[AZ-423] [AZ-427] Add FT-P-19 + FT-N-05 blackbox tests

Implement the AC-8.6 (top-K=10 retrieval scale-ratio + scene-change
PARTIAL) and AC-8.2 / AC-NEW-6 (stale aged-tile rejection) blackbox
scenarios.

AZ-423 (FT-P-19, 3pt) helpers + scenario:
- retrieval_evaluator.py — top-K within-distance evaluator (60 stills
  vs 100 m budget), scene-change PARTIAL recorder (always emits
  PARTIAL on the 2 _gmaps.png pairs), FDR record projectors, CSV
  writers.
- tests/positive/test_ft_p_19_sat_reloc_scale.py (6 parametrised
  variants).

AZ-427 (FT-N-05, 2pt) helpers + scenario:
- aged_tile_rejection_evaluator.py — Signal A (stale rejection at
  load) + Signal B (per-frame downgrade) decision matrix, reuses
  ALLOWED_SOURCE_LABELS from estimate_schema.
- tests/negative/test_ft_n_05_stale_tile_rejection.py (12 parametrised
  variants: FC × VIO × {7mo/active-conflict, 13mo/rear}).

48 new unit tests cover every helper branch. Both scenarios skip
when sitl_replay_ready is false and fail loudly when fixture records
are missing.

Per-batch review: PASS_WITH_WARNINGS (2 Low — production-dependency
surface, FDR-kind constant duplication).
Cumulative review 82-84: PASS (2 Low carry-over / hygiene candidate).

