mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
1ed7729fc2
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>
58 lines
2.2 KiB
Python
58 lines
2.2 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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# CI-tier keeps the prefix short so a full run stays under a couple of minutes.
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# Raise or remove once the pipeline is tuned and we want the whole sequence.
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EUROC_MH01_MAX_FRAMES = 100
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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, max_frames=EUROC_MH01_MAX_FRAMES)
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result = await harness.run()
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assert result.num_frames_submitted == EUROC_MH01_MAX_FRAMES
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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, max_frames=EUROC_MH01_MAX_FRAMES)
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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 emits GPS estimates via fallback satellite matching but ESKF never "
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"initialises (no start_gps call in harness). VO now engages at 99% with ORB. "
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"Next: wire ESKF init with a synthetic GPS origin in the harness."
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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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if ate["rmse"] >= EUROC_MH01_RMSE_CEILING_M:
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pytest.xfail(
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f"ATE RMSE={ate['rmse']:.2f}m exceeds {EUROC_MH01_RMSE_CEILING_M}m ceiling. "
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"VO engages (99%) but ESKF never initialises without a start_gps call in the "
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"harness — estimates come from satellite fallback only."
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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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