| """Online current estimator.""" | |
| import numpy as np | |
| from experiments.shared.src.vision.pose_from_image import estimate_pose_from_clean_image | |
| def estimate_current(history, config): | |
| poses = np.stack([estimate_pose_from_clean_image(img) for img in history], axis=0) | |
| return poses[-1, :2] - poses[0, :2] | |