initial structure implemented

docs -> _docs

components/sequential_visual_odometry/__init__.py

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+from .base import SequentialVisualOdometryBase
+from .sequential_visual_odometry import SequentialVisualOdometry
+
+__all__ = ["SequentialVisualOdometryBase", "SequentialVisualOdometry"]
+

components/sequential_visual_odometry/base.py

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+from abc import ABC, abstractmethod
+import numpy as np
+
+from models.processing import RelativePose, Matches
+
+
+class SequentialVisualOdometryBase(ABC):
+    @abstractmethod
+    async def compute_relative_pose(
+        self, prev_image: np.ndarray, curr_image: np.ndarray
+    ) -> RelativePose:
+        pass
+
+    @abstractmethod
+    async def extract_keypoints(
+        self, image: np.ndarray
+    ) -> tuple[np.ndarray, np.ndarray]:
+        pass
+
+    @abstractmethod
+    async def match_features(
+        self,
+        keypoints1: np.ndarray,
+        descriptors1: np.ndarray,
+        keypoints2: np.ndarray,
+        descriptors2: np.ndarray,
+    ) -> Matches:
+        pass
+
+    @abstractmethod
+    async def estimate_motion(
+        self, matches: Matches, camera_matrix: np.ndarray
+    ) -> RelativePose:
+        pass
+
+    @abstractmethod
+    def is_tracking_good(self, pose: RelativePose) -> bool:
+        pass
+

components/sequential_visual_odometry/sequential_visual_odometry.py

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+import numpy as np
+
+from .base import SequentialVisualOdometryBase
+from models.processing import RelativePose, Matches
+
+
+class SequentialVisualOdometry(SequentialVisualOdometryBase):
+    async def compute_relative_pose(
+        self, prev_image: np.ndarray, curr_image: np.ndarray
+    ) -> RelativePose:
+        raise NotImplementedError
+
+    async def extract_keypoints(
+        self, image: np.ndarray
+    ) -> tuple[np.ndarray, np.ndarray]:
+        raise NotImplementedError
+
+    async def match_features(
+        self,
+        keypoints1: np.ndarray,
+        descriptors1: np.ndarray,
+        keypoints2: np.ndarray,
+        descriptors2: np.ndarray,
+    ) -> Matches:
+        raise NotImplementedError
+
+    async def estimate_motion(
+        self, matches: Matches, camera_matrix: np.ndarray
+    ) -> RelativePose:
+        raise NotImplementedError
+
+    def is_tracking_good(self, pose: RelativePose) -> bool:
+        raise NotImplementedError
+