Package com.irurueta.ar.sfm

Class AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor

java.lang.Object

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

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

com.irurueta.ar.sfm.BaseAbsoluteOrientationSlamSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

com.irurueta.ar.sfm.AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor

public class AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor
extends BaseAbsoluteOrientationSlamSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

Estimates cameras and 3D reconstructed points from sparse image point correspondences in multiple views 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 AbsoluteOrientationSlamSparseReconstructor if absolute orientation is needed, or SlamSparseReconstructor otherwise to get better accuracy.

Field Summary

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

slamEstimator, slamPosition

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

activeEuclideanReconstructedPoints, activeMetricReconstructedPoints, configuration, currentEuclideanEstimatedCamera, currentMetricEstimatedCamera, currentScale, DEFAULT_SCALE, failed, listener, MIN_NUMBER_OF_VIEWS, previousEuclideanEstimatedCamera, previousMetricEstimatedCamera, running

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration configuration, AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener listener)	Constructor.
AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected boolean	postProcessOne(boolean isInitialPairOfViews)	Called when processing one frame is successfully finished.
boolean	processOneView()	Process one view of all the available data during the reconstruction.

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

updateOrientationSample, updateScaleAndOrientation

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

setUpCalibrationData, setUpSlamEstimatorListener, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample, updateScale

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

cancel, getActiveEuclideanReconstructedPoints, getActiveMetricReconstructedPoints, getConfiguration, getCurrentEstimatedFundamentalMatrix, getCurrentEuclideanEstimatedCamera, getCurrentMetricEstimatedCamera, getCurrentScale, getCurrentViewNewlySpawnedSamples, getCurrentViewTrackedSamples, getListener, getPreviousEuclideanEstimatedCamera, getPreviousMetricEstimatedCamera, getPreviousViewTrackedSamples, getViewCount, hasFailed, isAdditionalView, isCancelled, isFinished, isFirstView, isRunning, isSecondView, reset, start

Methods inherited from class java.lang.Object

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

Constructor Details

AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration configuration,
 AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener 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.

AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

Throws:

NullPointerException - if listener is not provided.

Method Details

processOneView

public boolean processOneView()

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

Overrides:

processOneView in class BaseSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener>

Returns:

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

postProcessOne

protected boolean postProcessOne(boolean isInitialPairOfViews)

Called when processing one frame is successfully finished. This can be done to estimate scale on those implementations where scale can be measured or is already known.

Specified by:

postProcessOne in class BaseSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorListener>

Parameters:

isInitialPairOfViews - true if initial pair of views is being processed, false otherwise.

Returns:

true if post-processing succeeded, false otherwise.