added test

Author: alexlib

tests/test_sba_steps.py

@@ -0,0 +1,229 @@
+import os
+import sys
+import sysconfig
+
+import numpy as np
+import pytest
+
+
+def _import_easysba():
+    repo_root = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
+    sys.path = [p for p in sys.path if p not in ("", repo_root)]
+
+    purelib = sysconfig.get_paths().get("purelib")
+    platlib = sysconfig.get_paths().get("platlib")
+    for path in [platlib, purelib]:
+        if path and path not in sys.path:
+            sys.path.insert(0, path)
+
+    import easysba
+
+    return easysba
+
+
+def _make_inputs(num_points=4, num_cams=2, cam_param_size=12, seed=0):
+    rng = np.random.default_rng(seed)
+    image_uv = rng.normal(scale=0.5, size=(num_points, num_cams, 2)).astype(np.float64)
+    visibility_mask = np.ones((num_points, num_cams), dtype=np.uint8)
+    world_xyz = rng.normal(scale=2.0, size=(num_points, 3)).astype(np.float64)
+
+    if cam_param_size == 7:
+        camera_params = np.zeros((num_cams, 7), dtype=np.float64)
+        camera_params[:, 0] = 1.0
+        camera_params[:, 4:] = rng.normal(scale=0.1, size=(num_cams, 3))
+    elif cam_param_size == 12:
+        camera_params = np.zeros((num_cams, 12), dtype=np.float64)
+        camera_params[:, 0] = 1.0
+        camera_params[:, 3] = 1.0
+        camera_params[:, 5] = 1.0
+        camera_params[:, 9:] = rng.normal(scale=0.1, size=(num_cams, 3))
+    elif cam_param_size == 17:
+        camera_params = np.zeros((num_cams, 17), dtype=np.float64)
+        camera_params[:, 0] = 1.0
+        camera_params[:, 3] = 1.0
+        camera_params[:, 5] = 1.0
+        camera_params[:, 10:13] = rng.normal(scale=0.01, size=(num_cams, 3))
+        camera_params[:, 14:] = rng.normal(scale=0.1, size=(num_cams, 3))
+    else:
+        raise ValueError("Unsupported cam_param_size")
+
+    return image_uv, visibility_mask, world_xyz, camera_params
+
+
+@pytest.mark.parametrize("world_shape", [(4,), (4, 4)])
+def test_world_shape_validation(world_shape):
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs()
+    world_xyz = np.zeros(world_shape, dtype=np.float64)
+
+    with pytest.raises(RuntimeError, match="world_xyz must have shape"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+def test_camera_shape_validation():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, _ = _make_inputs()
+    camera_params = np.zeros((2,), dtype=np.float64)
+
+    with pytest.raises(RuntimeError, match="camera_params must have shape"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+def test_visibility_shape_validation():
+    easysba = _import_easysba()
+    image_uv, _, world_xyz, camera_params = _make_inputs()
+    visibility_mask = np.ones((1, 1), dtype=np.uint8)
+
+    with pytest.raises(RuntimeError, match="visibility_mask shape does not match"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+def test_camera_param_size_validation():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, _ = _make_inputs(cam_param_size=7)
+    camera_params = np.zeros((visibility_mask.shape[1], 9), dtype=np.float64)
+
+    with pytest.raises(RuntimeError, match="num_camera_params must be 7, 12, or 17"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+@pytest.mark.parametrize("ndim", [1, 4])
+def test_image_uv_ndim_validation(ndim):
+    easysba = _import_easysba()
+    _, visibility_mask, world_xyz, camera_params = _make_inputs()
+    image_uv = np.zeros((2,) * ndim, dtype=np.float64)
+
+    with pytest.raises(RuntimeError, match="image_uv must be a 2D or 3D array"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+def test_image_uv_shape_3d_validation():
+    easysba = _import_easysba()
+    _, visibility_mask, world_xyz, camera_params = _make_inputs()
+    image_uv = np.zeros((world_xyz.shape[0], visibility_mask.shape[1], 3), dtype=np.float64)
+
+    with pytest.raises(RuntimeError, match="image_uv must have shape"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params)
