test(e2e): wire VPAIR nominal tier; pose-only harness path

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

tests/e2e/test_vpair.py

@@ -0,0 +1,51 @@
+"""VPAIR nominal e2e — fixed-wing, downward, no raw IMU.
+
+Tests that require full ESKF path are skipped because VPAIR ships poses only.
+The VO + GPR + graph path is still exercised.
+"""
+
+from pathlib import Path
+
+import pytest
+
+from gps_denied.testing.datasets.vpair import VPAIRAdapter
+from gps_denied.testing.harness import E2EHarness
+from gps_denied.testing.metrics import absolute_trajectory_error
+
+
+VPAIR_SAMPLE_RMSE_CEILING_M = 20.0  # initial target, calibrate after first runs
+
+
+@pytest.mark.e2e
+@pytest.mark.e2e_slow
+@pytest.mark.needs_dataset
+@pytest.mark.asyncio
+async def test_vpair_sample_pipeline_completes(vpair_sample_root: Path):
+    adapter = VPAIRAdapter(vpair_sample_root)
+    if not adapter.capabilities.has_raw_imu:
+        # ESKF path is skipped automatically inside the product because IMU
+        # callbacks are never fired; we only check completion here.
+        pass
+    harness = E2EHarness(adapter)
+    result = await harness.run()
+    assert result.num_frames_submitted > 0
+
+
+@pytest.mark.e2e
+@pytest.mark.e2e_slow
+@pytest.mark.needs_dataset
+@pytest.mark.asyncio
+async def test_vpair_sample_trajectory_bounded(vpair_sample_root: Path):
+    adapter = VPAIRAdapter(vpair_sample_root)
+    harness = E2EHarness(adapter)
+    result = await harness.run()
+    if result.estimated_positions_enu.shape[0] == 0:
+        pytest.xfail(
+            "Pipeline produced no GPS estimates on VPAIR sample. "
+            "Expected until VO + GPR tuning for 300-400m nadir imagery is validated."
+        )
+    n = min(result.estimated_positions_enu.shape[0], result.ground_truth.shape[0])
+    ate = absolute_trajectory_error(
+        result.estimated_positions_enu[:n], result.ground_truth[:n]
+    )
+    assert ate["rmse"] < VPAIR_SAMPLE_RMSE_CEILING_M, f"ATE RMSE={ate['rmse']:.2f}m"