mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 13:01:14 +00:00
Oleksandr Bezdieniezhnykh
5dfd9a577e
Closes cumulative review 46-48 F1 (Medium) + F3 (Low). Adds iso_ts_from_clock(clock) alongside iso_ts_now() in the Layer-1 helper; migrates four duplicate definitions in c2_vpr (net_vlad, ultra_vpr, _faiss_bridge) and c12_operator_orchestrator (operator_reloc_service). Output format flipped +00:00 -> Z to align with iso_ts_now() and the canonical FDR _TS fixture (FDR schema test passes unmodified). 18 helper AC tests + 186 sibling tests pass; ruff clean. Co-authored-by: Cursor <cursoragent@cursor.com>
97 lines
2.3 KiB
Python
97 lines
2.3 KiB
Python
"""Shared utilities (E-CC-HELPERS / AZ-264).
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Each helper has its own task (AZ-276..AZ-283). This package exposes the
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ones that have landed so consumers can depend on a stable public surface
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without reaching into the helper modules directly.
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"""
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from gps_denied_onboard.helpers.descriptor_normaliser import (
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ALLOWED_DTYPES,
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DescriptorNormaliser,
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DescriptorNormaliserError,
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)
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from gps_denied_onboard.helpers.engine_filename_schema import (
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ALLOWED_PRECISIONS,
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ENGINE_SUFFIX,
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EngineFilenameSchema,
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EngineFilenameSchemaError,
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)
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from gps_denied_onboard.helpers.imu_preintegrator import (
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CombinedImuFactor,
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ImuPreintegrationError,
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ImuPreintegrator,
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make_imu_preintegrator,
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)
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from gps_denied_onboard.helpers.iso_timestamps import (
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iso_ts_from_clock,
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iso_ts_now,
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)
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from gps_denied_onboard.helpers.lightglue_runtime import (
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LightGlueConcurrentAccessError,
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LightGlueRuntime,
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LightGlueRuntimeError,
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)
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from gps_denied_onboard.helpers.ransac_filter import (
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RansacFilter,
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RansacFilterError,
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RansacResult,
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)
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from gps_denied_onboard.helpers.se3_utils import (
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SE3,
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Se3InvalidMatrixError,
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adjoint,
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exp_map,
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is_valid_rotation,
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log_map,
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matrix_to_se3,
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se3_to_matrix,
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)
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from gps_denied_onboard.helpers.sha256_sidecar import (
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SIDECAR_SUFFIX,
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Sha256Sidecar,
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Sha256SidecarError,
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)
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from gps_denied_onboard.helpers.wgs_converter import (
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MAX_ZOOM,
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WEB_MERCATOR_MAX_LAT_DEG,
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WgsConversionError,
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WgsConverter,
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)
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__all__ = [
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"ALLOWED_DTYPES",
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"ALLOWED_PRECISIONS",
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"ENGINE_SUFFIX",
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"MAX_ZOOM",
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"SE3",
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"SIDECAR_SUFFIX",
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"WEB_MERCATOR_MAX_LAT_DEG",
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"CombinedImuFactor",
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"DescriptorNormaliser",
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"DescriptorNormaliserError",
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"EngineFilenameSchema",
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"EngineFilenameSchemaError",
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"ImuPreintegrationError",
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"ImuPreintegrator",
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"LightGlueConcurrentAccessError",
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"LightGlueRuntime",
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"LightGlueRuntimeError",
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"RansacFilter",
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"RansacFilterError",
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"RansacResult",
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"Se3InvalidMatrixError",
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"Sha256Sidecar",
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"Sha256SidecarError",
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"WgsConversionError",
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"WgsConverter",
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"adjoint",
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"exp_map",
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"is_valid_rotation",
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"iso_ts_from_clock",
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"iso_ts_now",
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"log_map",
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"make_imu_preintegrator",
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"matrix_to_se3",
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"se3_to_matrix",
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]
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