"""Sequential Visual Odometry schemas (Component F07)."""

from typing import Optional

import numpy as np
from pydantic import BaseModel


class Features(BaseModel):
    """Extracted image features (e.g., from SuperPoint)."""
    model_config = {"arbitrary_types_allowed": True}
    
    keypoints: np.ndarray  # (N, 2)
    descriptors: np.ndarray  # (N, 256)
    scores: np.ndarray  # (N,)


class Matches(BaseModel):
    """Matches between two sets of features (e.g., from LightGlue)."""
    model_config = {"arbitrary_types_allowed": True}
    
    matches: np.ndarray  # (M, 2)
    scores: np.ndarray  # (M,)
    keypoints1: np.ndarray  # (M, 2)
    keypoints2: np.ndarray  # (M, 2)


class RelativePose(BaseModel):
    """Relative pose between two frames."""
    model_config = {"arbitrary_types_allowed": True}
    
    translation: np.ndarray  # (3,)
    rotation: np.ndarray  # (3, 3)
    confidence: float
    inlier_count: int
    total_matches: int
    tracking_good: bool
    scale_ambiguous: bool = True
    chunk_id: Optional[str] = None


class Motion(BaseModel):
    """Motion estimate from OpenCV."""
    model_config = {"arbitrary_types_allowed": True}
    
    translation: np.ndarray  # (3,) unit vector
    rotation: np.ndarray  # (3, 3) rotation matrix
    inliers: np.ndarray  # Boolean mask of inliers
    inlier_count: int