154 lines
5.9 KiB
Python
154 lines
5.9 KiB
Python
"""Regression tests for the RTK–LiDAR coordinate and initialization contract."""
|
||
|
||
from __future__ import annotations
|
||
|
||
import math
|
||
import sys
|
||
from pathlib import Path
|
||
|
||
import numpy as np
|
||
|
||
ROOT = Path(__file__).resolve().parents[1]
|
||
sys.path.insert(0, str(ROOT / "tools"))
|
||
sys.path.insert(0, str(ROOT / "code"))
|
||
|
||
from finalize_direct_rtk_lidar import ( # noqa: E402
|
||
coordinate_contract_audit,
|
||
mechanical_self_consistency,
|
||
)
|
||
from prepare_multisensor_station_dataset import heading_to_enu_yaw # noqa: E402
|
||
from rtk_attitude import attitude_rotation, rtk_body_rotation # noqa: E402
|
||
from rigorous_calibration import ( # noqa: E402
|
||
build_parser,
|
||
load_extrinsic_matrix,
|
||
params_transform,
|
||
transform_params,
|
||
)
|
||
|
||
|
||
def test_left_baseline_heading_plus_90_points_vehicle_forward() -> None:
|
||
corrected, yaw = heading_to_enu_yaw(270.0, 90.0)
|
||
assert corrected == 0.0
|
||
assert math.degrees(yaw) == 90.0
|
||
|
||
|
||
def test_east_vehicle_heading_maps_to_zero_enu_yaw() -> None:
|
||
corrected, yaw = heading_to_enu_yaw(0.0, 90.0)
|
||
assert corrected == 90.0
|
||
assert math.degrees(yaw) == 0.0
|
||
|
||
|
||
def test_attitude_rotation_applies_baseline_pitch_elevation() -> None:
|
||
_, yaw = heading_to_enu_yaw(0.0, 0.0) # heading north → body X = +North
|
||
rotation = attitude_rotation(yaw, pitch_deg=10.0, roll_deg=0.0)
|
||
body_x = rotation @ np.array([1.0, 0.0, 0.0])
|
||
np.testing.assert_allclose(
|
||
body_x,
|
||
[0.0, math.cos(math.radians(10.0)), math.sin(math.radians(10.0))],
|
||
atol=1e-12,
|
||
)
|
||
|
||
|
||
def test_vehicle_forward_offset_keeps_pitch_about_baseline() -> None:
|
||
# Baseline points east (vehicle right if nose north); pitch elevates baseline X.
|
||
# Vehicle-forward offset -90 must not simply Ry after vehicle yaw.
|
||
raw_heading = 90.0
|
||
pitch = 10.0
|
||
r_correct = rtk_body_rotation(raw_heading, -90.0, pitch_deg=pitch, roll_deg=0.0)
|
||
_, yaw_raw = heading_to_enu_yaw(raw_heading, 0.0)
|
||
r_baseline = attitude_rotation(yaw_raw, pitch_deg=pitch, roll_deg=0.0)
|
||
rz90 = np.array([[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]])
|
||
np.testing.assert_allclose(r_correct, r_baseline @ rz90, atol=1e-12)