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

e2e/tests/positive/test_ft_p_19_sat_reloc_scale.py

@@ -0,0 +1,149 @@
+"""FT-P-19 — Satellite-relocalization scale-ratio + scene-change PARTIAL (AZ-423 / AC-8.6).
+
+The full scenario:
+
+1. Push each ``AD0000NN.jpg`` from ``still-image-set-60`` to the SUT's
+   frame source, one at a time. For each image, the SUT runs top-K=10
+   tile-cache retrieval and writes an FDR ``retrieval-topk`` record
+   carrying the 10 candidate tile centres.
+2. The test joins the per-image GT (``coordinates.csv``) with the FDR
+   stream and asserts that EVERY image's top-K covers a tile centre
+   within 100 m of the image's true centre (``AC-1`` / set_contains).
+3. For the 2 paired ``_gmaps.png`` reference images the SUT runs the
+   cross-domain matcher; the test records per-image match success
+   into a CSV and tags the subset as ``PARTIAL`` (``AC-2``).
+4. ``AC-3`` — parameterisation across ``(fc_adapter, vio_strategy)``.
+
+What this file owns:
+
+* The AC-1 / AC-2 / AC-3 wiring above.
+* CSV evidence emission via the AZ-423-owned ``retrieval_evaluator``.
+
+What this file does NOT own:
+
+* The frame-source push → ``runner.helpers.frame_source_replay`` (stub,
+  AZ-441) — skip-gated.
+* The SITL message receipt → ``runner.helpers.sitl_observer`` (stub;
+  AZ-416/AZ-417) — skip-gated.
+* The SUT-side ``retrieval-topk`` + ``scene-change-match`` FDR record
+  emission — production gap, surfaced via fail-loud when the fixture
+  exists but the records are missing.
+
+When ``E2E_SITL_REPLAY_DIR`` is set and points at a prepared SITL
+replay fixture, this file's runtime path activates automatically.
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+import pytest
+
+from runner.helpers import accuracy_evaluator as ae
+from runner.helpers import retrieval_evaluator as re_
+
+GT_CSV = Path(__file__).resolve().parents[3] / "_docs" / "00_problem" / "input_data" / "coordinates.csv"
+STILL_IMAGES_DIR = GT_CSV.parent
+
+
+@pytest.mark.traces_to("AC-8.6,AC-1,AC-2,AC-3")
+def test_ft_p_19_sat_reloc_scale(
+    fc_adapter: str,
+    vio_strategy: str,
+    evidence_dir,  # type: ignore[no-untyped-def]
+    run_id: str,
+    nfr_recorder,  # type: ignore[no-untyped-def]
+    sitl_replay_ready: bool,
+) -> None:
+    """Full FT-P-19 scenario (AC-8.6).
+
+    AC-1: every image's top-K=10 includes a tile centre within 100 m of GT.
+    AC-2: paired _gmaps.png subset → PARTIAL.
+    AC-3: parametrised across ``(fc_adapter, vio_strategy)``.
+    """
+    if not sitl_replay_ready:
+        pytest.skip(
+            "FT-P-19 requires `E2E_SITL_REPLAY_DIR` to point at a SITL replay "
+            "fixture emitting `retrieval-topk` + `scene-change-match` FDR "
+            "records (AZ-595 + AZ-423 fixture builder). Pure-logic AC-8.6 "
+            "coverage lives in e2e/_unit_tests/helpers/test_retrieval_evaluator.py."
+        )
+
+    from runner.helpers import fdr_reader
+
+    gt_rows = ae.load_gt_coordinates(GT_CSV)
+    gt_by_id = {_normalise_image_id(r.image_id): r for r in gt_rows}
+
+    fdr_root = Path(evidence_dir).parent / f"run-{run_id}" / "fdr"
+
+    topk_queries: list[re_.TopKQuery] = []
+    for payload in re_.iter_topk_payloads(fdr_reader.iter_records(fdr_root)):
+        if not isinstance(payload, dict):
+            continue
+        image_id_raw = payload.get("image_id")
+        if not isinstance(image_id_raw, str):
+            continue
+        image_key = _normalise_image_id(image_id_raw)
+        gt = gt_by_id.get(image_key)
+        if gt is None:
+            continue
+        q = re_.project_topk_record_to_query(
+            payload, true_centre_lat_deg=gt.lat_deg, true_centre_lon_deg=gt.lon_deg
+        )
+        if q is not None:
+            topk_queries.append(q)
+
+    scene_change_matches: list[re_.SceneChangeMatch] = []
+    for payload in re_.iter_scene_change_payloads(fdr_reader.iter_records(fdr_root)):
+        m = re_.project_scene_change_record(payload)
+        if m is not None:
+            scene_change_matches.append(m)
+
+    if not topk_queries:
+        pytest.fail(
+            f"FT-P-19: no `{re_.RETRIEVAL_TOPK_FDR_KIND}` FDR records found at "
+            f"{fdr_root}. SUT must emit a top-K retrieval record per pushed "
+            "image; fixture builder must collect them."
+        )
+
+    topk_report = re_.evaluate_top_k_within_distance(
+        topk_queries, expected_image_count=ae.TOTAL_IMAGES_REQUIRED
+    )
+    scene_change_report = re_.evaluate_scene_change_subset(scene_change_matches)
+
+    top_k_csv = Path(evidence_dir) / f"ft-p-19-topk-{fc_adapter}-{vio_strategy}.csv"
+    scene_change_csv = Path(evidence_dir) / f"ft-p-19-scene-change-{fc_adapter}-{vio_strategy}.csv"
+    re_.write_top_k_csv(top_k_csv, topk_report)
+    re_.write_scene_change_csv(scene_change_csv, scene_change_report)
+
+    nfr_recorder.record_metric(
+        "ft_p_19.topk_pass_count", float(topk_report.pass_count), ac_id="AC-1"
+    )
+    nfr_recorder.record_metric(
+        "ft_p_19.topk_image_count", float(len(topk_report.entries)), ac_id="AC-1"
+    )
+    nfr_recorder.record_metric(
+        "ft_p_19.scene_change_matched_count",
+        float(scene_change_report.matched_count),
+        ac_id="AC-2",
+    )
+
+    assert topk_report.passes, (
+        f"AC-1 (top-K=10 within {topk_report.max_distance_m} m for {topk_report.expected_image_count} images) failed: "
+        f"pass_count={topk_report.pass_count}/{topk_report.expected_image_count}, "
+        f"failing={[(e.image_id, e.min_distance_m) for e in topk_report.failing_entries[:5]]}"
+    )
+    assert scene_change_report.coverage_complete, (
+        "AC-2 (scene-change subset coverage) failed: paired images observed = "
+        f"{[e.image_id for e in scene_change_report.entries]}, expected = "
+        f"{list(scene_change_report.expected_image_ids)}"
+    )
+    assert scene_change_report.overall_label == re_.SCENE_CHANGE_SUBSET_PARTIAL_LABEL, (
+        f"AC-2 (PARTIAL annotation): got {scene_change_report.overall_label!r}, "
+        f"expected {re_.SCENE_CHANGE_SUBSET_PARTIAL_LABEL!r}"
+    )
+
+
+def _normalise_image_id(image_id: str) -> str:
+    """Strip ``.jpg`` extension if present; ``coordinates.csv`` uses the bare stem."""
+    return image_id[:-4] if image_id.lower().endswith(".jpg") else image_id