145 lines
6.4 KiB
GDScript
145 lines
6.4 KiB
GDScript
extends TestCase
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## DTW 特征向量构造 —— 契约 contracts/skeleton-topology.md §5
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## 每帧 108 维：[33 × (x, y, z), 9 个关节角余弦]
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const KeypointFrame = preload("res://src/net/keypoint_frame.gd")
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const PoseFeatures = preload("res://src/score/pose_features.gd")
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## 构造一个站姿：肩宽 0.2、髋宽 0.1，四肢按解剖学方向摆放
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func _upright_frame(confidence_value: float = 1.0) -> KeypointFrame.PoseFrame:
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var frame := KeypointFrame.PoseFrame.new()
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frame.points.resize(33)
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frame.confidence.resize(33)
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frame.points.fill(Vector3(0.5, 0.5, 0.0))
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frame.confidence.fill(confidence_value)
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frame.points[KeypointFrame.NOSE] = Vector3(0.50, 0.18, 0.0)
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frame.points[KeypointFrame.LEFT_SHOULDER] = Vector3(0.60, 0.30, 0.0)
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frame.points[KeypointFrame.RIGHT_SHOULDER] = Vector3(0.40, 0.30, 0.0)
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frame.points[KeypointFrame.LEFT_ELBOW] = Vector3(0.70, 0.45, 0.0)
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frame.points[KeypointFrame.RIGHT_ELBOW] = Vector3(0.30, 0.45, 0.0)
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frame.points[KeypointFrame.LEFT_WRIST] = Vector3(0.78, 0.60, 0.0)
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frame.points[KeypointFrame.RIGHT_WRIST] = Vector3(0.22, 0.60, 0.0)
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frame.points[KeypointFrame.LEFT_HIP] = Vector3(0.55, 0.62, 0.0)
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frame.points[KeypointFrame.RIGHT_HIP] = Vector3(0.45, 0.62, 0.0)
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frame.points[KeypointFrame.LEFT_KNEE] = Vector3(0.56, 0.78, 0.0)
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frame.points[KeypointFrame.RIGHT_KNEE] = Vector3(0.44, 0.78, 0.0)
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frame.points[KeypointFrame.LEFT_ANKLE] = Vector3(0.57, 0.94, 0.0)
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frame.points[KeypointFrame.RIGHT_ANKLE] = Vector3(0.43, 0.94, 0.0)
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return frame
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func test_feature_dimension_is_108() -> void:
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var feature := PoseFeatures.build(_upright_frame())
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eq(feature.dimension(), 108, "特征维度为 108（33×3 + 9）")
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eq(PoseFeatures.FEATURE_DIM, 108, "FEATURE_DIM 常量正确")
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eq(PoseFeatures.ANGLE_COUNT, 9, "关节角数量为 9")
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func test_coordinates_are_copied_verbatim() -> void:
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var frame := _upright_frame()
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var feature := PoseFeatures.build(frame, false)
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for i in 33:
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almost(feature.values[i * 3], frame.points[i].x, 1e-6, "第 %d 点 x 复制正确" % i)
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almost(feature.values[i * 3 + 1], frame.points[i].y, 1e-6, "第 %d 点 y 复制正确" % i)
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almost(feature.values[i * 3 + 2], frame.points[i].z, 1e-6, "第 %d 点 z 复制正确" % i)
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func test_all_weights_one_when_confidence_high() -> void:
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var feature := PoseFeatures.build(_upright_frame(1.0))
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var all_one := true
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for w in feature.weights:
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if absf(w - 1.0) > 1e-6:
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all_one = false
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break
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is_true(all_one, "全部可信时权重均为 1")
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func test_low_confidence_dimensions_are_zero_weighted() -> void:
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var frame := _upright_frame(1.0)
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frame.confidence[KeypointFrame.LEFT_WRIST] = 0.2
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var feature := PoseFeatures.build(frame)
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var base := KeypointFrame.LEFT_WRIST * 3
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almost(feature.weights[base], 0.0, 1e-6, "低置信度点 x 维权重为 0")
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almost(feature.weights[base + 1], 0.0, 1e-6, "低置信度点 y 维权重为 0")
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almost(feature.weights[base + 2], 0.0, 1e-6, "低置信度点 z 维权重为 0")
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almost(feature.weights[KeypointFrame.RIGHT_WRIST * 3], 1.0, 1e-6, "其它点权重不受影响")
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func test_angle_of_straight_limb_is_minus_one() -> void:
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# 左肘角度：左肩(0.60,0.30) — 左肘(0.70,0.45) — 左腕(0.80,0.60) 共线
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var frame := _upright_frame()
