mirror of
https://github.com/azaion/gps-denied-onboard.git
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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>
68 lines
1.8 KiB
Python
68 lines
1.8 KiB
Python
"""Shared fixtures for e2e tests — dataset discovery + skip markers."""
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from pathlib import Path
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import pytest
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REPO_ROOT = Path(__file__).resolve().parents[2]
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DATASETS_ROOT = REPO_ROOT / "datasets"
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def _euroc_mh_root(seq: str) -> Path:
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"""Return path for a MH sequence, skipping if absent."""
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root = DATASETS_ROOT / "euroc" / seq
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if not (root / "mav0").is_dir():
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pytest.skip(
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f"EuRoC {seq} not present at {root}. "
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"Fetch the Machine Hall bundle from ETH Research Collection "
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f"(DOI 10.3929/ethz-b-000690084), unpack the inner {seq}_*.zip "
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f"into {root}/ so that {root}/mav0/ exists."
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)
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return root
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@pytest.fixture(scope="session")
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def euroc_mh01_root() -> Path:
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return _euroc_mh_root("MH_01")
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@pytest.fixture(scope="session")
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def euroc_mh02_root() -> Path:
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return _euroc_mh_root("MH_02")
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@pytest.fixture(scope="session")
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def euroc_mh03_root() -> Path:
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return _euroc_mh_root("MH_03")
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@pytest.fixture(scope="session")
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def euroc_mh04_root() -> Path:
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return _euroc_mh_root("MH_04")
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@pytest.fixture(scope="session")
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def euroc_mh05_root() -> Path:
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return _euroc_mh_root("MH_05")
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@pytest.fixture(scope="session")
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def vpair_sample_root() -> Path:
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root = DATASETS_ROOT / "vpair" / "sample"
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if not (root / "poses_query.txt").is_file():
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pytest.skip(
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f"VPAIR sample not present at {root}. "
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"Download the sample zip from the Zenodo link on "
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"https://github.com/AerVisLoc/vpair, then unpack so that "
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f"{root}/poses_query.txt exists."
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)
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return root
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@pytest.fixture(scope="session")
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def mars_lvig_root() -> Path:
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root = DATASETS_ROOT / "mars_lvig"
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if not root.is_dir():
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pytest.skip(f"MARS-LVIG not present at {root}.")
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return root
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