完善Phase-A会话级联合优化并修正雷达相位中心高度先验

tests/test_motion_pairs_io.py

@@ -29,14 +29,29 @@ def test_pair_roundtrip(tmp_path: Path) -> None:
         t_A_m=np.array([0.1, 0.0, 0.0]),
         t_B_m=np.array([0.1, 0.0, 0.0]),
         fitness=0.8,
-        metadata={"weight": 12.0, "cov9": [[0.0] * 9] * 9, "backend": "test"},
+        metadata={
+            "weight": 12.0,
+            "cov": (np.eye(3) * 1e-4).tolist(),
+            "J_bg": (-np.eye(3)).tolist(),
+            "cov9": [[0.0] * 9] * 9,
+            "backend": "test",
+            "gyro_bias0_rad_s": [0.01, -0.02, 0.03],
+            "accel_bias0_m_s2": [0.1, 0.2, -0.1],
+            "time_offset_s": 0.004,
+            "keyframe_span": 3,
+            "is_consecutive": False,
+        },
     )
     encoded = pair_to_dict(pair)
     assert "cov9" not in encoded["metadata"]
+    assert "cov" in encoded["metadata"]
+    assert "J_bg" in encoded["metadata"]
     assert encoded["metadata"]["weight"] == 12.0
     restored = pair_from_dict(encoded)
     assert restored.i == 1 and restored.j == 4
     np.testing.assert_allclose(restored.t_A_m, [0.1, 0.0, 0.0])
+    np.testing.assert_allclose(restored.metadata["gyro_bias0_rad_s"], [0.01, -0.02, 0.03])
+    assert restored.metadata["keyframe_span"] == 3
 
     payload = build_motion_pairs_payload(
         prepared_sessions=[
@@ -50,6 +65,14 @@ def test_pair_roundtrip(tmp_path: Path) -> None:
     )
     path = save_motion_pairs(tmp_path / "motion_pairs.json", payload)
     loaded = load_motion_pairs(path)
+    assert loaded["schema_version"] == 2
     pairs = pairs_for_session(loaded, "s0")
     assert len(pairs) == 1
     assert pairs[0].session_id == "s0"
+
+    payload["schema_version"] = 1
+    legacy_path = save_motion_pairs(
+        tmp_path / "motion_pairs_v1.json", payload
+    )
+    legacy = load_motion_pairs(legacy_path)
+    assert legacy["schema_version"] == 1