Package com.irurueta.ar.sfm

Class AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor

java.lang.Object

com.irurueta.ar.sfm.BasePairedViewsSparseReconstructor<C,R,L>

com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>

com.irurueta.ar.sfm.BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

com.irurueta.ar.sfm.AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor

public class AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor
extends BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

Estimates pairs of cameras and 3D reconstructed points from sparse image point correspondences in multiple view pairs and using SLAM (with accelerometer and gyroscope data) with absolute orientation for overall scale and orientation estimation. NOTE: This implementation does not seem to be very reliable because the SLAM estimator is not accurate at all on position or orientation estimator. Use AbsoluteOrientationSlamPairedViewsSparseReconstructor if absolute orientation is needed, or SlamPairedViewsSparseReconstructor otherwise to get better accuracy.

Field Summary

Fields inherited from class com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructor

slamEstimator

Fields inherited from class com.irurueta.ar.sfm.BasePairedViewsSparseReconstructor

configuration, currentEuclideanEstimatedCamera, currentMetricEstimatedCamera, currentScale, currentViewId, DEFAULT_SCALE, euclideanReconstructedPoints, failed, lastEuclideanCameraCenter, lastEuclideanCameraRotation, listener, metricReconstructedPoints, MIN_NUMBER_OF_VIEWS, previousEuclideanEstimatedCamera, previousMetricEstimatedCamera, previousViewId, referenceEuclideanTransformation, running

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration configuration, AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener listener)	Constructor.
AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	processOneViewPair()	Process one view of all the available data during the reconstruction.

Methods inherited from class com.irurueta.ar.sfm.BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor

hasAbsoluteOrientation, transformPairOfCamerasAndPoints, updateOrientationSample

Methods inherited from class com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructor

reset, setUpCalibrationData, setUpSlamEstimatorListener, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample

Methods inherited from class com.irurueta.ar.sfm.BasePairedViewsSparseReconstructor

cancel, getConfiguration, getCurrentEstimatedFundamentalMatrix, getCurrentEuclideanEstimatedCamera, getCurrentMetricEstimatedCamera, getCurrentScale, getCurrentViewSamples, getEuclideanReconstructedPoints, getListener, getMetricReconstructedPoints, getPreviousEuclideanEstimatedCamera, getPreviousMetricEstimatedCamera, getPreviousViewSamples, getViewCount, hasFailed, isAdditionalViewPair, isCancelled, isFinished, isFirstViewPair, isRunning, start

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration configuration,
 AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener listener)

Constructor.

Parameters:

configuration - configuration for this re-constructor.

listener - listener in charge of handling events.

Throws:

NullPointerException - if listener or configuration is not provided.

AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

Throws:

NullPointerException - if listener or configuration is not provided.

Method Details

processOneViewPair

public boolean processOneViewPair()

Process one view of all the available data during the reconstruction. This method can be called multiple times instead of BasePairedViewsSparseReconstructor.start() to build the reconstruction step by step, one view at a time.

Overrides:

processOneViewPair in class BasePairedViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorListener>

Returns:

true if more views can be processed, false when reconstruction has finished.