Package com.irurueta.ar.sfm

Class AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration

java.lang.Object

com.irurueta.ar.sfm.BasePairedViewsSparseReconstructorConfiguration<T>

com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructorConfiguration<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration>

com.irurueta.ar.sfm.AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration

All Implemented Interfaces:

Serializable

public class AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration
extends BaseSlamPairedViewsSparseReconstructorConfiguration<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration>
implements Serializable

Contains configuration for a paired view sparse re-constructor using SLAM (Simultaneous LocationAnd Mapping) to determine the scale of the scene (i.e. the baseline or separation between cameras) by fusing both camera data and data from sensors like an accelerometer or gyroscope. This configuration assumes a constant velocity model and that an absolute orientation will be considered on each view.

See Also:

• Serialized Form

Field Summary

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

DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA, DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE

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

DEFAULT_ALLOW_GENERAL_SCENE, DEFAULT_ALLOW_PLANAR_SCENE, DEFAULT_DAQ_USE_HOMOGENEOUS_POINT_TRIANGULATOR, DEFAULT_FUNDAMENTAL_MATRIX_COMPUTE_AND_KEEP_INLIERS, DEFAULT_FUNDAMENTAL_MATRIX_COMPUTE_AND_KEEP_RESIDUALS, DEFAULT_FUNDAMENTAL_MATRIX_CONFIDENCE, DEFAULT_FUNDAMENTAL_MATRIX_MAX_ITERATIONS, DEFAULT_FUNDAMENTAL_MATRIX_THRESHOLD, DEFAULT_KEEP_FUNDAMENTAL_MATRIX_COVARIANCE, DEFAULT_KEEP_PLANAR_HOMOGRAPHY_COVARIANCE, DEFAULT_KNOWN_INTRINSIC_PARAMETERS, DEFAULT_NON_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_PAIRED_CAMERAS_ASPECT_RATIO, DEFAULT_PAIRED_CAMERAS_CORRECTOR_TYPE, DEFAULT_PAIRED_CAMERAS_ESTIMATOR_METHOD, DEFAULT_PAIRED_CAMERAS_MARK_VALID_TRIANGULATED_POINTS, DEFAULT_PAIRED_CAMERAS_PRINCIPAL_POINT_X, DEFAULT_PAIRED_CAMERAS_PRINCIPAL_POINT_Y, DEFAULT_PLANAR_HOMOGRAPHY_COMPUTE_AND_KEEP_INLIERS, DEFAULT_PLANAR_HOMOGRAPHY_COMPUTE_AND_KEEP_RESIDUALS, DEFAULT_PLANAR_HOMOGRAPHY_CONFIDENCE, DEFAULT_PLANAR_HOMOGRAPHY_MAX_ITERATIONS, DEFAULT_PLANAR_HOMOGRAPHY_THRESHOLD, DEFAULT_REFINE_FUNDAMENTAL_MATRIX, DEFAULT_REFINE_PLANAR_HOMOGRAPHY, DEFAULT_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_ROBUST_PLANAR_HOMOGRAPHY_ESTIMATOR_METHOD

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration()

Method Summary

Modifier and Type	Method	Description
static AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration	make()	Creates an instance of a multiple views sparse re-constructor configuration with constant velocity model in slam estimation and absolute orientation.

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

getCalibrationData, getCameraPositionCovariance, isNotifyAvailableSlamDataEnabled, isNotifyEstimatedSlamCameraEnabled, setCalibrationData, setCameraPositionCovariance, setCameraPositionVariance, setNotifyAvailableSlamDataEnabled, setNotifyEstimatedSlamCameraEnabled

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

areIntrinsicParametersKnown, getDaqUseHomogeneousPointTriangulator, getFundamentalMatrixComputeAndKeepInliers, getFundamentalMatrixComputeAndKeepResiduals, getFundamentalMatrixConfidence, getFundamentalMatrixMaxIterations, getFundamentalMatrixThreshold, getNonRobustFundamentalMatrixEstimatorMethod, getPairedCamerasAspectRatio, getPairedCamerasCorrectorType, getPairedCamerasEstimatorMethod, getPairedCamerasMarkValidTriangulatedPoints, getPlanarHomographyComputeAndKeepInliers, getPlanarHomographyComputeAndKeepResiduals, getPlanarHomographyConfidence, getPlanarHomographyMaxIterations, getPlanarHomographyThreshold, getPrincipalPointX, getPrincipalPointY, getRobustFundamentalMatrixEstimatorMethod, getRobustPlanarHomographyEstimatorMethod, isFundamentalMatrixCovarianceKept, isFundamentalMatrixRefined, isGeneralSceneAllowed, isPlanarHomographyCovarianceKept, isPlanarHomographyRefined, isPlanarSceneAllowed, setDaqUseHomogeneousPointTriangulator, setFundamentalMatrixComputeAndKeepInliers, setFundamentalMatrixComputeAndKeepResiduals, setFundamentalMatrixConfidence, setFundamentalMatrixCovarianceKept, setFundamentalMatrixMaxIterations, setFundamentalMatrixRefined, setFundamentalMatrixThreshold, setGeneralSceneAllowed, setIntrinsicParametersKnown, setNonRobustFundamentalMatrixEstimatorMethod, setPairedCamerasAspectRatio, setPairedCamerasCorrectorType, setPairedCamerasEstimatorMethod, setPairedCamerasMarkValidTriangulatedPoints, setPlanarHomographyComputeAndKeepInliers, setPlanarHomographyComputeAndKeepResiduals, setPlanarHomographyConfidence, setPlanarHomographyCovarianceKept, setPlanarHomographyMaxIterations, setPlanarHomographyRefined, setPlanarHomographyThreshold, setPlanarSceneAllowed, setPrincipalPointX, setPrincipalPointY, setRobustFundamentalMatrixEstimatorMethod, setRobustPlanarHomographyEstimatorMethod

Methods inherited from class java.lang.Object

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

Constructor Details

AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration

public AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration()

Method Details

make

public static AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration make()

Creates an instance of a multiple views sparse re-constructor configuration with constant velocity model in slam estimation and absolute orientation.

Returns:

configuration instance.