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Yuzviak
c9b74f45b8
conftest.py: add euroc_mh02..05_root fixtures (session-scoped, skip when absent) test_euroc_mh_all.py: 10 parametrised tests — pipeline_completes + eskf_drift for MH_01..05 with per-difficulty ESKF ATE ceilings (easy: 0.5 m, med/hard: 1.5 m) Results on first 100 frames (vo_scale=5 mm/frame): MH_01 easy ESKF ATE 0.205 m (< 0.5 m ceiling) MH_02 easy ESKF ATE 0.131 m (< 0.5 m ceiling) MH_03 medium ESKF ATE 0.008 m (< 1.5 m ceiling) MH_04 difficult ESKF ATE 0.009 m (< 1.5 m ceiling) MH_05 difficult ESKF ATE 0.007 m (< 1.5 m ceiling) All 10 tests PASS. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>