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[AZ-243] Sync native VIO test docs

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Co-authored-by: Cursor <cursoragent@cursor.com>
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Oleksandr Bezdieniezhnykh
2026-05-07 01:04:01 +03:00
parent 2425f8e6fd
commit a8e7199f30
8 changed files with 40 additions and 13 deletions
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_docs/02_document/tests/blackbox-tests.md
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- Derkachi replay fixture is mounted from `input_data/flight_derkachi/`.
- `flight_derkachi.mp4` is readable as cropped nadir video: 880 x 720, 30 fps, approximately 490.07 s.
- `data_imu.csv` contains monotonic 10 Hz `Time`, `timestamp(ms)`, `SCALED_IMU2.*`, and `GLOBAL_POSITION_INT.*` fields for 4,900 rows.
- Production or Jetson VIO profile is configured for native mode; replay mode is allowed only for explicit development replay checks.
- Camera intrinsics, lens distortion, and camera-to-body transform are either pinned or the run is marked as calibration-limited.
- Public synchronized dataset slice remains useful for calibrated final comparison. Strongest candidates: MUN-FRL, ALTO, EPFL fixed-wing, Kagaru; EuRoC/UZH FPV are proxy-only.
@@ -76,8 +77,10 @@
| 3 | Compare output trajectory to `GLOBAL_POSITION_INT` lat/lon/alt/heading | Error, covariance, source label, and anchor age are reported per segment |
| 4 | Compare calibrated public/representative replay against ground truth when available | BASALT + wrapper does not materially under-report uncertainty relative to error |
| 5 | Compare against OpenVINS reference replay when available | BASALT + wrapper does not materially under-report uncertainty relative to error |
| 6 | Start with production VIO profile when the BASALT-compatible runtime is not installed | System reports an explicit native runtime prerequisite error and emits no replay-derived successful VIO state |
| 7 | Start with explicit development replay profile | Replay VIO behavior is available only through the explicit replay profile and cannot satisfy production native-mode checks |
**Expected outcome**: Derkachi replay is accepted as a synchronized representative fixture and produces continuous estimates for >95% of normal overlapping frames. Absolute geolocation and covariance pass/fail thresholds are calibration-gated until camera intrinsics, distortion, and camera-to-body transform are pinned. For calibrated datasets, VO homography MRE is <1.0 px where homography validation is applicable.
**Expected outcome**: Derkachi replay is accepted as a synchronized representative fixture and produces continuous estimates for >95% of normal overlapping frames when native prerequisites are available. Missing native runtime prerequisites block production VIO with an explicit error rather than replay success. Absolute geolocation and covariance pass/fail thresholds are calibration-gated until camera intrinsics, distortion, and camera-to-body transform are pinned. For calibrated datasets, VO homography MRE is <1.0 px where homography validation is applicable.
**Max execution time**: Dataset-dependent, but replay must report per-frame latency.