# Batch 70 Report — Test Implementation (cycle 1, batch 4 of test phase)

**Batch**: 70
**Date**: 2026-05-16
**Context**: Test implementation (greenfield Step 10 — Implement Tests)
**Tasks**: AZ-409 (3pt), AZ-412 (3pt), AZ-413 (3pt) — 9 cp / 3 tasks
**Cycle**: 1
**Verdict**: COMPLETE — PASS (self-reviewed; see `reviews/batch_70_review.md`)

## Summary

Three pure-positive scenarios on the same Derkachi + still-image fixtures
that AZ-407 / AZ-408 set up. Each follows the now-established
batch-69 pattern:

* A pure-logic helper module under `e2e/runner/helpers/` (everything the
  scenario needs except docker-bound replay + observation).
* A scenario file under `e2e/tests/positive/` parameterized across
  `(fc_adapter, vio_strategy)` and skip-gated on upstream helper
  `NotImplementedError` (auto-activates when the harness lands).
* A unit-test file under `e2e/_unit_tests/helpers/` that drives the
  helper directly with synthetic + real-fixture data.

### AZ-409 — FT-P-01 still-image frame-center accuracy (3pt)

* **`runner/helpers/accuracy_evaluator.py`** — `load_gt_coordinates`
  parses `_docs/00_problem/input_data/coordinates.csv`; `evaluate`
  joins by `image_id`, computes Vincenty geodesic distance via
  `geo.distance_m`, and produces per-image + aggregate reports. The
  three thresholds are exposed as module constants
  (`PASS_COUNT_50M_REQUIRED=48`, `PASS_COUNT_20M_REQUIRED=30`,
  `TOTAL_IMAGES_REQUIRED=60`) so a future spec change has exactly one
  place to flip. `AggregateReport.overall_pass` is the boolean the
  scenario asserts.
* **`tests/positive/test_ft_p_01_still_image_accuracy.py`** — pytest
  scenario, gated on `frame_source_replay.replay_image_directory` +
  `sitl_observer.get_observer`. Pushes one image at a time with a 5 s
  per-image timeout; timeouts are recorded as `(inf, inf)` and propagate
  to `pass_50m=false`, `pass_20m=false`, `error_m=inf` per AC-4.
* **20 unit tests** in `test_accuracy_evaluator.py`.

### AZ-412 — FT-P-04 Derkachi frame-to-frame registration ≥95 % (3pt)

* **`runner/helpers/registration_classifier.py`** — derives bank +
  pitch from SCALED_IMU2 accelerometer (spec-mandated; AC-1 prohibits
  internal SUT attitude). The classifier expands each 10 Hz IMU row
  into 3 video-frame indices (30 fps / 10 Hz = 3), classifies each
  frame as normal iff bank/pitch ∈ ±10° AND inferred prior-frame
  overlap ≥40 %, then exposes a `compute_success_ratio(classifications,
  registration_success_by_frame)` that returns a typed `SuccessReport`
  with `excluded_by_{attitude,overlap,missing_metric}` counts so AC-3
  diagnostics survive in the run report.
* **Inferred-overlap heuristic** — translation = horizontal velocity ×
  (1/30 s); overlap = `1 - translation / ground_footprint_m` clamped to
  [0, 1]; default ground footprint = 147 m (derived from the camera_info.md
  ~141 m altitude × 55° HFOV). The heuristic is explicitly an upper bound;
  the docstring records the assumption so a future calibration change has
  the tunable in one place.
* **`tests/positive/test_ft_p_04_derkachi_f2f_registration.py`** —
  gated on `frame_source_replay`, `imu_replay`, `fdr_reader`. Reads
  per-frame `registration_success` from `frame_metric` FDR records;
  emits `ft-p-04-{fc_adapter}-{vio_strategy}.csv`; asserts AC-2.
* **26 unit tests** in `test_registration_classifier.py` (including
  attitude round-trips for ±30° roll/pitch, the reproducibility check
  on the real first 100 IMU rows, and the boundary ratio cases).

### AZ-413 — FT-P-05 + FT-P-06 cross-domain MRE budgets (3pt)

* **`runner/helpers/mre_evaluator.py`** — three independent reports:
  `PerImageBudgetReport` (FT-P-05 AC-2: every MRE < 2.5 px, strict <),
  `P95Report` (single-domain p95 < budget), `CombinedP95Report` (FT-P-06
  AC-4: both domains pass). The 95th percentile uses
  `numpy.percentile(..., method='linear')` — exactly what the spec
  mandates. `load_frame_to_frame_csv` raises `ValueError` if the
  FT-P-04 CSV lacks an `mre_px` column (forces the failure to surface
  at the SUT-contract layer rather than silently passing).
* **`tests/positive/test_ft_p_05_sat_anchor.py`** — gated scenario that
  pushes the 60 images, joins MRE with GT-error via
  `accuracy_evaluator.evaluate`, emits `ft-p-05.csv`, asserts AC-2 + AC-3.
* **`tests/positive/test_ft_p_06_mre_budgets.py`** — pure piggyback that
  reads `ft-p-04-*.csv` + `ft-p-05-*.csv` from the same run and asserts
  AC-4. Skips (does NOT fail) if either upstream CSV is missing — that
  failure mode is the FT-P-04 / FT-P-05 scenario's responsibility.
* **22 unit tests** in `test_mre_evaluator.py`.

