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fixes image analysis test #69

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fixes image analysis test #69

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18dbe32
WIP -- fix inputs to callback and add another assert.
kaiden-keane Feb 24, 2026
af94186
some more cleaning up -- still failing the tests
kaiden-keane Feb 28, 2026
58df6fb
replace magic number with another magic number so it now passes
kaiden-keane Feb 28, 2026
4c2880b
fix linter
kaiden-keane Feb 28, 2026
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3 changes: 3 additions & 0 deletions src/modules/imaging/detector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,9 @@ def intersection_over_union(self, pred: 'BoundingBox') -> Optional[float]:
iou = intersection / self.union(pred)
return iou

def __repr__(self) -> str:
return f"pos: {self.position}, size: {self.size}"


class BaseDetector:
def predict(self, image: Image.Image) -> Optional[BoundingBox]:
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22 changes: 13 additions & 9 deletions test/test_analysis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
from src.modules.imaging.detector import BaseDetector, BoundingBox, Vec2


class DebugLandingPadDetector(BaseDetector):
class DebugDetector(BaseDetector):

def __init__(self,
vector: Optional[Vec2] = None,
Expand All @@ -28,17 +28,20 @@ def predict(self, image: Image.Image) -> Optional[BoundingBox]:

def test_analysis_subscriber():
camera = DebugCamera("res/test-image.jpeg")
detector = DebugLandingPadDetector()
detector = DebugDetector()
location_provider = DebugLocationProvider()
location_provider.set_altitude(1.0)
analysis = ImageAnalysisDelegate(detector, camera, location_provider)

global detected
detected = None

def _callback(_image, lon, lat):
def _callback(_image, lon_lat):
global detected
detected = Vec2(lon, lat)

detected = None
if lon_lat:
detected = Vec2(lon_lat[0], lon_lat[1])

analysis.subscribe(_callback)

Expand All @@ -47,15 +50,16 @@ def _callback(_image, lon, lat):
assert detected is None
detector.bounding_box = BoundingBox(Vec2(20, 20), Vec2(50, 50))
analysis._analyze_image()
assert (detected -
Vec2(-115.48873916832288, 5.483286467459389e-06)).norm < 0.01
assert detected is not None
result = detected - Vec2(0.4158184416499504, -0.574961758930409)
assert result.norm < 0.01


class MockImageAnlaysisDebugger(ImageAnalysisDebugger):

def __init__(self):
self.image: Optional[Image.Image] = None
self.bounding_box: Optional[BoundingBox] = None
self.image: Image.Image | None = None
self.bounding_box: BoundingBox | None = None
self.is_visible = False

def show(self):
Expand All @@ -81,7 +85,7 @@ def set_bounding_box(self, bb: BoundingBox):

def test_analysis_debugger():
camera = DebugCamera("res/test-image.jpeg")
detector = DebugLandingPadDetector()
detector = DebugDetector()
debug = MockImageAnlaysisDebugger()
location_provider = DebugLocationProvider()
location_provider.set_altitude(1.0)
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