fix: P0+P1 audit — memory leak, hardcoded camera/GPS, lifespan init, background processing, batch validation, ABC interfaces

tests/test_graph.py

@@ -50,21 +50,28 @@ def test_add_absolute_factor(optimizer):
     flight_id = "test_f_2"
     optimizer._init_flight(flight_id)
     
-    # Inject 0
+    # Inject frame 0 and frame 1
     from gps_denied.schemas.graph import Pose
     from datetime import datetime
     optimizer._flights_state[flight_id]["poses"][0] = Pose(
         frame_id=0, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
     )
+    optimizer._flights_state[flight_id]["poses"][1] = Pose(
+        frame_id=1, position=np.zeros(3), orientation=np.eye(3), timestamp=datetime.now()
+    )
     
-    gps = GPSPoint(lat=49.1, lon=30.1)
-    res = optimizer.add_absolute_factor(flight_id, 0, gps, np.eye(2), is_user_anchor=True)
+    # First GPS sets the ENU origin → position becomes [0,0,0]
+    origin_gps = GPSPoint(lat=49.0, lon=30.0)
+    optimizer.add_absolute_factor(flight_id, 0, origin_gps, np.eye(2), is_user_anchor=True)
+    assert np.allclose(optimizer.get_trajectory(flight_id)[0].position, [0, 0, 0])
+    
+    # Second GPS at different coords → should produce non-zero ENU displacement
+    gps2 = GPSPoint(lat=49.1, lon=30.1)
+    res = optimizer.add_absolute_factor(flight_id, 1, gps2, np.eye(2), is_user_anchor=True)
     assert res is True
     
-    # Verify modification
     traj = optimizer.get_trajectory(flight_id)
-    # The x,y are roughly calcualted
-    assert traj[0].position[1] > 1000  # lat 49.1 > 49.0
+    assert traj[1].position[1] > 1000  # ~11 km north
     
 def test_optimize_and_retrieve(optimizer):
     flight_id = "test_f_3"