56 lines
1.5 KiB
Python
56 lines
1.5 KiB
Python
 
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"""Tests for motion-pair cache IO."""
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from __future__ import annotations
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from pathlib import Path
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import numpy as np
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from imu_lidar.contracts import MotionPair
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from imu_lidar.motion_pairs_io import (
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build_motion_pairs_payload,
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load_motion_pairs,
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pair_from_dict,
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pair_to_dict,
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pairs_for_session,
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save_motion_pairs,
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)
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def test_pair_roundtrip(tmp_path: Path) -> None:
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pair = MotionPair(
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session_id="s0",
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i=1,
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j=4,
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t_i_s=1.0,
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t_j_s=2.5,
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R_A=np.eye(3),
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R_B=np.eye(3),
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t_A_m=np.array([0.1, 0.0, 0.0]),
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t_B_m=np.array([0.1, 0.0, 0.0]),
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fitness=0.8,
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metadata={"weight": 12.0, "cov9": [[0.0] * 9] * 9, "backend": "test"},
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)
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encoded = pair_to_dict(pair)
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assert "cov9" not in encoded["metadata"]
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assert encoded["metadata"]["weight"] == 12.0
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restored = pair_from_dict(encoded)
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assert restored.i == 1 and restored.j == 4
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np.testing.assert_allclose(restored.t_A_m, [0.1, 0.0, 0.0])
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payload = build_motion_pairs_payload(
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prepared_sessions=[
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{
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"session_id": "s0",
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"time_offset_s": 0.0,
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"gyro_bias_rad_s": np.zeros(3),
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"pairs": (pair,),
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}
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]
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)
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path = save_motion_pairs(tmp_path / "motion_pairs.json", payload)
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loaded = load_motion_pairs(path)
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pairs = pairs_for_session(loaded, "s0")
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assert len(pairs) == 1
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assert pairs[0].session_id == "s0"
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