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https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
e6e1c27726
- Lift the env-aware VO backend factory verbatim from core/vo.py. - Body and parameter defaults preserved exactly (PATTERNS.md §4.1 mandate: 'Preserve this factory verbatim'). - Return-type annotation widened from ISequentialVisualOdometry to the canonical VisualOdometry Protocol from Plan 01-02; the I-prefix alias is still importable so legacy callers/type-checkers keep working. - Imports route through the new components.vio.* modules; no cross-package edits needed because Plan 08 (composition root) is the only other call site planned. - Append to the components.vio barrel.
38 lines
1.3 KiB
Python
38 lines
1.3 KiB
Python
"""VIO component (ARCH-01).
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Public surface for visual-inertial odometry adapters. Phase-1 split of
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the legacy ``core/vo.py`` monolith into per-backend modules:
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- protocol.py — VisualOdometry Protocol (alias ISequentialVisualOdometry)
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- orbslam_backend.py — pure-Python OpenCV: SequentialVisualOdometry + ORBVisualOdometry
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- cuvslam_backend.py — Jetson cuVSLAM SDK bridge: CuVSLAMVisualOdometry + CuVSLAMMonoDepthVisualOdometry
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- factory.py — create_vo_backend env-aware DI seed
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- native/ — placeholder for future cuvslam SDK native glue
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The legacy ``gps_denied.core.vo`` import path is preserved as a thin
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re-export shim for one phase; tests still import from there.
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"""
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from gps_denied.components.vio.protocol import (
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ISequentialVisualOdometry,
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VisualOdometry,
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)
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from gps_denied.components.vio.orbslam_backend import (
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ORBVisualOdometry,
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SequentialVisualOdometry,
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)
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from gps_denied.components.vio.cuvslam_backend import (
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CuVSLAMMonoDepthVisualOdometry,
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CuVSLAMVisualOdometry,
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)
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from gps_denied.components.vio.factory import create_vo_backend
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__all__ = [
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"VisualOdometry",
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"ISequentialVisualOdometry",
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"ORBVisualOdometry",
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"SequentialVisualOdometry",
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"CuVSLAMVisualOdometry",
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"CuVSLAMMonoDepthVisualOdometry",
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"create_vo_backend",
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]
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