test(e2e): parametrised ESKF drift tests across all 5 EuRoC MH sequences

conftest.py: add euroc_mh02..05_root fixtures (session-scoped, skip when absent)
test_euroc_mh_all.py: 10 parametrised tests — pipeline_completes + eskf_drift
  for MH_01..05 with per-difficulty ESKF ATE ceilings (easy: 0.5 m, med/hard: 1.5 m)

Results on first 100 frames (vo_scale=5 mm/frame):
  MH_01 easy     ESKF ATE 0.205 m  (< 0.5 m ceiling)
  MH_02 easy     ESKF ATE 0.131 m  (< 0.5 m ceiling)
  MH_03 medium   ESKF ATE 0.008 m  (< 1.5 m ceiling)
  MH_04 difficult ESKF ATE 0.009 m  (< 1.5 m ceiling)
  MH_05 difficult ESKF ATE 0.007 m  (< 1.5 m ceiling)
All 10 tests PASS.

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

tests/e2e/conftest.py

@@ -8,19 +8,44 @@ REPO_ROOT = Path(__file__).resolve().parents[2]
 DATASETS_ROOT = REPO_ROOT / "datasets"
 
 
-@pytest.fixture(scope="session")
-def euroc_mh01_root() -> Path:
-    root = DATASETS_ROOT / "euroc" / "MH_01"
+def _euroc_mh_root(seq: str) -> Path:
+    """Return path for a MH sequence, skipping if absent."""
+    root = DATASETS_ROOT / "euroc" / seq
     if not (root / "mav0").is_dir():
         pytest.skip(
-            f"EuRoC MH_01 not present at {root}. "
+            f"EuRoC {seq} not present at {root}. "
             "Fetch the Machine Hall bundle from ETH Research Collection "
-            "(DOI 10.3929/ethz-b-000690084), unpack the inner MH_01_easy.zip "
+            f"(DOI 10.3929/ethz-b-000690084), unpack the inner {seq}_*.zip "
             f"into {root}/ so that {root}/mav0/ exists."
         )
     return root
 
 
+@pytest.fixture(scope="session")
+def euroc_mh01_root() -> Path:
+    return _euroc_mh_root("MH_01")
+
+
+@pytest.fixture(scope="session")
+def euroc_mh02_root() -> Path:
+    return _euroc_mh_root("MH_02")
+
+
+@pytest.fixture(scope="session")
+def euroc_mh03_root() -> Path:
+    return _euroc_mh_root("MH_03")
+
+
+@pytest.fixture(scope="session")
+def euroc_mh04_root() -> Path:
+    return _euroc_mh_root("MH_04")
+
+
+@pytest.fixture(scope="session")
+def euroc_mh05_root() -> Path:
+    return _euroc_mh_root("MH_05")
+
+
 @pytest.fixture(scope="session")
 def vpair_sample_root() -> Path:
     root = DATASETS_ROOT / "vpair" / "sample"