mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 17:11:14 +00:00
Yuzviak
622b1a1ebe
- VisualOdometry mirrors ISequentialVisualOdometry (4 methods) - GlobalPlaceRecognition mirrors IGlobalPlaceRecognition (7 methods) - SatelliteTileLoader mirrors SatelliteDataManager public API (11 methods) - MetricRefiner mirrors IMetricRefinement (6 methods) - MAVLinkBridgeProtocol mirrors MAVLinkBridge public API (8 methods) - CoordinateTransformsProtocol mirrors CoordinateTransformer (9 methods) - All Protocols runtime_checkable; backwards-compat I-prefixed aliases exposed for vio/gpr/metric (deprecated in Phase 2) - Pure-additive: zero existing files touched - isinstance check confirms SatelliteDataManager and CoordinateTransformer already satisfy the new Protocols structurally
36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
"""Protocol surface for the VIO component (ARCH-05).
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Phase 1: defines the Protocol that concrete adapters in this directory
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implement. Method signatures mirror ``ISequentialVisualOdometry`` from
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``core/vo.py``. Adapters are NOT moved here yet — see Plan 04 (VIO).
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"""
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from __future__ import annotations
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from typing import Protocol, runtime_checkable
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import numpy as np
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from gps_denied.schemas import CameraParameters
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from gps_denied.schemas.vo import Features, Matches, Motion, RelativePose
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@runtime_checkable
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class VisualOdometry(Protocol):
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"""Sequential visual odometry surface (mirrors ISequentialVisualOdometry)."""
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def compute_relative_pose(
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self, prev_image: np.ndarray, curr_image: np.ndarray, camera_params: CameraParameters
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) -> RelativePose | None: ...
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def extract_features(self, image: np.ndarray) -> Features: ...
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def match_features(self, features1: Features, features2: Features) -> Matches: ...
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def estimate_motion(
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self, matches: Matches, camera_params: CameraParameters
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) -> Motion | None: ...
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# Backwards-compat alias — Phase 2 will deprecate the I-prefix.
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ISequentialVisualOdometry = VisualOdometry
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