Package com.irurueta.ar.sfm

Class BaseSlamPairedViewsSparseReconstructorConfiguration<C extends BaseCalibrationData,T extends BaseSlamPairedViewsSparseReconstructorConfiguration<C,T>>

java.lang.Object

com.irurueta.ar.sfm.BasePairedViewsSparseReconstructorConfiguration<T>

com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructorConfiguration<C,T>

Type Parameters:

C - type defining calibration data.

T - an actual implementation of a configuration class.

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

AbsoluteOrientationConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration, AbsoluteOrientationSlamPairedViewsSparseReconstructorConfiguration, ConstantVelocityModelSlamPairedViewsSparseReconstructorConfiguration, SlamPairedViewsSparseReconstructorConfiguration

public class BaseSlamPairedViewsSparseReconstructorConfiguration<C extends BaseCalibrationData,T extends BaseSlamPairedViewsSparseReconstructorConfiguration<C,T>>
extends BasePairedViewsSparseReconstructorConfiguration<T>
implements Serializable

Contains base configuration for a paired view sparse re-constructor using SLAM (Simultaneous Location And Mapping) to determine the scale of the scene (i.e. the baseline or separation between cameras) by fusing both camera data and data from sensors like an accelerometer or gyroscope.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
private C	calibrationData	Calibration data for accelerometer and gyroscope.
private com.irurueta.algebra.Matrix	cameraPositionCovariance	Matrix containing covariance of measured camera positions.
private static final double	DEFAULT_CAMERA_POSITION_VARIANCE	Default variance for coordinates of estimated camera positions.
static final boolean	DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA	Indicates that by default any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.
static final boolean	DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE	Indicates that by default new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received (accelerometer, gyroscope and orientation).
private boolean	notifyAvailableSlamData	Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received.
private boolean	notifyEstimatedSlamCamera	Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

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

DEFAULT_ALLOW_GENERAL_SCENE, DEFAULT_ALLOW_PLANAR_SCENE, DEFAULT_DAQ_USE_HOMOGENEOUS_POINT_TRIANGULATOR, DEFAULT_FUNDAMENTAL_MATRIX_COMPUTE_AND_KEEP_INLIERS, DEFAULT_FUNDAMENTAL_MATRIX_COMPUTE_AND_KEEP_RESIDUALS, DEFAULT_FUNDAMENTAL_MATRIX_CONFIDENCE, DEFAULT_FUNDAMENTAL_MATRIX_MAX_ITERATIONS, DEFAULT_FUNDAMENTAL_MATRIX_THRESHOLD, DEFAULT_KEEP_FUNDAMENTAL_MATRIX_COVARIANCE, DEFAULT_KEEP_PLANAR_HOMOGRAPHY_COVARIANCE, DEFAULT_KNOWN_INTRINSIC_PARAMETERS, DEFAULT_NON_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_PAIRED_CAMERAS_ASPECT_RATIO, DEFAULT_PAIRED_CAMERAS_CORRECTOR_TYPE, DEFAULT_PAIRED_CAMERAS_ESTIMATOR_METHOD, DEFAULT_PAIRED_CAMERAS_MARK_VALID_TRIANGULATED_POINTS, DEFAULT_PAIRED_CAMERAS_PRINCIPAL_POINT_X, DEFAULT_PAIRED_CAMERAS_PRINCIPAL_POINT_Y, DEFAULT_PLANAR_HOMOGRAPHY_COMPUTE_AND_KEEP_INLIERS, DEFAULT_PLANAR_HOMOGRAPHY_COMPUTE_AND_KEEP_RESIDUALS, DEFAULT_PLANAR_HOMOGRAPHY_CONFIDENCE, DEFAULT_PLANAR_HOMOGRAPHY_MAX_ITERATIONS, DEFAULT_PLANAR_HOMOGRAPHY_THRESHOLD, DEFAULT_REFINE_FUNDAMENTAL_MATRIX, DEFAULT_REFINE_PLANAR_HOMOGRAPHY, DEFAULT_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_ROBUST_PLANAR_HOMOGRAPHY_ESTIMATOR_METHOD

Constructor Summary

Constructors

Constructor	Description
BaseSlamPairedViewsSparseReconstructorConfiguration()	Constructor.

