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refactor(vo): address final review — accurate docstring + update_depth_hint tests

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Final review findings (Important):
- I1: e2e test docstring overclaimed — harness always uses ORBVisualOdometry.
  Rewrite docstring to describe the actual scope: smoke test + ORB regression
  guard. Wiring Mono-Depth wrapper through the harness is a sprint 2 task.
- I2: update_depth_hint had no tests. Add 2 tests: clamp at 1.0m for bogus
  values, and verify next compute_relative_pose uses the updated scale.
- I3: add TODO marker for sprint 2 deduplication with CuVSLAMVisualOdometry.

No behavior change — only docstrings, TODO markers, and test coverage.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-18 16:29:00 +03:00
parent 44f96d6d2d
commit 759766d737
3 changed files with 59 additions and 9 deletions
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src/gps_denied/core/vo.py
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@@ -395,6 +395,9 @@ class CuVSLAMVisualOdometry(ISequentialVisualOdometry):
# ---------------------------------------------------------------------------
# CuVSLAMMonoDepthVisualOdometry — cuVSLAM Mono-Depth mode (sprint 1 production)
# ---------------------------------------------------------------------------
# TODO(sprint 2): collapse duplicated SDK-load / _init_tracker scaffolding with
# CuVSLAMVisualOdometry once Inertial mode is removed. Kept separate for sprint 1
# so the Inertial → Mono-Depth migration is reversible.
# Reference altitude used to normalise ORB unit-scale translation in dev/CI.
# At this altitude the ORB unit vector is scaled to match expected metric displacement.