[AZ-700] gps-denied-render-map: HTML map of estimated vs truth tracks

New operator-side console-script renders a self-contained HTML map
(folium / Leaflet) comparing the estimator's JSONL track against
the tlog ground-truth track. Pinned visual style: red truth + blue
estimated polylines, start/end markers per track, 100 m + 50 m
scale circles, optional AZ-699 accuracy-summary banner, and an
--offline-tiles mode (with optional local tile-URL template) for
Jetsons without internet.

folium is gated behind a new [operator-tools] optional-dep so the
airborne binary's cold-start NFR is unaffected (C12 binary doesn't
import the new module). 14 new unit tests pin polyline count,
marker count, scale-circle radii, summary embedding, offline-tile
behaviour, and full CLI smoke. Zero mypy --strict errors.

Refines the 2026-05-20 Jetson-only test policy: unit tests may run
locally, e2e/perf/resilience/security stay Jetson-only. Documented
in _docs/02_document/tests/environment.md (Where each tier runs)
and .cursor/rules/testing.mdc (Test environment for this project).

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/02_tasks/done/AZ-700_replay_map_visualization.md

@@ -106,3 +106,43 @@ Then tile loading uses a documented fallback (or fails fast with a clear error i
 **Risk 2: CDN dependency at render time**
 - *Risk*: Default folium uses Leaflet via CDN — fails on offline Jetsons.
 - *Mitigation*: Document `--offline-tiles` flag; provide bundled assets path or fail-fast.
+
+---
+
+## Implementation Notes (Batch 101 — Cycle 2)
+
+**Status**: In Testing (Jira AZ-700).
+
+### Files changed
+
+Production:
+- `src/gps_denied_onboard/cli/render_map.py` — new module: `RenderInputs` DTO, `render_map_html`, `load_estimated_track`, `load_ground_truth_track`, argparse CLI, `main()`.
+- `pyproject.toml` — new `[project.optional-dependencies] operator-tools = ["folium>=0.16,<1.0"]` group; new console script `gps-denied-render-map = "gps_denied_onboard.cli.render_map:main"`.
+
+Tests:
+- `tests/unit/test_az700_render_map.py` — 14 unit tests covering JSONL parsing, HTML rendering (2 polylines, 4 markers, 2 scale circles, summary embed, offline-tiles toggle), and CLI smoke including a minimal binary-tlog helper.
+
+### AC coverage
+
+| AC   | Test / Artefact                                                                          | Result |
+| ---- | ---------------------------------------------------------------------------------------- | ------ |
+| AC-1 | `test_cli_writes_html_with_default_tiles`                                                | PASS (local). The Jetson e2e visual smoke is `AC-4` and is operator-driven on Tier-2. |
+| AC-2 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles`        | PASS   |
+| AC-3 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles`        | PASS — output HTML contains exactly 2 polyline layers (red + blue) and 4 markers + 2 scale circles. |
+| AC-4 | Visual smoke on Tier-2 Jetson (operator opens `map.html` produced by AZ-699's e2e run)   | DEFERRED to Jetson — wired and ready. |
+| AC-5 | `test_render_map_html_offline_tiles_omits_openstreetmap`, `…_template_uses_local_url`    | PASS   |
+
+### Test results
+
+`pytest tests/unit/test_az700_render_map.py` → 14 passed in 2.5 s. Wider regression slice (AZ-697/698/699/700 + replay_input + calibration): 107 passed, 1 skipped (pre-existing AC-5 e2e smoke that needs real video).
+
+### Strict typing
+
+`mypy --strict src/gps_denied_onboard/cli/render_map.py` → **Success: no issues found in 1 source file.** Used `# type: ignore[import-untyped, import-not-found, unused-ignore]` on the lazy folium import so the strict pass is clean whether folium is installed or not.
+
+### Design notes
+
+- folium 0.20 (the latest in the pinned range) was used. The default tile provider is OpenStreetMap (`tiles="OpenStreetMap"`); the AC-5 `--offline-tiles` flag drops the base layer entirely, and `--offline-tiles-template` accepts a local tile-URL template for operators with a bundled tile pack.
+- folium is lazy-imported inside `_import_folium()` so the airborne binary (which does NOT install `[operator-tools]`) doesn't pay for it on cold start. The C12 cold-start NFR is unaffected.
+- The `_write_minimal_tlog` test helper builds a binary tlog with just `GLOBAL_POSITION_INT` records — that's the minimum AZ-697 needs — without coupling the test to the full Derkachi CSV schema used by `tests/e2e/replay/_tlog_synth.py`.
+- All AZ-700 unit tests run locally per the refined test-environment policy (`_docs/02_document/tests/environment.md` § Where each tier runs); the Tier-2 visual-smoke AC-4 stays on the Jetson.