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[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing

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- AZ-414 (FT-P-07 + FT-N-02): sharp_turn_detector helper covering
  AC-1 (gyro_z run detection + synthetic-overlay fallback),
  AC-2/AC-3 (FT-N-02 during-turn label + monotonic covariance),
  AC-4/AC-5/AC-6 (FT-P-07 recovery lag/drift/heading); twin scenario
  files under positive/ and negative/.
- AZ-415 (FT-P-08): multi_segment_evaluator helper + scenario.
- AZ-418 (FT-P-10): smoothing_evaluator helper covering AC-1 (raw +
  smoothed pose pairing), AC-2 (improvement rate >= 0.80), AC-3
  (mean improvement >= 5 m); scenario file.
- All scenarios skip-gated on upstream frame_source_replay /
  imu_replay / fdr_reader stubs (auto-activate when AZ-441 + AZ-407
  leftovers land).
- +68 unit tests; full e2e unit suite: 393 passed.

See _docs/03_implementation/batch_71_report.md and
_docs/03_implementation/reviews/batch_71_review.md.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-17 07:12:24 +03:00
parent 29ac16cfcb
commit c6e6cba237
17 changed files with 3195 additions and 1 deletions
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e2e/_unit_tests/test_directory_layout.py
+7
View File
@@ -46,6 +46,9 @@ E2E_ROOT = Path(__file__).resolve().parents[1]
"runner/helpers/accuracy_evaluator.py",
"runner/helpers/registration_classifier.py",
"runner/helpers/mre_evaluator.py",
"runner/helpers/multi_segment_evaluator.py",
"runner/helpers/smoothing_evaluator.py",
"runner/helpers/sharp_turn_detector.py",
"fixtures/mock-suite-sat/Dockerfile",
"fixtures/mock-suite-sat/app.py",
"fixtures/mock-suite-sat/requirements.txt",
@@ -84,6 +87,10 @@ E2E_ROOT = Path(__file__).resolve().parents[1]
"tests/positive/test_ft_p_04_derkachi_f2f_registration.py",
"tests/positive/test_ft_p_05_sat_anchor.py",
"tests/positive/test_ft_p_06_mre_budgets.py",
"tests/positive/test_ft_p_07_sharp_turn_recovery.py",
"tests/positive/test_ft_p_08_multi_segment_reloc.py",
"tests/positive/test_ft_p_10_smoothing_lookback.py",
"tests/negative/test_ft_n_02_sharp_turn_failure.py",
],
)
def test_required_path_exists(relative_path: str) -> None: