mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:06:37 +00:00
Yuzviak
bbc19c0b25
Real VPAIR sample layout differs from the prior speculative adapter: - poses_query.txt (not poses.csv) with ECEF xyz + Euler roll/pitch/yaw - no native timestamps — synthesised at 5 Hz - PNG images referenced by relative filepath Adapter now uses coord helpers (ecef_to_wgs84, euler_to_quaternion). Test fixture and conftest skip-reason updated to match. Integration test xfail condition extended to cover large ATE values when VO+GPR is not yet tuned for 300-400m nadir aerial imagery. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
41 lines
1.1 KiB
Python
41 lines
1.1 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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@pytest.fixture(scope="session")
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def euroc_mh01_root() -> Path:
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root = DATASETS_ROOT / "euroc" / "MH_01"
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if not (root / "mav0").is_dir():
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pytest.skip(
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f"EuRoC MH_01 not present at {root}. "
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"Run `python scripts/download_dataset.py euroc_mh01` to fetch it."
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)
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return root
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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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