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"]),
+                )

tests/e2e/test_vpair_adapter.py

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+"""VPAIRAdapter unit tests with a fabricated vpair_sample/ layout."""
+
+from pathlib import Path
+
+import pytest
+
+from gps_denied.testing.datasets.base import (
+    DatasetNotAvailableError,
+    PlatformClass,
+)
+from gps_denied.testing.datasets.vpair import VPAIRAdapter
+
+
+@pytest.fixture
+def fake_vpair_root(tmp_path: Path) -> Path:
+    (tmp_path / "queries").mkdir()
+    for fn in ("q_00000.jpg", "q_00001.jpg"):
+        (tmp_path / "queries" / fn).write_bytes(b"\xff\xd8\xff\xd9")  # minimal JPEG
+    (tmp_path / "poses.csv").write_text(
+        "filename,lat,lon,alt,qx,qy,qz,qw,timestamp_ns\n"
+        "q_00000.jpg,50.737,7.095,350.0,0,0,0,1,0\n"
+        "q_00001.jpg,50.7372,7.0952,350.0,0,0,0,1,1000000000\n"
+    )
+    return tmp_path
+
+
+def test_raises_when_missing(tmp_path: Path):
+    with pytest.raises(DatasetNotAvailableError):
+        VPAIRAdapter(tmp_path / "nope")
+
+
+def test_capabilities_no_raw_imu(fake_vpair_root: Path):
+    adapter = VPAIRAdapter(fake_vpair_root)
+    cap = adapter.capabilities
+    assert cap.has_raw_imu is False
+    assert cap.platform_class == PlatformClass.FIXED_WING
+
+
+def test_iter_frames(fake_vpair_root: Path):
+    adapter = VPAIRAdapter(fake_vpair_root)
+    frames = list(adapter.iter_frames())
+    assert len(frames) == 2
+    assert Path(frames[0].image_path).name == "q_00000.jpg"
+    assert frames[1].timestamp_ns == 1_000_000_000
+
+
+def test_iter_imu_empty(fake_vpair_root: Path):
+    adapter = VPAIRAdapter(fake_vpair_root)
+    assert list(adapter.iter_imu()) == []
+
+
+def test_iter_ground_truth(fake_vpair_root: Path):
+    adapter = VPAIRAdapter(fake_vpair_root)
+    gt = list(adapter.iter_ground_truth())
+    assert len(gt) == 2
+    assert gt[0].lat == pytest.approx(50.737)
+    assert gt[0].alt == pytest.approx(350.0)