Package com.irurueta.ar.sfm

Class AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor

java.lang.Object

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

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

com.irurueta.ar.sfm.BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

com.irurueta.ar.sfm.AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor

public class AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor
extends BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener,AbsoluteOrientationConstantVelocityModelSlamEstimator>

Estimates cameras and 3D reconstructed points from sparse image point correspondences in two 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 AbsoluteOrientationSlamTwoViewsSparseReconstructor if absolute orientation is needed, or SlamTwoViewsSparseReconstructor otherwise to get better accuracy.

Field Summary

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

firstOrientation

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

slamEstimator

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

configuration, estimatedCamera1, estimatedCamera2, estimatedFundamentalMatrix, failed, listener, NUMBER_OF_VIEWS, reconstructedPoints, running

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration configuration, AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener)	Constructor.
AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected boolean	postProcessOne()	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.BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor

updateOrientationSample, updateScaleAndOrientation

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

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

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

cancel, getConfiguration, getEstimatedCamera1, getEstimatedCamera2, getEstimatedFundamentalMatrix, getListener, getReconstructedPoints, getViewCount, hasFailed, isCancelled, isFinished, isRunning, reset, start

Methods inherited from class java.lang.Object

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

Constructor Details

AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration configuration,
 AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener 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.

AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor

public AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener 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 BaseTwoViewsSparseReconstructor.start() to build the reconstruction step by step, one view at a time.

Overrides:

processOneView in class BaseTwoViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener>

Returns:

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

postProcessOne

protected boolean postProcessOne()

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 BaseTwoViewsSparseReconstructor<AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor,AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener>

Returns:

true if post-processing succeeded, false otherwise.