diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..2f19d33
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,70 @@
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+.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
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+dmypy.json
+
+# Logs
+*.log
\ No newline at end of file
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new file mode 100644
index 0000000..d92eda2
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+    {file = "zstandard-0.24.0.tar.gz", hash = "sha256:fe3198b81c00032326342d973e526803f183f97aa9e9a98e3f897ebafe21178f"},
+]
+
+[package.extras]
+cffi = ["cffi (>=1.17) ; python_version >= \"3.13\" and platform_python_implementation != \"PyPy\""]
+
+[metadata]
+lock-version = "2.1"
+python-versions = "^3.8"
+content-hash = "1d97ae6c3d60cac7485df1b1693234bd5d93d63964e7b44a71eba80d9f0b4402"
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..42ecc63
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,73 @@
+[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"
\ No newline at end of file
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/conftest.py b/tests/conftest.py
new file mode 100644
index 0000000..e1b1b87
--- /dev/null
+++ b/tests/conftest.py
@@ -0,0 +1,110 @@
+"""
+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
\ No newline at end of file
diff --git a/tests/integration/__init__.py b/tests/integration/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_setup_validation.py b/tests/test_setup_validation.py
new file mode 100644
index 0000000..95b6d3c
--- /dev/null
+++ b/tests/test_setup_validation.py
@@ -0,0 +1,174 @@
+"""
+Validation tests to verify the testing infrastructure setup is working correctly.
+
+This test file validates that:
+1. pytest is properly configured
+2. coverage reporting works
+3. fixtures are available and functional
+4. custom markers work
+5. Basic functionality tests pass
+"""
+import pytest
+import os
+import sys
+from pathlib import Path
+
+
+class TestSetupValidation:
+    """Test class to validate the testing infrastructure setup."""
+
+    def test_basic_assertion(self):
+        """Test that basic assertions work."""
+        assert True
+        assert 1 + 1 == 2
+        assert "hello" == "hello"
+
+    def test_python_version(self):
+        """Test that Python version meets requirements."""
+        assert sys.version_info >= (3, 8), "Python 3.8+ required"
+
+    def test_imports_work(self):
+        """Test that required packages can be imported."""
+        try:
+            import pytest
+            import pytest_cov
+            import pytest_mock
+            import numpy as np
+        except ImportError as e:
+            pytest.fail(f"Failed to import required package: {e}")
+
+    def test_project_structure(self):
+        """Test that project structure is correct."""
+        project_root = Path(__file__).parent.parent
+        
+        # Check that required files exist
+        assert (project_root / "pyproject.toml").exists(), "pyproject.toml not found"
+        assert (project_root / "tests" / "__init__.py").exists(), "tests/__init__.py not found"
+        assert (project_root / "tests" / "conftest.py").exists(), "tests/conftest.py not found"
+        assert (project_root / "tests" / "unit" / "__init__.py").exists(), "tests/unit/__init__.py not found"
+        assert (project_root / "tests" / "integration" / "__init__.py").exists(), "tests/integration/__init__.py not found"
+
+    def test_temp_dir_fixture(self, temp_dir):
+        """Test that the temp_dir fixture works."""
+        assert temp_dir.exists(), "temp_dir fixture should create an existing directory"
+        assert temp_dir.is_dir(), "temp_dir fixture should create a directory"
+        
+        # Test that we can write to it
+        test_file = temp_dir / "test.txt"
+        test_file.write_text("test content")
+        assert test_file.exists()
+        assert test_file.read_text() == "test content"
+
+    def test_mock_data_fixtures(self, mock_structvio_output, mock_euroc_groundtruth, mock_numpy_arrays):
+        """Test that mock data fixtures provide valid data."""
+        assert isinstance(mock_structvio_output, list)
+        assert len(mock_structvio_output) > 0
+        assert "timestamp" in mock_structvio_output[0].lower()
+        
+        assert isinstance(mock_euroc_groundtruth, list)
+        assert len(mock_euroc_groundtruth) > 0
+        
+        assert "positions" in mock_numpy_arrays
+        assert "orientations" in mock_numpy_arrays
+        assert "timestamps" in mock_numpy_arrays
+
+    @pytest.mark.unit
+    def test_unit_marker(self):
+        """Test that unit marker works."""
+        assert True
+
+    @pytest.mark.integration
+    def test_integration_marker(self):
+        """Test that integration marker works."""
+        assert True
+
+    @pytest.mark.slow
+    def test_slow_marker(self):
+        """Test that slow marker works."""
+        assert True
+
+    def test_mock_object_with_pytest_mock(self, mocker):
+        """Test that pytest-mock is working."""
+        mock_function = mocker.Mock(return_value=42)
+        result = mock_function()
+        assert result == 42
+        mock_function.assert_called_once()
+
+    def test_file_operations(self, temp_dir):
+        """Test file operations work correctly."""
+        test_file = temp_dir / "file_ops_test.txt"
+        
+        # Write test
+        with open(test_file, 'w') as f:
+            f.write("line 1\nline 2\nline 3")
+        
+        # Read test
+        with open(test_file, 'r') as f:
+            lines = f.readlines()
+        
+        assert len(lines) == 3
+        assert lines[0].strip() == "line 1"
+
+    def test_coverage_detection(self):
+        """Test that coverage tracking is active."""
+        # This test will be covered if coverage is working
+        x = 1
+        y = 2
+        result = x + y
+        assert result == 3
+
+    def test_directory_creation(self, temp_dir):
+        """Test directory creation and cleanup."""
+        test_subdir = temp_dir / "subdir" / "nested"
+        test_subdir.mkdir(parents=True, exist_ok=True)
+        
+        assert test_subdir.exists()
+        assert test_subdir.is_dir()
+
+
+class TestEnvironmentValidation:
+    """Validate the testing environment and configuration."""
+
+    def test_pytest_config_loaded(self):
+        """Test that pytest configuration is loaded correctly."""
+        # This is implicit - if pytest is running with our config,
+        # markers should be defined without warnings
+        pass
+
+    def test_working_directory(self, original_cwd):
+        """Test that working directory handling works."""
+        current_dir = os.getcwd()
+        assert isinstance(current_dir, str)
+        assert len(current_dir) > 0
+
+    def test_path_resolution(self):
+        """Test that path resolution works correctly."""
+        current_file = Path(__file__)
+        assert current_file.exists()
+        assert current_file.name == "test_setup_validation.py"
+        
+        tests_dir = current_file.parent
+        assert tests_dir.name == "tests"
+
+
+def test_standalone_function():
+    """Test that standalone test functions work."""
+    assert 2 * 2 == 4
+
+
+def test_parameterized_test():
+    """Test basic functionality without parameters."""
+    test_cases = [
+        (1, 1, 2),
+        (2, 3, 5),
+        (0, 0, 0),
+        (-1, 1, 0)
+    ]
+    
+    for a, b, expected in test_cases:
+        assert a + b == expected
+
+
+if __name__ == "__main__":
+    # Allow running this test file directly
+    pytest.main([__file__])
\ No newline at end of file
diff --git a/tests/unit/__init__.py b/tests/unit/__init__.py
new file mode 100644
index 0000000..e69de29