## Files added / modified

### Added (9)

AZ-409:
* `e2e/runner/helpers/accuracy_evaluator.py`
* `e2e/tests/positive/test_ft_p_01_still_image_accuracy.py`
* `e2e/_unit_tests/helpers/test_accuracy_evaluator.py`

AZ-412:
* `e2e/runner/helpers/registration_classifier.py`
* `e2e/tests/positive/test_ft_p_04_derkachi_f2f_registration.py`
* `e2e/_unit_tests/helpers/test_registration_classifier.py`

AZ-413:
* `e2e/runner/helpers/mre_evaluator.py`
* `e2e/tests/positive/test_ft_p_05_sat_anchor.py`
* `e2e/tests/positive/test_ft_p_06_mre_budgets.py`
* `e2e/_unit_tests/helpers/test_mre_evaluator.py`

### Modified (2)

* `e2e/_unit_tests/test_directory_layout.py` — added 3 helper paths and
  4 scenario paths (the FT-P-01/04/05/06 scenarios; FT-P-02 + FT-P-03/14
  were added in batch 69).
* `_docs/_autodev_state.md` — batch 70 pointer.

## Spec / module-layout drift notes

* **AZ-409 AC-5 says "four times" (the 4-variant matrix);** the conftest
  currently parameterises `(fc_adapter, vio_strategy)` as 2 × 3 = 6
  variants (`vins_mono` was added in AZ-406 alongside `okvis2` and
  `klt_ransac`). AC-5 reads "the conftest's `(fc_adapter, vio_strategy)`
  parameterization" first, with the 4-variant list as an example — so
  the conftest is authoritative. No code change needed; flagged here so
  the audit trail sees the discrepancy.
* **AZ-412 / AZ-413 same observation** — both ACs say "per
  parameterization" without pinning a count; the conftest's 6-variant
  matrix is what runs.
* **AZ-412 attitude convention** — the helper docstring records the
  Z-down + accel-decomposition assumption explicitly (the SCALED_IMU2
  wire format doesn't ship attitude). Roll/pitch ±30° round-trips are
  tested to confirm the decomposition.
* **AZ-412 ground footprint** — default 147 m is derived from
  `camera_info.md` (~141 m alt, ~55° HFOV). Recorded as a module
  constant + classifier kwarg so a future re-calibration touches one
  place.
* **AZ-413 strict `<` boundary** — AC-2 says "MRE < 2.5 px"; the helper
  uses `<` (not `≤`), and the unit test
  `test_evaluate_per_image_budget_single_fail_fails_overall` proves a
  2.5 px reading FAILS. Removes the boundary ambiguity.

## Test Results

### Focused tests (Step 6.4)

`pytest e2e/_unit_tests/` — **325 passed in 172.07s** (was 248 at end
of batch 69; +77 new tests across this batch).

Breakdown of new tests:

* AZ-409 — 20 tests
* AZ-412 — 26 tests
* AZ-413 — 22 tests
* AZ-409/412/413 directory_layout entries — 9 new parametrize cases

Scenario collection: 6 scenario files × parametrize matrix yields 42
collected items in `e2e/tests/positive/` (all 4 new scenario files plus
the 2 from batch 69). Every scenario file remains correctly skip-gated;
no premature activation.

### No full-project pytest run

Per the implement skill's Test-Run Cadence, Step 16 owns the only
full-project suite invocation; batches run focused tests only.

## AC Test Coverage

See `reviews/batch_70_review.md` for the per-AC traceability table. In
summary: every unit-testable AC is covered; every runtime-only AC
(end-to-end harness loop) is documented as gated and auto-activating
when the upstream helpers land.

## Code Review Verdict

Self-reviewed — PASS. See `reviews/batch_70_review.md` for the full
sweep (no Critical / High / Medium / Low findings).

## Auto-Fix Attempts

0. No code-review failures — auto-fix gate was not entered.

## Stuck Agents

None.

## Deferred follow-ups

Unchanged from batch 69 (same list, same owners):

* `runner.helpers.frame_source_replay.FrameSourceReplayer.{replay_video,
  replay_image_directory}` — owned by AZ-441.
* `runner.helpers.fdr_reader.iter_records` — owned by AZ-441.
* `runner.helpers.imu_replay.ImuReplayer.replay` — owned by AZ-407
  per scaffold docstring (not landed yet).
* `runner.helpers.sitl_observer.get_observer` — owned by AZ-416 / AZ-417.
* `runner.helpers.mavproxy_tlog_reader.iter_messages` — owned by AZ-416.

This batch did not introduce any new debt.

## Next Batch

Batch 71 candidate set (all are 3pt scenario tasks unblocked by this
batch's helpers + existing AZ-407 fixtures):

* AZ-414 (FT-P-07 + FT-N-02 — sharp-turn behaviour)
* AZ-415 (FT-P-08 — multi-segment relocalisation)
* AZ-418 (FT-P-10 — smoothing lookback) — 3pt

Likely composition: ~9 cp across 3 tasks, same shape as batches 69–70.

The next milestone after batches 71–72 will be the K=3 cumulative
review covering batches 70, 71, 72 (the current `last_cumulative_review`
is `batches_67-69`).