feat: Set up comprehensive Python testing infrastructure

.gitignore

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+# Testing
+.pytest_cache/
+.coverage
+htmlcov/
+coverage.xml
+.tox/
+.nox/
+
+# Claude settings
+.claude/
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# Virtual environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# IDEs
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+
+# OS
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+# Jupyter
+.ipynb_checkpoints
+
+# MyPy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Logs
+*.log

pyproject.toml

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+[tool.poetry]
+name = "structvio"
+version = "0.1.0"
+description = "StructVIO Visual-inertial Odometry with Structural Regularity"
+authors = ["Your Name <your.email@example.com>"]
+readme = "README.md"
+packages = [{include = "scripts"}]
+
+[tool.poetry.dependencies]
+python = "^3.8"
+numpy = "^1.20.0"
+evo = "^1.12.0"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^7.4.0"
+pytest-cov = "^4.1.0"
+pytest-mock = "^3.11.1"
+
+[tool.poetry.scripts]
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+addopts = [
+    "--strict-markers",
+    "--strict-config",
+    "--verbose",
+    "--cov=scripts",
+    "--cov-report=term-missing",
+    "--cov-report=html:htmlcov",
+    "--cov-report=xml:coverage.xml",
+    "--cov-fail-under=80"
+]
+markers = [
+    "unit: marks tests as unit tests (fast)",
+    "integration: marks tests as integration tests (slow)", 
+    "slow: marks tests as slow tests"
+]
+
+[tool.coverage.run]
+source = ["scripts"]
+omit = [
+    "*/tests/*",
+    "*/venv/*",
+    "*/.venv/*",
+    "*/site-packages/*",
+    "*/__pycache__/*"
+]
+
+[tool.coverage.report]
+exclude_lines = [
+    "pragma: no cover",
+    "def __repr__",
+    "if self.debug:",
+    "if settings.DEBUG",
+    "raise AssertionError",
+    "raise NotImplementedError",
+    "if 0:",
+    "if __name__ == .__main__.:",
+    "class .*\\bProtocol\\):",
+    "@(abc\\.)?abstractmethod"
+]
+show_missing = true
+precision = 2
+
+[tool.coverage.html]
+directory = "htmlcov"

tests/conftest.py

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+"""
+Shared pytest fixtures for the StructVIO testing suite.
+"""
+import tempfile
+import shutil
+import os
+from pathlib import Path
+import pytest
+import numpy as np
+
+
+@pytest.fixture
+def temp_dir():
+    """Create a temporary directory that is cleaned up after the test."""
+    temp_path = tempfile.mkdtemp()
+    yield Path(temp_path)
+    shutil.rmtree(temp_path)
+
+
+@pytest.fixture
+def sample_data_dir(temp_dir):
+    """Create a sample data directory with test files."""
+    data_dir = temp_dir / "sample_data"
+    data_dir.mkdir()
+    return data_dir
+
+
+@pytest.fixture
+def mock_structvio_output():
+    """Generate mock StructVIO output data for testing."""
+    return [
+        "# timestamp_sec timestamp_nsec frame_id tx ty tz qx qy qz qw vx vy vz bax bay baz bgx bgy bgz",
+        "0 100000000 1 0.0 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0",
+        "0 200000000 2 0.1 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0",
+        "0 300000000 3 0.2 0.0 0.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0"
+    ]
+
+
+@pytest.fixture
+def mock_euroc_groundtruth():
+    """Generate mock EuRoC groundtruth data for testing."""
+    return [
+        "#timestamp,p_RS_R_x [m],p_RS_R_y [m],p_RS_R_z [m],q_RS_w [],q_RS_x [],q_RS_y [],q_RS_z []",
+        "1403636579763555584,5.717570e-01,-1.110223e-16,8.200000e-02,6.123233995736766e-17,1.000000e+00,0.000000e+00,0.000000e+00",
+        "1403636579813555456,5.717570e-01,-2.220446e-16,8.200000e-02,6.123233995736766e-17,1.000000e+00,0.000000e+00,0.000000e+00"
+    ]
+
+
+@pytest.fixture
+def mock_tum_trajectory():
+    """Generate mock TUM trajectory data for testing."""
+    return [
+        "# timestamp tx ty tz qx qy qz qw",
+        "1403636579.763555584 0.5717570 0.0 0.082 0.0 0.0 0.0 1.0",
+        "1403636579.813555456 0.5717570 0.0 0.082 0.0 0.0 0.0 1.0"
+    ]
+
+
+@pytest.fixture
+def mock_trajectory_file(temp_dir, mock_structvio_output):
+    """Create a mock trajectory file for testing."""
+    trajectory_file = temp_dir / "test_trajectory.txt"
+    with open(trajectory_file, 'w') as f:
+        f.write('\n'.join(mock_structvio_output))
+    return trajectory_file
+
+
+@pytest.fixture
+def mock_groundtruth_file(temp_dir, mock_euroc_groundtruth):
+    """Create a mock groundtruth file for testing."""
+    gt_file = temp_dir / "groundtruth.csv"
+    with open(gt_file, 'w') as f:
+        f.write('\n'.join(mock_euroc_groundtruth))
+    return gt_file
+
+
+@pytest.fixture
+def mock_numpy_arrays():
+    """Provide mock numpy arrays for testing mathematical operations."""
+    return {
+        'positions': np.array([[0.0, 0.0, 0.0], [0.1, 0.0, 0.0], [0.2, 0.0, 0.0]]),
+        'orientations': np.array([[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0]]),
+        'timestamps': np.array([0.1, 0.2, 0.3])
+    }
+
+
+@pytest.fixture
+def original_cwd():
+    """Preserve and restore the current working directory."""
+    original_dir = os.getcwd()
+    yield original_dir
+    os.chdir(original_dir)
+
+
+@pytest.fixture
+def empty_file(temp_dir):
+    """Create an empty file for testing file operations."""
+    empty_file_path = temp_dir / "empty.txt"
+    empty_file_path.touch()
+    return empty_file_path
+
+
+@pytest.fixture
+def invalid_trajectory_file(temp_dir):
+    """Create an invalid trajectory file for error testing."""
+    invalid_file = temp_dir / "invalid_trajectory.txt"
+    with open(invalid_file, 'w') as f:
+        f.write("This is not valid trajectory data\n")
+        f.write("123 abc def\n")
+    return invalid_file