SequentialVisualOdometry uses MockInferenceEngine (random keypoints) in
dev/CI, so RANSAC on random point pairs finds ≈0 geometric inliers and
vo_success is always False. ORBVisualOdometry uses real OpenCV ORB
features and achieves 99/100 tracking on EuRoC MH_01.
ESKF still never initialises (no start_gps call in harness) — that is
the next layer to address.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
First real e2e run on EuRoC MH_01 (indoor micro-MAV, ASL format from
machine_hall bundle, SHA256 5ed7d07…). 100-frame CI-tier completes in
~30s end-to-end. Pipeline emits GPS estimates (raw IMU present in
EuRoC so ESKF path is active), but ATE RMSE ≈ 10.9 km on an indoor
trajectory that physically spans ~20 m — satellite-anchoring path is
not yet wired for indoor data, so VO+ESKF drift dominates.
Test gates via xfail (same pattern as VPAIR) until VO/ESKF tuning is
done. Constant EUROC_MH01_MAX_FRAMES is explicit so the cap is
discoverable and easy to raise when full-sequence runs become
worthwhile.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Yuzviak