mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:36:37 +00:00
Oleksandr Bezdieniezhnykh
44 lines
969 B
Python
44 lines
969 B
Python
from abc import ABC, abstractmethod
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import numpy as np
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from models.core import GPSPoint
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from models.processing import AlignmentResult
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class MetricRefinementBase(ABC):
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@abstractmethod
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async def refine_alignment(
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self,
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uav_image: np.ndarray,
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satellite_image: np.ndarray,
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initial_homography: np.ndarray,
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) -> AlignmentResult:
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pass
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@abstractmethod
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async def compute_precise_gps(
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self,
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uav_center_pixel: tuple[float, float],
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homography: np.ndarray,
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tile_bounds: dict,
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) -> GPSPoint:
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pass
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@abstractmethod
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async def estimate_reprojection_error(
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self,
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correspondences: np.ndarray,
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homography: np.ndarray,
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) -> float:
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pass
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@abstractmethod
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async def filter_outliers(
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self,
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correspondences: np.ndarray,
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homography: np.ndarray,
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threshold: float = 3.0,
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) -> np.ndarray:
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pass
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