initial structure implemented

docs -> _docs

models/processing/relative_pose.py

@@ -0,0 +1,17 @@
+from typing import Optional
+import numpy as np
+from pydantic import BaseModel, ConfigDict
+
+
+class RelativePose(BaseModel):
+    model_config = ConfigDict(arbitrary_types_allowed=True)
+
+    translation: np.ndarray
+    rotation: np.ndarray
+    confidence: float
+    inlier_count: int
+    total_matches: int
+    tracking_good: bool
+    scale_ambiguous: bool = True
+    chunk_id: Optional[str] = None
+