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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
50 lines
1.3 KiB
Python
50 lines
1.3 KiB
Python
"""Sequential Visual Odometry schemas (Component F07)."""
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from typing import Optional
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import numpy as np
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from pydantic import BaseModel
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class Features(BaseModel):
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"""Extracted image features (e.g., from SuperPoint)."""
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model_config = {"arbitrary_types_allowed": True}
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keypoints: np.ndarray # (N, 2)
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descriptors: np.ndarray # (N, 256)
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scores: np.ndarray # (N,)
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class Matches(BaseModel):
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"""Matches between two sets of features (e.g., from LightGlue)."""
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model_config = {"arbitrary_types_allowed": True}
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matches: np.ndarray # (M, 2)
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scores: np.ndarray # (M,)
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keypoints1: np.ndarray # (M, 2)
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keypoints2: np.ndarray # (M, 2)
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class RelativePose(BaseModel):
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"""Relative pose between two frames."""
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model_config = {"arbitrary_types_allowed": True}
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translation: np.ndarray # (3,)
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rotation: np.ndarray # (3, 3)
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confidence: float
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inlier_count: int
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total_matches: int
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tracking_good: bool
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scale_ambiguous: bool = True
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chunk_id: Optional[str] = None
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class Motion(BaseModel):
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"""Motion estimate from OpenCV."""
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model_config = {"arbitrary_types_allowed": True}
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translation: np.ndarray # (3,) unit vector
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rotation: np.ndarray # (3, 3) rotation matrix
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inliers: np.ndarray # Boolean mask of inliers
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inlier_count: int
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