|
||
# Level vehicle-forward X should point north.
|
||
r_level = rtk_body_rotation(raw_heading, -90.0, pitch_deg=0.0, roll_deg=0.0)
|
||
np.testing.assert_allclose(r_level @ np.array([1.0, 0.0, 0.0]), [0.0, 1.0, 0.0], atol=1e-12)
|
||
|
||
|
||
def test_pair_registration_has_no_extrinsic_argument() -> None:
|
||
parser = build_parser()
|
||
pair_options = {
|
||
option
|
||
for action in parser._subparsers._group_actions[0].choices["pairs"]._actions
|
||
for option in action.option_strings
|
||
}
|
||
assert "--initial-extrinsic" not in pair_options
|
||
assert "--global-voxel" in pair_options
|
||
|
||
|
||
def test_mechanical_initial_is_vehicle_forward_swapped_master() -> None:
|
||
path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
|
||
document = __import__("json").loads(path.read_text(encoding="utf-8-sig"))
|
||
transform = load_extrinsic_matrix(path)
|
||
np.testing.assert_allclose(transform[:3, 3], [0.210859360, -0.414179474, 0.078500001])
|
||
np.testing.assert_allclose(transform[:3, :3], np.eye(3))
|
||
np.testing.assert_allclose(params_transform(transform_params(transform)), transform, atol=1e-12)
|
||
assert document["baseline_points"] == "vehicle_right"
|
||
assert document["frame_mode"] == "vehicle_forward_heading_offset"
|
||
assert document["heading_offset_deg"] == -90.0
|
||
assert document["rotation_rpy_deg_xyz"][2] == 0.0
|
||
check = mechanical_self_consistency(document)
|
||
assert check["consistent"] is True
|
||
|
||
|
||
def test_mixed_left_xy_plus_right_yaw_mechanical_is_rejected() -> None:
|
||
mixed = {
|
||
"baseline_points": "vehicle_left",
|
||
"translation_m": [0.414179474, 0.210859360, 0.078500001],
|
||
"rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
|
||
"matrix_4x4": [
|
||
[0.0, -1.0, 0.0, 0.414179474],
|
||
[1.0, 0.0, 0.0, 0.210859360],
|
||
[0.0, 0.0, 1.0, 0.078500001],
|
||
[0.0, 0.0, 0.0, 1.0],
|
||
],
|
||
}
|
||
check = mechanical_self_consistency(mixed)
|
||
assert check["consistent"] is False
|
||
|
||
|
||
def test_deprecated_minus_xy_right_baseline_is_rejected_for_swapped_master() -> None:
|
||
deprecated = {
|
||
"baseline_points": "vehicle_right",
|
||
"translation_m": [-0.414179474, -0.210859360, 0.078500001],
|
||
"rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
|
||
}
|
||
check = mechanical_self_consistency(deprecated)
|
||
assert check["consistent"] is False
|
||
|
||
|
||
def test_near_180_degree_solution_is_flagged_for_physical_axis_check() -> None:
|
||
initial_path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
|
||
initial = load_extrinsic_matrix(initial_path)
|
||
solution = np.eye(4)
|
||
solution[:3, :3] = initial[:3, :3] @ np.diag([-1.0, -1.0, 1.0])
|
||
solution[:3, 3] = initial[:3, 3]
|
||
audit = coordinate_contract_audit({
|
||
"solver_initial_extrinsic": str(initial_path),
|
||
"matrix_4x4": solution.tolist(),
|
||
})
|
||
assert audit["status"] == "near_180_degree_axis_conflict"
|
||
assert audit["requires_physical_axis_confirmation"] is True
|
||
|
||
|
||
def test_previous_mixed_result_branch_is_not_recommended() -> None:
|
||
"""Old baseline-frame mixed solution disagrees with vehicle-forward mechanical initial."""
|
||
initial_path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
|
||
solution = np.array(
|
||
[
|
||
[0.00942353438668686, -0.9999215926659111, 0.00824654595155475, 0.4123055815579212],
|
||
[0.9998714355322929, 0.009529416150714898, 0.012895837871912157, 0.2173092104098051],
|
||
[-0.012973411511822136, 0.008123961367132958, 0.9998828390593821, 0.10405760639434848],
|
||
[0.0, 0.0, 0.0, 1.0],
|
||
],
|
||
float,
|
||
)
|
||
audit = coordinate_contract_audit({
|
||
"solver_initial_extrinsic": str(initial_path),
|
||
"matrix_4x4": solution.tolist(),
|
||
})
|
||
assert audit["requires_physical_axis_confirmation"] is True
|
||
assert audit["status"] in {
|
||
"near_180_degree_axis_conflict",
|
||
"solution_disagrees_with_mechanical_baseline_side",
|
||
}
|