# Acceptance Test: AC-10 - Mean Reprojection Error < 1.0 pixels

## Summary
Validate Acceptance Criterion 10: "Mean Reprojection Error (MRE) < 1.0 pixels. The distance, in pixels, between the original pixel location of the object and the re-projected pixel location."

## Linked Acceptance Criteria
**AC-10**: MRE < 1.0 pixels

## Test Steps

### Step 1: Process Flight with Factor Graph
- **Action**: Process AD000001-030 through complete pipeline
- **Expected Result**: Factor graph optimizes full trajectory

### Step 2: Calculate Reprojection Errors
- **Action**: For each matched feature across image pairs:
  - Project 3D point back to image plane using optimized poses
  - Measure pixel distance from original detection
- **Expected Result**: Array of reprojection errors for all features

### Step 3: Compute Mean Reprojection Error
- **Action**: Calculate mean across all features in all images
- **Expected Result**: MRE < 1.0 pixels

### Step 4: Validate Factor Graph Quality
- **Action**: Low MRE indicates:
  - Poses geometrically consistent
  - 3D structure accurate
  - No "tension" in factor graph
- **Expected Result**: MRE correlates with GPS accuracy

## Success Criteria
- Mean Reprojection Error < 1.0 pixels
- Standard deviation reasonable (< 2.0 pixels)
- No outlier reprojections (> 10 pixels)

## Pass/Fail Criteria
**Passes If**: MRE < 1.0 pixels
**Fails If**: MRE ≥ 1.0 pixels, indicating geometry inconsistencies