Package com.irurueta.ar.sfm

Class BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamTwoViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamTwoViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamTwoViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>>

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<D,C,R,L,S>
Type Parameters:
D - type of calibration data.
C - type of configuration.
R - type of re-constructor.
L - type of listener.
S - type of SLAM estimator.
Direct Known Subclasses:
AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor, AbsoluteOrientationSlamTwoViewsSparseReconstructor
public abstract class BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamTwoViewsSparseReconstructorConfiguration<D,C>,R extends BaseSlamTwoViewsSparseReconstructor<D,C,R,L,S>,L extends BaseSlamTwoViewsSparseReconstructorListener<R>,S extends AbsoluteOrientationBaseSlamEstimator<D>> extends BaseSlamTwoViewsSparseReconstructor<D,C,R,L,S>
Base class in charge of estimating cameras and 3D reconstructed points from sparse image point correspondences in two 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 Details

    • firstOrientation

      protected com.irurueta.geometry.Rotation3D firstOrientation
      First sample of orientation received.

  • Constructor Details

    • BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor

      protected BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor(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()
      Updates scene scale and orientation using SLAM data.
      Returns:
      true if scale was successfully updated, false otherwise.