Package com.irurueta.ar.sfm

Class BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamPairedViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamPairedViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>

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<D,C,R,L,S>

Type Parameters:

D - calibrator type associated to implementations of SLAM calibration data.

C - type of configuration.

R - type of re-constructor.

L - type of listener.

S - type of SLAM estimator.

Direct Known Subclasses:

AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructor, AbsoluteOrientationSlamPairedViewsSparseReconstructor

public abstract class BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamPairedViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamPairedViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>
extends BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>

Base class in charge of estimating pairs of cameras and 3D reconstructed points from sparse image point correspondences in multiple view pairs and also in charge of estimating overall scene scale and absolute orientation by means of SLAM (Simultaneous Location And Mapping) using data obtained from sensors like accelerometers or gyroscopes. NOTE: absolute orientation slam estimators are not very accurate during estimation of the orientation state, for that reason we take into account the initial orientation.

Field Summary

Fields

Modifier and Type	Field	Description
private com.irurueta.geometry.Rotation3D	firstOrientation	First sample of orientation received.

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

Modifier	Constructor	Description
protected	BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor(C configuration, L listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected boolean	hasAbsoluteOrientation()	Indicates whether implementations of a re-constructor uses absolute orientation or not.
protected boolean	transformPairOfCamerasAndPoints(boolean isInitialPairOfViews, boolean hasAbsoluteOrientation)	Transforms metric cameras on current pair of views so that they are referred to last kept location and rotation and upgrades cameras from metric stratum to Euclidean stratum.
void	updateOrientationSample(long timestamp, com.irurueta.geometry.Rotation3D orientation)	Provides a new orientation sample to update SLAM estimator.

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, processOneViewPair, start

Methods inherited from class java.lang.Object

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

Field Details

firstOrientation

private com.irurueta.geometry.Rotation3D firstOrientation

First sample of orientation received.

Constructor Details

BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor

protected BaseAbsoluteOrientationSlamPairedViewsSparseReconstructor(C configuration,
 L 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.

Method Details

updateOrientationSample

public void updateOrientationSample(long timestamp,
 com.irurueta.geometry.Rotation3D orientation)

Provides a new orientation sample to update SLAM estimator. If re-constructor is not running, calling this method has no effect.

Parameters:

timestamp - timestamp of accelerometer sample since epoch time and expressed in nanoseconds.

orientation - new orientation.

hasAbsoluteOrientation

protected boolean hasAbsoluteOrientation()

Indicates whether implementations of a re-constructor uses absolute orientation or not.

Overrides:

hasAbsoluteOrientation in class BaseSlamPairedViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamPairedViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamPairedViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>

Returns:

true if absolute orientation is used, false, otherwise.

transformPairOfCamerasAndPoints

protected boolean transformPairOfCamerasAndPoints(boolean isInitialPairOfViews,
 boolean hasAbsoluteOrientation)

Transforms metric cameras on current pair of views so that they are referred to last kept location and rotation and upgrades cameras from metric stratum to Euclidean stratum.

Overrides:

transformPairOfCamerasAndPoints in class BaseSlamPairedViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamPairedViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamPairedViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamPairedViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>

Parameters:

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

hasAbsoluteOrientation - true if absolute orientation is required, false otherwise.

Returns:

true if cameras were successfully transformed.