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improving components consistency

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Oleksandr Bezdieniezhnykh
2025-11-30 08:44:28 +02:00
parent 310cf78ee7
commit 700d00a1bc
16 changed files with 186 additions and 102 deletions
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docs/02_components/07_sequential_visual_odometry/sequential_visual_odometry_spec.md
+4 -3
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@@ -2,12 +2,12 @@
## Interface Definition
**Interface Name**: `ISequentialVO`
**Interface Name**: `ISequentialVisualOdometry`
### Interface Methods
```python
class ISequentialVO(ABC):
class ISequentialVisualOdometry(ABC):
@abstractmethod
def compute_relative_pose(self, prev_image: np.ndarray, curr_image: np.ndarray) -> Optional[RelativePose]:
pass
@@ -279,7 +279,8 @@ Motion:
- **F17 Configuration Manager**: For camera parameters
- **H01 Camera Model**: For coordinate normalization
- **H05 Performance Monitor**: For timing measurements
- **F10 Factor Graph Optimizer**: For chunk-scoped factor addition
**Note**: F07 is chunk-agnostic and does NOT depend on F10 Factor Graph Optimizer. F07 only computes relative poses between images and returns them to the caller (F02). The caller (F02) determines which chunk the frames belong to and routes factors to the appropriate subgraph via F12 → F10.
### External Dependencies
- **SuperPoint**: Feature extraction model