Performance Tests

Summary: Validate end-to-end latency for processing project nadir frames through geolocation output.

Traces to: AC-4.1, AC-4.4

Metric: Capture-to-output latency p50/p95/p99 and dropped-frame rate.

Preconditions:

Jetson Orin Nano Super or equivalent production target is running in the intended power mode.
project_60_still_images fixture is available.

Step	Consumer Action	Measurement
1	Replay images at target 3 fps or faster stress rate	Measure latency from input timestamp to emitted estimate
2	Record all frame drops	Measure dropped-frame percentage

Pass criteria: p95 latency <400 ms; dropped frames <=10% under sustained load; no batching delay.

Duration: Minimum 20 minutes or full fixture loop repeated enough times to reach stable measurements.

Summary: Validate relative VIO hot-path latency using synchronized public or representative camera/IMU data.

Traces to: AC-2.1a, AC-4.1, AC-4.2

Metric: Per-frame VIO latency, completion rate, and memory usage.

Preconditions:

MUN-FRL/ALTO/EPFL/Kagaru or representative synchronized dataset slice is pinned.
OpenVINS reference replay is available for comparison.

Step	Consumer Action	Measurement
1	Replay synchronized camera/IMU stream through BASALT + wrapper	Measure per-frame processing time
2	Compare emitted trajectory against ground truth	Measure completion rate and error distribution
3	Monitor memory	Track CPU/GPU shared memory peak

Pass criteria: Normal-frame VO registration >95%; p95 processing latency <400 ms for the hot path; memory <8 GB shared.

Duration: Dataset-dependent; at least one normal segment and one challenging segment.

Summary: Validate the heavy DINOv2-VLAD + FAISS + ALIKED/LightGlue path under bounded top-K settings.

Traces to: AC-3.2, AC-3.3, AC-4.1, AC-8.6

Metric: Trigger-to-anchor latency, top-K query time, local verification time, accepted/rejected anchor counts.

Preconditions:

Precomputed descriptor index is loaded.
Dynamic K settings are configured: K=5 stable, K=20 active-conflict, K=50 fallback.

Step	Consumer Action	Measurement
1	Trigger relocalization from cold start or sharp turn	Measure DINOv2 descriptor time and FAISS query time
2	Verify top-K candidates	Measure ALIKED/LightGlue + RANSAC latency
3	Emit accepted/rejected decision	Measure total trigger-to-decision latency

Pass criteria: Heavy path is conditional, never blocks steady-state frame output; accepted anchor carries MRE <2.5 px and valid covariance.

Duration: 100 relocalization trials across stable and active-conflict sector fixtures.

Summary: Validate companion boot to first valid GPS_INPUT.

Traces to: AC-NEW-1

Metric: Time from service start/boot marker to first valid GPS_INPUT.

Preconditions:

Step	Consumer Action	Measurement
1	Start service from cold boot condition	Measure initialization stages
2	Wait for first valid output	Measure first valid `GPS_INPUT` timestamp

Pass criteria: 95th percentile <30 s over 50 runs.

Duration: 50 cold-start trials.