Method Summary

Modifier and Type	Method	Description
C	getCalibrationData()	Gets calibration data for accelerometer and gyroscope.
com.irurueta.algebra.Matrix	getCameraPositionCovariance()	Gets matrix containing covariance of measured camera positions.
boolean	isNotifyAvailableSlamDataEnabled()	Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received.
boolean	isNotifyEstimatedSlamCameraEnabled()	Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.
T	setCalibrationData(C calibrationData)	Specifies calibration data for accelerometer and gyroscope.
T	setCameraPositionCovariance(com.irurueta.algebra.Matrix cameraPositionCovariance)	Sets matrix containing covariance of measured camera positions.
T	setCameraPositionVariance(double variance)	Sets independent variance of coordinates of measured camera positions.
T	setNotifyAvailableSlamDataEnabled(boolean notifyAvailableSlamData)	Specifies whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received.
T	setNotifyEstimatedSlamCameraEnabled(boolean notifyEstimatedSlamCamera)	Specifies whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

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

areIntrinsicParametersKnown, getDaqUseHomogeneousPointTriangulator, getFundamentalMatrixComputeAndKeepInliers, getFundamentalMatrixComputeAndKeepResiduals, getFundamentalMatrixConfidence, getFundamentalMatrixMaxIterations, getFundamentalMatrixThreshold, getNonRobustFundamentalMatrixEstimatorMethod, getPairedCamerasAspectRatio, getPairedCamerasCorrectorType, getPairedCamerasEstimatorMethod, getPairedCamerasMarkValidTriangulatedPoints, getPlanarHomographyComputeAndKeepInliers, getPlanarHomographyComputeAndKeepResiduals, getPlanarHomographyConfidence, getPlanarHomographyMaxIterations, getPlanarHomographyThreshold, getPrincipalPointX, getPrincipalPointY, getRobustFundamentalMatrixEstimatorMethod, getRobustPlanarHomographyEstimatorMethod, isFundamentalMatrixCovarianceKept, isFundamentalMatrixRefined, isGeneralSceneAllowed, isPlanarHomographyCovarianceKept, isPlanarHomographyRefined, isPlanarSceneAllowed, setDaqUseHomogeneousPointTriangulator, setFundamentalMatrixComputeAndKeepInliers, setFundamentalMatrixComputeAndKeepResiduals, setFundamentalMatrixConfidence, setFundamentalMatrixCovarianceKept, setFundamentalMatrixMaxIterations, setFundamentalMatrixRefined, setFundamentalMatrixThreshold, setGeneralSceneAllowed, setIntrinsicParametersKnown, setNonRobustFundamentalMatrixEstimatorMethod, setPairedCamerasAspectRatio, setPairedCamerasCorrectorType, setPairedCamerasEstimatorMethod, setPairedCamerasMarkValidTriangulatedPoints, setPlanarHomographyComputeAndKeepInliers, setPlanarHomographyComputeAndKeepResiduals, setPlanarHomographyConfidence, setPlanarHomographyCovarianceKept, setPlanarHomographyMaxIterations, setPlanarHomographyRefined, setPlanarHomographyThreshold, setPlanarSceneAllowed, setPrincipalPointX, setPrincipalPointY, setRobustFundamentalMatrixEstimatorMethod, setRobustPlanarHomographyEstimatorMethod

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE

public static final boolean DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE

Indicates that by default new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received (accelerometer, gyroscope and orientation). SLAM state contains position, velocity, linear acceleration, orientation and angular speed.

See Also:

• Constant Field Values

DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA

public static final boolean DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA

Indicates that by default any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

See Also:

• Constant Field Values

DEFAULT_CAMERA_POSITION_VARIANCE

private static final double DEFAULT_CAMERA_POSITION_VARIANCE

Default variance for coordinates of estimated camera positions.

