test(e2e): add MARSLVIGAdapter (rotary, RTK, raw IMU)

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

src/gps_denied/testing/datasets/mars_lvig.py

@@ -0,0 +1,86 @@
+"""Adapter for MARS-LVIG sequences — reads pre-extracted images/ + imu.csv + gnss.csv."""
+
+from __future__ import annotations
+
+import csv
+from pathlib import Path
+from typing import Iterator
+
+from gps_denied.testing.datasets.base import (
+    DatasetAdapter,
+    DatasetCapabilities,
+    DatasetFrame,
+    DatasetIMU,
+    DatasetNotAvailableError,
+    DatasetPose,
+    PlatformClass,
+)
+
+
+class MARSLVIGAdapter(DatasetAdapter):
+    """Reads one MARS-LVIG sequence that has been pre-extracted from its ROS bag.
+
+    Expected layout under `root/`:
+      images/{timestamp_ns}.jpg
+      imu.csv       — timestamp_ns, ax, ay, az, gx, gy, gz
+      gnss.csv      — timestamp_ns, lat, lon, alt
+    """
+
+    def __init__(self, root: Path) -> None:
+        self._root = Path(root)
+        self._img_dir = self._root / "images"
+        self._imu_csv = self._root / "imu.csv"
+        self._gnss_csv = self._root / "gnss.csv"
+        missing = [
+            str(p) for p in (self._img_dir, self._imu_csv, self._gnss_csv)
+            if not p.exists()
+        ]
+        if missing:
+            raise DatasetNotAvailableError(
+                f"MARS-LVIG sequence incomplete at {self._root}; missing: {missing}. "
+                "Pre-extract the ROS bag into the expected layout first."
+            )
+
+    @property
+    def name(self) -> str:
+        return f"mars_lvig:{self._root.name}"
+
+    @property
+    def capabilities(self) -> DatasetCapabilities:
+        return DatasetCapabilities(
+            has_raw_imu=True,
+            has_rtk_gt=True,  # RTK + DJI L1 reference
+            has_loop_closures=False,
+            platform_class=PlatformClass.ROTARY,
+        )
+
+    def iter_frames(self) -> Iterator[DatasetFrame]:
+        for idx, img in enumerate(sorted(self._img_dir.glob("*.jpg"))):
+            ts_ns = int(img.stem)
+            yield DatasetFrame(
+                frame_idx=idx,
+                timestamp_ns=ts_ns,
+                image_path=str(img),
+            )
+
+    def iter_imu(self) -> Iterator[DatasetIMU]:
+        with self._imu_csv.open() as fh:
+            reader = csv.DictReader(fh)
+            for row in reader:
+                yield DatasetIMU(
+                    timestamp_ns=int(row["timestamp_ns"]),
+                    accel=(float(row["ax"]), float(row["ay"]), float(row["az"])),
+                    gyro=(float(row["gx"]), float(row["gy"]), float(row["gz"])),
+                )
+
+    def iter_ground_truth(self) -> Iterator[DatasetPose]:
+        with self._gnss_csv.open() as fh:
+            reader = csv.DictReader(fh)
+            for row in reader:
+                yield DatasetPose(
+                    timestamp_ns=int(row["timestamp_ns"]),
+                    lat=float(row["lat"]),
+                    lon=float(row["lon"]),
+                    alt=float(row["alt"]),
+                    qx=0.0, qy=0.0, qz=0.0, qw=1.0,
+                )

tests/e2e/test_mars_lvig_adapter.py

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+"""MARSLVIGAdapter — reads pre-extracted per-topic files from a sequence dir."""
+
+from pathlib import Path
+
+import pytest
+
+from gps_denied.testing.datasets.base import (
+    DatasetNotAvailableError,
+    PlatformClass,
+)
+from gps_denied.testing.datasets.mars_lvig import MARSLVIGAdapter
+
+
+@pytest.fixture
+def fake_mars_seq(tmp_path: Path) -> Path:
+    seq = tmp_path / "HKairport_01"
+    (seq / "images").mkdir(parents=True)
+    for ts in (100_000_000, 200_000_000):
+        (seq / "images" / f"{ts}.jpg").write_bytes(b"\xff\xd8\xff\xd9")
+    (seq / "imu.csv").write_text(
+        "timestamp_ns,ax,ay,az,gx,gy,gz\n"
+        "100000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
+        "200000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
+    )
+    (seq / "gnss.csv").write_text(
+        "timestamp_ns,lat,lon,alt\n"
+        "100000000,22.32,114.17,100.0\n"
+        "200000000,22.3201,114.1702,100.0\n"
+    )
+    return seq
+
+
+def test_raises_when_missing(tmp_path: Path):
+    with pytest.raises(DatasetNotAvailableError):
+        MARSLVIGAdapter(tmp_path / "nope")
+
+
+def test_capabilities(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    cap = adapter.capabilities
+    assert cap.has_raw_imu is True
+    assert cap.has_rtk_gt is True
+    assert cap.platform_class == PlatformClass.ROTARY
+
+
+def test_iter_frames(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    frames = list(adapter.iter_frames())
+    assert len(frames) == 2
+    assert frames[0].timestamp_ns == 100_000_000
+
+
+def test_iter_imu(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    imu = list(adapter.iter_imu())
+    assert len(imu) == 2
+    assert imu[0].accel == (0.0, 0.0, -9.81)
+
+
+def test_iter_ground_truth(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    gt = list(adapter.iter_ground_truth())
+    assert len(gt) == 2
+    assert gt[0].lat == pytest.approx(22.32)