mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:16:37 +00:00
Oleksandr Bezdieniezhnykh
52 lines
1.3 KiB
Python
52 lines
1.3 KiB
Python
from typing import Optional
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import numpy as np
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from .base import FactorGraphOptimizerBase
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from models.core import Pose, GPSPoint
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from models.results import OptimizationResult, RefinedFrameResult
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from models.processing import RelativePose
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class FactorGraphOptimizer(FactorGraphOptimizerBase):
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async def initialize_graph(self, flight_id: str) -> bool:
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raise NotImplementedError
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async def add_odometry_factor(
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self,
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flight_id: str,
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from_frame: int,
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to_frame: int,
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relative_pose: RelativePose,
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) -> bool:
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raise NotImplementedError
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async def add_gps_prior(
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self,
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flight_id: str,
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frame_id: int,
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gps: GPSPoint,
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covariance: np.ndarray,
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) -> bool:
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raise NotImplementedError
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async def optimize(
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self, flight_id: str, max_iterations: int = 100
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) -> OptimizationResult:
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raise NotImplementedError
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async def get_optimized_poses(
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self, flight_id: str
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) -> list[RefinedFrameResult]:
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raise NotImplementedError
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async def get_pose(
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self, flight_id: str, frame_id: int
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) -> Optional[Pose]:
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raise NotImplementedError
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async def marginalize_old_poses(
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self, flight_id: str, keep_last_n: int
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) -> bool:
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raise NotImplementedError
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