+
+
+def test_image_uv_shape_2d_validation():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs()
+    image_uv = image_uv.reshape(world_xyz.shape[0], -1)
+    bad_image = image_uv[:, :-1]
+
+    with pytest.raises(RuntimeError, match="image_uv must have shape"):
+        easysba.easy_sba(bad_image, visibility_mask, world_xyz, camera_params)
+
+
+def test_intrinsics_fixed_bounds():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(cam_param_size=7)
+
+    with pytest.raises(RuntimeError, match="intrinsics_fixed must be between"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params, intrinsics_fixed=6)
+
+
+def test_distortion_fixed_bounds():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(cam_param_size=7)
+
+    with pytest.raises(RuntimeError, match="distortion_fixed must be"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params, distortion_fixed=6)
+
+
+def test_intrinsics_fixed_mismatch_with_params():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(cam_param_size=12)
+
+    with pytest.raises(RuntimeError, match="intrinsics_fixed cannot be -1"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params, intrinsics_fixed=-1)
+
+
+def test_intrinsics_fixed_invalid_for_default_intrinsics():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(cam_param_size=7)
+
+    with pytest.raises(RuntimeError, match="intrinsics_fixed must be -1"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params, intrinsics_fixed=0)
+
+
+def test_visibility_nan_mismatch():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs()
+
+    visibility_mask[0, 0] = 0
+    image_uv[0, 0] = 1.0
+    with pytest.raises(RuntimeError, match="visibility_mask is false"):
+        easysba.easy_sba(
+            image_uv,
+            visibility_mask,
+            world_xyz,
+            camera_params,
+            intrinsics_fixed=5,
+        )
+
+    visibility_mask[0, 0] = 1
+    image_uv[0, 0] = np.nan
+    with pytest.raises(RuntimeError, match="visibility_mask is true"):
+        easysba.easy_sba(
+            image_uv,
+            visibility_mask,
+            world_xyz,
+            camera_params,
+            intrinsics_fixed=5,
+        )
+
+
+def test_visibility_empty():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs()
+    visibility_mask[:] = 0
+    image_uv[:] = np.nan
+
+    with pytest.raises(RuntimeError, match="visibility_mask has no valid projections"):
+        easysba.easy_sba(
+            image_uv,
+            visibility_mask,
+            world_xyz,
+            camera_params,
+            intrinsics_fixed=5,
+        )
+
+
+def test_quaternion_zero_norm():
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(cam_param_size=12)
+    camera_params[0, 5:9] = 0.0
+
+    with pytest.raises(RuntimeError, match="Quaternion has zero norm"):
+        easysba.easy_sba(image_uv, visibility_mask, world_xyz, camera_params, intrinsics_fixed=5)
+
+
+@pytest.mark.skipif(os.environ.get("EASYSBA_RUN_SOLVER") != "1", reason="Set EASYSBA_RUN_SOLVER=1 to exercise solver")
+@pytest.mark.parametrize("cam_param_size,intrinsics_fixed,distortion_fixed", [
+    (7, -1, -1),
+    (12, 5, -1),
+    (17, 5, 0),
+])
+def test_solver_runs_seeded(cam_param_size, intrinsics_fixed, distortion_fixed):
+    easysba = _import_easysba()
+    image_uv, visibility_mask, world_xyz, camera_params = _make_inputs(
+        num_points=6, num_cams=3, cam_param_size=cam_param_size, seed=42
+    )
+
+    world_out, cams_out, info = easysba.easy_sba(
+        image_uv,
+        visibility_mask,
+        world_xyz,
+        camera_params,
+        intrinsics_fixed=intrinsics_fixed,
+        distortion_fixed=distortion_fixed,
+        max_iter=2,
+        verbose=False,
+    )
+
+    assert world_out.shape == world_xyz.shape
+    assert cams_out.shape == camera_params.shape
+    assert "return_code" in info
+    assert "final_error" in info