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docs: record EuRoC MH_01 real-run baseline across all doc surfaces

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Updates README, testing/README, next_steps.md, and ADR 0001 with the
first real EuRoC MH_01 e2e run (100 frames, ~30s wall-time, ATE RMSE
~10.9 km → xfail). Places the EuRoC result alongside the prior VPAIR
baseline (~1770 km) so future-reader can see both failure modes at a
glance:

- VPAIR diverges because no raw IMU → ESKF never engages
- EuRoC diverges because indoor scene has no satellite anchor, so
  VO+ESKF drift without an external correction

Also records the branching policy (rename ``euroc_mh01`` →
``euroc_machine_hall``; empty URL due to DSpace UI gate; manual
fetch via DOI 10.3929/ethz-b-000690084).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-17 17:48:16 +03:00
committed by Maksym Yuzviak
parent b57187e1b8
commit 1bf8b2a684
4 changed files with 31 additions and 15 deletions
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src/gps_denied/testing/README.md
+4 -3
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@@ -97,8 +97,9 @@ pytest tests/e2e/ -m "e2e and not e2e_slow" -v
# Nightly tier: VPAIR, MARS-LVIG, other long runs
pytest tests/e2e/ -m e2e_slow -v
# Download a dataset registered in DATASET_REGISTRY with a URL
python scripts/download_dataset.py euroc_mh01
# Inspect the registry / trigger a manual-instruction printout
python scripts/download_dataset.py <name> # exits 3 and prints fetch steps
# if the entry has an empty URL
```
Markers (`e2e`, `e2e_slow`, `needs_dataset`) are registered in `pyproject.toml`.
@@ -108,7 +109,7 @@ Markers (`e2e`, `e2e_slow`, `needs_dataset`) are registered in `pyproject.toml`.
| Adapter | Platform | Raw IMU | GT | Real-run status |
|---|---|---|---|---|
| `SyntheticAdapter` | — | yes (zero motion) | exact | smoke test only, always runs |
| `EuRoCAdapter` | indoor MAV | 200 Hz ADIS16448 | Vicon | pending first real run (dataset download in progress) |
| `EuRoCAdapter` | indoor MAV | 200 Hz ADIS16448 | Vicon | ran on first 100 frames — ATE ~10.9 km, xfail documented; VO+ESKF active but no satellite anchoring for indoor scene |
| `VPAIRAdapter` | fixed-wing light aircraft | no (pose-only) | GNSS/INS ~1 m | ran once — ATE ~1770 km, xfail documented; VO alone diverges without anchoring |
| `MARSLVIGAdapter` | rotary (DJI M300 RTK) | yes | RTK | pending (requires pre-extracted ROS bag) |