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frame.points[KeypointFrame.LEFT_WRIST] = Vector3(0.80, 0.60, 0.0)
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var feature := PoseFeatures.build(frame)
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var elbow_left_index := 33 * 3 + 2
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almost(feature.values[elbow_left_index], -1.0, 1e-4, "共线肢体关节角余弦为 -1")
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almost(feature.weights[elbow_left_index], 1.0, 1e-6, "共线角度权重为 1")
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func test_angle_of_right_angle_is_zero() -> void:
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# 构造左肘为直角：肩(0.60,0.30) — 肘(0.70,0.30) — 腕(0.70,0.40)
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var frame := _upright_frame()
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frame.points[KeypointFrame.LEFT_ELBOW] = Vector3(0.70, 0.30, 0.0)
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frame.points[KeypointFrame.LEFT_WRIST] = Vector3(0.70, 0.40, 0.0)
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var feature := PoseFeatures.build(frame)
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almost(feature.values[33 * 3 + 2], 0.0, 1e-4, "直角关节角余弦为 0")
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func test_angles_with_untrusted_endpoint_are_zero_weighted() -> void:
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var frame := _upright_frame()
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frame.confidence[KeypointFrame.LEFT_HIP] = 0.1
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var feature := PoseFeatures.build(frame)
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almost(feature.weights[33 * 3 + 0], 0.0, 1e-6, "左肩角（依赖左髋）权重归零")
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almost(feature.weights[33 * 3 + 4], 0.0, 1e-6, "左髋角（依赖左肩/左髋）权重归零")
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almost(feature.weights[33 * 3 + 1], 1.0, 1e-6, "右肩角不受影响")
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func test_identical_frames_have_zero_distance() -> void:
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var a := PoseFeatures.build(_upright_frame())
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var b := PoseFeatures.build(_upright_frame())
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almost(PoseFeatures.weighted_distance(a, b), 0.0, 1e-9, "相同帧距离为 0")
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func test_distance_ignores_untrusted_dimensions() -> void:
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var frame_a := _upright_frame()
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var frame_b := _upright_frame()
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# 让左腕不可信并在 b 中挪动它：距离应不受影响
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frame_a.confidence[KeypointFrame.LEFT_WRIST] = 0.1
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frame_b.confidence[KeypointFrame.LEFT_WRIST] = 0.1
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frame_b.points[KeypointFrame.LEFT_WRIST] = Vector3(0.95, 0.95, 0.5)
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almost(PoseFeatures.weighted_distance(PoseFeatures.build(frame_a), PoseFeatures.build(frame_b)), 0.0, 1e-9, "不可信维度不参与距离")
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func test_distance_grows_with_deviation() -> void:
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var base := _upright_frame()
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var near := _upright_frame()
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near.points[KeypointFrame.LEFT_WRIST] = Vector3(0.79, 0.61, 0.0)
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var far := _upright_frame()
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far.points[KeypointFrame.LEFT_WRIST] = Vector3(0.95, 0.10, 0.0)
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var d_near := PoseFeatures.weighted_distance(PoseFeatures.build(base), PoseFeatures.build(near))
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var d_far := PoseFeatures.weighted_distance(PoseFeatures.build(base), PoseFeatures.build(far))
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ok(d_near < d_far, "偏离越大距离越大", "近 %.6f，远 %.6f" % [d_near, d_far])
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func test_mirrored_frame_is_normalized_before_feature_extraction() -> void:
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var frame := _upright_frame()
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frame.flags = KeypointFrame.FLAG_MIRRORED
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var mirrored := PoseFeatures.build(frame, true)
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var unmirrored := PoseFeatures.build(frame, false)
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# 镜像归一化后左腕 x 应变为 1 - 0.78
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almost(mirrored.values[KeypointFrame.LEFT_WRIST * 3], 1.0 - 0.78, 1e-4, "镜像帧已翻转 x")
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almost(unmirrored.values[KeypointFrame.LEFT_WRIST * 3], 0.78, 1e-4, "保留原始坐标时 x 不变")
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ok(PoseFeatures.weighted_distance(mirrored, unmirrored) > 0.0, "两种解释产生不同特征")
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func test_angle_labels_cover_all_nine() -> void:
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var labels: Array[String] = []
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for i in 9:
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labels.append(PoseFeatures.angle_label(i))
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eq(labels.size(), 9, "9 个关节角均有标签")
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for label in labels:
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ok(label != "", "标签非空：%s" % label)
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