test: suite pytest sintetica (GT pose note) + deps dev pytest/ruff

11 test senza dipendenza dalle immagini Test/ (non versionate):
- precisione/recall su 7 pose GT (soglie 0.2-0.5 deg, 0.3-1.0 px,
  margine 3-4x sulle misure Fase 2)
- unit: angle_list con estremi, clamp piramide, save/load roundtrip,
  no collisione cache scena, mask poligonale, find non addestrato
Config ruff in pyproject (E702/E402 idiomi del codebase esclusi).

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

tests/test_precision.py

@@ -0,0 +1,56 @@
+"""Test di non-regressione su precisione e recall (GT sintetica).
+
+Soglie derivate dalle misure di Fase 2 (errore mediano ~0.05 deg /
+~0.08 px) con margine 3-4x per assorbire rumore tra run/macchine.
+Una regressione del refine (es. score saturo, minMaxLoc sul plateau)
+riporterebbe gli errori a 2-4 deg / 4 px e fa fallire i test con
+margine enorme.
+"""
+from __future__ import annotations
+
+import numpy as np
+
+from pm2d import LineShapeMatcher
+from tests.conftest import GT_POSES, match_errors
+
+
+def _find(template, scene, step, **kw):
+    m = LineShapeMatcher(angle_step_deg=step, num_features=96)
+    m.train(template)
+    return m.find(scene, min_score=0.5, max_matches=10, **kw)
+
+
+def test_recall_and_precision_step5(template, scene):
+    matches = _find(template, scene, 5.0)
+    errs_a, errs_p, miss = match_errors(matches, GT_POSES)
+    assert miss == 0, f"{miss} pose GT non trovate"
+    assert float(np.median(errs_a)) < 0.2, f"err angolo mediano {np.median(errs_a):.3f} deg"
+    assert float(np.max(errs_a)) < 0.5, f"err angolo max {np.max(errs_a):.3f} deg"
+    assert float(np.median(errs_p)) < 0.3, f"err posizione mediano {np.median(errs_p):.3f} px"
+    assert float(np.max(errs_p)) < 1.0, f"err posizione max {np.max(errs_p):.3f} px"
+
+
+def test_recall_and_precision_step2(template, scene):
+    # Step fine: storicamente il caso peggiore (plateau con piu' varianti
+    # dentro la tolleranza spread → scelta variante arbitraria).
+    matches = _find(template, scene, 2.0)
+    errs_a, errs_p, miss = match_errors(matches, GT_POSES)
+    assert miss == 0, f"{miss} pose GT non trovate"
+    assert float(np.median(errs_a)) < 0.2
+    assert float(np.max(errs_a)) < 0.5
+    assert float(np.median(errs_p)) < 0.3
+
+
+def test_no_false_positives(template, scene):
+    # max_matches alto: non devono comparire match spuri oltre le 7 pose.
+    matches = _find(template, scene, 5.0)
+    assert len(matches) <= len(GT_POSES) + 1, (
+        f"{len(matches)} match per {len(GT_POSES)} oggetti reali"
+    )
+
+
+def test_full_scan_path_equivalent(template, scene):
+    # Il path full-scan (propagate off) deve trovare le stesse pose.
+    matches = _find(template, scene, 5.0, pyramid_propagate=False)
+    _, _, miss = match_errors(matches, GT_POSES)
+    assert miss == 0