mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:26:38 +00:00
Yuzviak
50 lines
1.7 KiB
Python
50 lines
1.7 KiB
Python
"""CI-tier e2e: run the full pipeline on EuRoC MH_01.
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Skipped if the dataset is not installed under datasets/euroc/MH_01/.
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"""
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from pathlib import Path
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import pytest
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from gps_denied.testing.datasets.euroc import EuRoCAdapter
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from gps_denied.testing.harness import E2EHarness
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from gps_denied.testing.metrics import absolute_trajectory_error
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# Initial target — calibrated once real numbers land.
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EUROC_MH01_RMSE_CEILING_M = 5.0
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@pytest.mark.e2e
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@pytest.mark.needs_dataset
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@pytest.mark.asyncio
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async def test_euroc_mh01_pipeline_completes(euroc_mh01_root: Path):
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adapter = EuRoCAdapter(euroc_mh01_root)
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harness = E2EHarness(adapter)
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result = await harness.run()
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assert result.num_frames_submitted > 100, (
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"MH_01 has thousands of frames; harness should have submitted them all"
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)
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@pytest.mark.e2e
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@pytest.mark.needs_dataset
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@pytest.mark.asyncio
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async def test_euroc_mh01_rmse_within_ceiling(euroc_mh01_root: Path):
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adapter = EuRoCAdapter(euroc_mh01_root)
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harness = E2EHarness(adapter)
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result = await harness.run()
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if result.estimated_positions_enu.shape[0] == 0:
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pytest.xfail(
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"Pipeline currently emits zero GPS estimates on EuRoC — "
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"expected: VO works but satellite matching + ESKF anchoring not yet tuned. "
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"Convert to regular assert once the pipeline stabilises."
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)
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# Align lengths by truncating to shorter (estimates may lag GT at start)
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n = min(result.estimated_positions_enu.shape[0], result.ground_truth.shape[0])
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ate = absolute_trajectory_error(
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result.estimated_positions_enu[:n],
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result.ground_truth[:n],
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)
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assert ate["rmse"] < EUROC_MH01_RMSE_CEILING_M, f"ATE RMSE={ate['rmse']:.2f}m"
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