gps-denied-onboard/_docs/02_document/components/02_vio_adapter/tests.md

Test Specification — VIO Adapter

Acceptance Criteria Traceability

AC ID	Acceptance Criterion	Test IDs	Coverage
AC-1.3	Drift between anchors and anchor-age reporting input	IT-02, AT-01	Covered
AC-2.1a	>95% VO registration on normal segments	IT-01, AT-01	Covered
AC-2.2	<1.0 px VO MRE	IT-01	Covered
AC-3.1	Handles 350 m outliers/tilt	IT-03	Covered
AC-3.2	Sharp turns trigger relocalization path	IT-04	Covered
AC-3.4	Loss threshold feeds relocalization/dead reckoning	IT-04	Covered
AC-4.1	Hot-path latency	PT-01	Covered
AC-4.2	Jetson memory budget	PT-01	Covered

Blackbox Tests

IT-01: Public Dataset VIO Replay

Summary: Verify the VIO adapter produces relative motion for synchronized camera/IMU replay.

Traces to: AC-2.1a, AC-2.2

Input data: Derkachi cropped nadir video + SCALED_IMU2 + GLOBAL_POSITION_INT, MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth.

Expected result: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. Derkachi runs are accepted as calibration-limited until intrinsics, distortion, and camera-to-body transform are pinned.

Max execution time: Dataset-dependent; report per-frame latency.

Dependencies: Camera ingest, MAVLink telemetry/replay, calibration fixtures.

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IT-02: Relative Drift Reporting

Summary: Verify adapter emits state needed for wrapper drift and anchor-age accounting.

Traces to: AC-1.3

Input data: Segment with two known satellite anchors and IMU samples.

Expected result: Adapter emits continuous VioStatePacket values with timestamps and quality, enabling wrapper to compare VO extrapolation to next anchor.

Max execution time: Dataset-dependent.

Dependencies: Safety wrapper test harness.

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IT-03: Tilt/Outlier Robustness

Summary: Verify adapter reports degraded tracking without false success under tilt/outlier cases.

Traces to: AC-3.1

Input data: Replay segment with synthetic +/-20 degree tilt and up to 350 m apparent outlier.

Expected result: Adapter either tracks with quality metadata or emits TrackingLost; it never hides a failure as high-quality VIO.

Max execution time: 15 minutes per fixture.

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IT-04: Sharp Turn / Loss Signal

Summary: Verify sharp turns and disconnected visual overlap produce wrapper-visible failure signals.

Traces to: AC-3.2, AC-3.4

Input data: <5% overlap sequence with heading change <70 degrees.

Expected result: Adapter emits low tracking quality or TrackingLost within the loss window, allowing relocalization trigger.

Max execution time: 10 minutes.

Performance Tests

PT-01: VIO Adapter Runtime Budget

Summary: Verify VIO processing does not consume the full <400 ms system p95 budget.

Traces to: AC-4.1, AC-4.2

Load scenario:

• Input: Derkachi synchronized replay and public/representative replay.
• Duration: 30 minutes plus release long-run slice.
• Target: Jetson Orin Nano Super.

Metric	Target	Failure Threshold
Adapter p95 latency	<=250 ms	>300 ms
Memory contribution	<=3 GB	>4 GB
Tracking failure on normal segments	<5%	>=5%

Resource limits: Total system memory remains below 8 GB.

Security Tests

ST-01: Timestamp Injection Rejection

Summary: Verify malformed or non-monotonic timestamps do not produce trusted VIO state.

Traces to: AC-NEW-4

Attack vector: Replay or telemetry timestamp manipulation.

Test procedure:

1. Feed non-monotonic frame and IMU timestamps.
2. Observe adapter output.

Expected behavior: Adapter returns TimestampMismatch or low-quality failure; wrapper does not trust the state.

Pass criteria: No high-quality VIO state is emitted from malformed timing.

Acceptance Tests

AT-01: Normal VIO State Contract

Summary: Confirm adapter output contract supports downstream localization.

Traces to: AC-1.3, AC-2.1a

Step	Action	Expected Result
1	Initialize with calibrated frame/IMU config	VioInitResult succeeds
2	Replay normal frames	VioStatePacket includes timestamp, relative pose, velocity, tracking quality
3	End segment	State stream is continuous enough for wrapper drift accounting

Test Data Management

Data Set	Description	Source	Size
derkachi_video_telemetry	Cropped nadir MP4 + synchronized IMU and GLOBAL_POSITION_INT trajectory	Project fixture	~282 MB video + CSV
public_nadir_vio_candidates	MUN-FRL/ALTO/Kagaru/EPFL slices	Public pinned fixtures	Dataset-dependent
representative_sync_replay	Target camera + FC IMU + calibrated ground truth	Project collection	TBD

Setup procedure: Pin calibration/extrinsics and mount read-only synchronized replay data.

Teardown procedure: Remove generated result reports and adapter temp state.

Data isolation strategy: One run directory per dataset slice and configuration hash.