXPECT_TRUE(t.IsCoasting()); // lost_count > 0 即 Coast（§3.2）
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}
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// ---- 生命周期方法计数语义（§7） ----
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TEST(TrackletTest, PredictAdvancesAgeAndUpdatesLastState) {
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Tracklet t(0, {100.0, 100.0, 20.0, 20.0}, 0.9, 0, 8);
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const int 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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EXPECT_EQ(t.age, age_before + 1);
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ASSERT_TRUE(t.last_box.has_value());
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EXPECT_NEAR(t.last_center.first, 100.0, 1e-9);
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EXPECT_NEAR(t.last_center.second, 100.0, 1e-9);
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// hits / lost_count / confidence 不受预测影响
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EXPECT_EQ(t.hits, 1);
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EXPECT_EQ(t.lost_count, 0);
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EXPECT_DOUBLE_EQ(t.confidence, 0.9);
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}
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TEST(TrackletTest, UpdateResetsLostAndIncrementsHits) {
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Tracklet t(0, {100.0, 100.0, 20.0, 20.0}, 0.9, 0, 8);
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t.MarkMiss();
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t.MarkMiss();
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ASSERT_EQ(t.lost_count, 2);
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ASSERT_TRUE(t.IsCoasting());
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const int age_before = t.age;
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const BoxXYXY box{150.0, 160.0, 170.0, 180.0};
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t.Update(box, 0.75, 2);
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EXPECT_EQ(t.lost_count, 0); // 匹配成功清零（§7）
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EXPECT_EQ(t.hits, 2); // hits+1
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EXPECT_EQ(t.age, age_before + 1); // age+1
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EXPECT_DOUBLE_EQ(t.confidence, 0.75);
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EXPECT_EQ(t.cls_id, 2);
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EXPECT_DOUBLE_EQ(t.last_center.first, 160.0); // (150+170)/2
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EXPECT_DOUBLE_EQ(t.last_center.second, 170.0); // (160+180)/2
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ASSERT_TRUE(t.last_box.has_value());
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EXPECT_DOUBLE_EQ(t.last_box->x1, box.x1);
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ASSERT_TRUE(t.last_raw_box.has_value()); // 实测框同步记录
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EXPECT_DOUBLE_EQ(t.last_raw_box->x2, box.x2);
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EXPECT_FALSE(t.IsCoasting());
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}
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TEST(TrackletTest, MarkMissIncrementsLostAndAge) {
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Tracklet t(0, {100.0, 100.0, 20.0, 20.0}, 0.9, 0, 8);
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const int age_before = t.age;
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t.MarkMiss();
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EXPECT_EQ(t.lost_count, 1);
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EXPECT_EQ(t.age, age_before + 1);
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// MarkMiss 不影响 hits / confidence
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EXPECT_EQ(t.hits, 1);
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EXPECT_DOUBLE_EQ(t.confidence, 0.9);
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}
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} // namespace
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