Package com.irurueta.ar.sfm

Class BaseAbsoluteOrientationSlamSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamSparseReconstructorConfiguration<D,C>,R extends BaseSlamSparseReconstructor<D,C,R,L,S>,L extends BaseSlamSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>

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<D,C,R,L,S>

Type Parameters:

D - type defining calibration data.

C - type of configuration.

R - type of re-constructor.

L - type of listener.

S - type of SLAM estimator.

Direct Known Subclasses:

AbsoluteOrientationConstantVelocityModelSlamSparseReconstructor, AbsoluteOrientationSlamSparseReconstructor

public abstract class BaseAbsoluteOrientationSlamSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamSparseReconstructorConfiguration<D,C>,R extends BaseSlamSparseReconstructor<D,C,R,L,S>,L extends BaseSlamSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>
extends BaseSlamSparseReconstructor<D,C,R,L,S>

Base class in charge of estimating cameras and 3D reconstructed points from sparse image point correspondences in multiple views 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.
private com.irurueta.geometry.Rotation3D	invFirstOrientation	Inverse of first orientation.

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

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

Method Summary

Modifier and Type	Method	Description
void	updateOrientationSample(long timestamp, com.irurueta.geometry.Rotation3D orientation)	Provides a new orientation sample to update SLAM estimator.
protected boolean	updateScaleAndOrientation(boolean isInitialPairOfViews)	Updates scene scale and orientation using SLAM data.

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, postProcessOne, processOneView, reset, 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.

invFirstOrientation

private com.irurueta.geometry.Rotation3D invFirstOrientation

Inverse of first orientation.

Constructor Details

BaseAbsoluteOrientationSlamSparseReconstructor

protected BaseAbsoluteOrientationSlamSparseReconstructor(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.

updateScaleAndOrientation

protected boolean updateScaleAndOrientation(boolean isInitialPairOfViews)

Updates scene scale and orientation using SLAM data.

Parameters:

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

Returns:

true if scale was successfully updated, false otherwise.