test(e2e): add VPAIRAdapter (pose-only; fixed-wing capability)

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/gps_denied/testing/datasets/vpair.py

@@ -0,0 +1,74 @@
+"""Adapter for VPAIR (Aerial Visual Place Recognition) dataset sample release."""
+
+from __future__ import annotations
+
+import csv
+from pathlib import Path
+from typing import Iterator
+
+from gps_denied.testing.datasets.base import (
+    DatasetAdapter,
+    DatasetCapabilities,
+    DatasetFrame,
+    DatasetIMU,
+    DatasetNotAvailableError,
+    DatasetPose,
+    PlatformClass,
+)
+
+
+class VPAIRAdapter(DatasetAdapter):
+    """Reads the VPAIR sample bundle (queries/ + poses.csv)."""
+
+    def __init__(self, root: Path) -> None:
+        self._root = Path(root)
+        self._queries_dir = self._root / "queries"
+        self._poses_csv = self._root / "poses.csv"
+        if not (self._queries_dir.is_dir() and self._poses_csv.is_file()):
+            raise DatasetNotAvailableError(
+                f"VPAIR sample not found at {self._root} "
+                "(expected queries/ and poses.csv). "
+                "Download from https://github.com/AerVisLoc/vpair sample link on Zenodo."
+            )
+
+    @property
+    def name(self) -> str:
+        return f"vpair:{self._root.name}"
+
+    @property
+    def capabilities(self) -> DatasetCapabilities:
+        return DatasetCapabilities(
+            has_raw_imu=False,  # VPAIR ships poses, not raw IMU
+            has_rtk_gt=False,   # GNSS/INS 1m accuracy, not RTK
+            has_loop_closures=False,
+            platform_class=PlatformClass.FIXED_WING,
+        )
+
+    def iter_frames(self) -> Iterator[DatasetFrame]:
+        with self._poses_csv.open() as fh:
+            reader = csv.DictReader(fh)
+            for idx, row in enumerate(reader):
+                yield DatasetFrame(
+                    frame_idx=idx,
+                    timestamp_ns=int(row["timestamp_ns"]),
+                    image_path=str(self._queries_dir / row["filename"]),
+                )
+
+    def iter_imu(self) -> Iterator[DatasetIMU]:
+        return
+        yield  # empty generator
+
+    def iter_ground_truth(self) -> Iterator[DatasetPose]:
+        with self._poses_csv.open() as fh:
+            reader = csv.DictReader(fh)
+            for row in reader:
+                yield DatasetPose(
+                    timestamp_ns=int(row["timestamp_ns"]),
+                    lat=float(row["lat"]),
+                    lon=float(row["lon"]),
+                    alt=float(row["alt"]),
+                    qx=float(row["qx"]),
+                    qy=float(row["qy"]),
+                    qz=float(row["qz"]),
+                    qw=float(row["qw"]),
+                )