See Also:

• Constant Field Values

calibrationData

private C extends BaseCalibrationData calibrationData

Calibration data for accelerometer and gyroscope. This data is usually captured and estimated in an offline step previous to the actual scene reconstruction. Calibration data is usually obtained by keeping the system in a constant state of motion (e.g. acceleration and rotation). If this is null, no calibration data will be used.

cameraPositionCovariance

private com.irurueta.algebra.Matrix cameraPositionCovariance

Matrix containing covariance of measured camera positions. This should usually be an "almost" diagonal matrix, where diagonal elements are close to the position estimation error variance. Values of this matrix are device specific and depends on factors such as resolution of images, pictures quality, gyroscope and accelerometer accuracy. This matrix must be a 3x3 symmetric positive definite matrix.

notifyAvailableSlamData

private boolean notifyAvailableSlamData

Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received.

notifyEstimatedSlamCamera

private boolean notifyEstimatedSlamCamera

Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

Constructor Details

BaseSlamPairedViewsSparseReconstructorConfiguration

public BaseSlamPairedViewsSparseReconstructorConfiguration()

Constructor.

Method Details

getCalibrationData

public C getCalibrationData()

Gets calibration data for accelerometer and gyroscope. This data is usually captured and estimated in an offline step previous to the actual scene reconstruction. Calibration data is usually obtained by keeping the system in a constant state of motion (e.g. acceleration and rotation). If this is null, no calibration data will be used.

Returns:

calibration data or null.

setCalibrationData

public T setCalibrationData(C calibrationData)

Specifies calibration data for accelerometer and gyroscope. This data is usually captured and estimated in an offline step previous to the actual scene reconstruction. Calibration data is usually obtained by keeping the system in a constant state of motion (e.g. acceleration and rotation). If set to null, no calibration data will be used.

Parameters:

calibrationData - calibration data or null.

Returns:

this instance so that method can be easily chained.

getCameraPositionCovariance

public com.irurueta.algebra.Matrix getCameraPositionCovariance()

Gets matrix containing covariance of measured camera positions. This should usually be an "almost" diagonal matrix, where diagonal elements are close to the position estimation error variance. Values of this matrix are device specific and depends on factors such as resolution of images, pictures quality, gyroscope and accelerometer accuracy. This matrix must be a 3x3 symmetric positive definite matrix.

Returns:

covariance of measured camera positions.

setCameraPositionCovariance

public T setCameraPositionCovariance(com.irurueta.algebra.Matrix cameraPositionCovariance)

Sets matrix containing covariance of measured camera positions. This should usually be an "almost" diagonal matrix, where diagonal elements are close to the position estimation error variance. Values of this matrix are device specific and depends on factors such as resolution of images, pictures quality, gyroscope and accelerometer accuracy. This matrix must be 3x3 symmetric positive definite matrix.

Parameters:

cameraPositionCovariance - covariance of measured camera positions.

Returns:

this instance so that method can be easily chained.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setCameraPositionVariance

public T setCameraPositionVariance(double variance)

Sets independent variance of coordinates of measured camera positions. When using this method, camera position covariance matrix is set as a diagonal matrix whose diagonal elements are equal to provided value.

Parameters:

variance - variance of coordinates of measured camera positions.

Returns:

this instance so that method can be easily chained.

isNotifyAvailableSlamDataEnabled

public boolean isNotifyAvailableSlamDataEnabled()

Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received. IMU data contains accelerometer, gyroscope and orientation samples.

Returns:

true if new available SLAM state is notified each time that a whole set of IMU data is received.

setNotifyAvailableSlamDataEnabled

public T setNotifyAvailableSlamDataEnabled(boolean notifyAvailableSlamData)

Specifies whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement Unit) data is received. IMU data contains accelerometer, gyroscope and orientation samples.

Parameters:

notifyAvailableSlamData - true if new available SLAM state is notified each time that a whole set of IMU data is received, false otherwise.

Returns:

this instance so that method can be easily chained.

isNotifyEstimatedSlamCameraEnabled

public boolean isNotifyEstimatedSlamCameraEnabled()

Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

Returns:

true if any newly estimated camera is notified, false otherwise.

setNotifyEstimatedSlamCameraEnabled

public T setNotifyEstimatedSlamCameraEnabled(boolean notifyEstimatedSlamCamera)

Specifies whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each time that accelerometer, gyroscope and orientation data is received.

Parameters:

notifyEstimatedSlamCamera - true if any newly estimated camera is notified, false otherwise.

Returns:

this instance so that method can be easily chained.