 Pepijn
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8affa5147c
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navigation: LingBot-Map geometry runner, keyframe pipeline, live CLI
- geometry.py: GeometryRunner protocol + GeometryOutput contract
({points, local_points, conf, camera_poses}); LingBotMapRunner (lazy
streaming reconstruction, no window stitching); FakeGeometryRunner for
tests; umeyama_similarity + align_trajectory_to_odometry to anchor the
monocular scale to Go2 sport-mode odometry (metric map, real m/s A*).
- pipeline.py: viz-free integrate_keyframe (carve → add) + bilinear
feature upsampling.
- dog_cli.py: LiveMapper (perceive → geometry → features → integrate one
keyframe, feed the watchdog) + _build_live wiring the real Unitree Go2
stack (DDS + LingBot-Map + SigLIP2) + `--live` REPL. Lazy throughout, so
import/--help/dry-run stay model- and SDK-free.
- dog-nav console entry point; README updated.
14 new tests (130 in tests/navigation/), all model/hardware-free.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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2026-07-20 18:34:33 +02:00 |
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