feat: stage8 — Global Place Recognition and Metric Refinement

src/gps_denied/schemas/gpr.py

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+"""Global Place Recognition schemas (Component F08)."""
+
+from typing import Optional
+
+import numpy as np
+from pydantic import BaseModel
+
+from gps_denied.schemas.flight import GPSPoint
+from gps_denied.schemas.satellite import TileBounds
+
+
+class TileCandidate(BaseModel):
+    """A matched satellite tile candidate."""
+    tile_id: str
+    gps_center: GPSPoint
+    bounds: TileBounds
+    similarity_score: float
+    rank: int
+    spatial_score: Optional[float] = None
+
+
+class DatabaseMatch(BaseModel):
+    """Raw index match from Faiss queries."""
+    index: int
+    tile_id: str
+    distance: float
+    similarity_score: float
+
+
+class SatelliteTile(BaseModel):
+    """A stored satellite tile representation for indexing."""
+    model_config = {"arbitrary_types_allowed": True}
+
+    tile_id: str
+    image: np.ndarray
+    gps_center: GPSPoint
+    bounds: TileBounds
+    descriptor: Optional[np.ndarray] = None

src/gps_denied/schemas/metric.py

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+"""Metric Refinement schemas (Component F09)."""
+
+from typing import Optional
+
+import numpy as np
+from pydantic import BaseModel
+
+from gps_denied.schemas.flight import GPSPoint
+
+
+class AlignmentResult(BaseModel):
+    """Result of aligning a UAV image to a single satellite tile."""
+    model_config = {"arbitrary_types_allowed": True}
+
+    matched: bool
+    homography: np.ndarray  # (3, 3)
+    gps_center: GPSPoint
+    confidence: float
+    inlier_count: int
+    total_correspondences: int
+    reprojection_error: float  # Mean error in pixels
+
+
+class Sim3Transform(BaseModel):
+    """Sim(3) transformation: scale, rotation, translation."""
+    model_config = {"arbitrary_types_allowed": True}
+
+    translation: np.ndarray  # (3,)
+    rotation: np.ndarray  # (3, 3) rotation matrix
+    scale: float
+
+
+class ChunkAlignmentResult(BaseModel):
+    """Result of aligning a chunk array of UAV images to a satellite tile."""
+    model_config = {"arbitrary_types_allowed": True}
+
+    matched: bool
+    chunk_id: str
+    chunk_center_gps: GPSPoint
+    rotation_angle: float
+    confidence: float
+    inlier_count: int
+    transform: Sim3Transform
+    reprojection_error: float
+
+
+class LiteSAMConfig(BaseModel):
+    """Configuration for LiteSAM alignment."""
+    model_path: str = "mock_path"
+    confidence_threshold: float = 0.7
+    min_inliers: int = 15
+    max_reprojection_error: float = 2.0  # pixels
+    multi_scale_levels: int = 3
+    chunk_min_inliers: int = 30