Package com.irurueta.ar.sfm

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

java.lang.Object
com.irurueta.ar.sfm.BaseSparseReconstructor<C,R,L>
com.irurueta.ar.sfm.BaseSlamSparseReconstructor<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:
BaseAbsoluteOrientationSlamSparseReconstructor, ConstantVelocityModelSlamSparseReconstructor, SlamSparseReconstructor
public abstract class BaseSlamSparseReconstructor<D extends BaseCalibrationData,C extends BaseSlamSparseReconstructorConfiguration<D,C>,R extends BaseSlamSparseReconstructor<D,C,R,L,S>,L extends BaseSlamSparseReconstructorListener<R>,S extends BaseSlamEstimator<D>> extends BaseSparseReconstructor<C,R,L>
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 by means of SLAM (Simultaneous Location And Mapping) using data obtained from sensors like accelerometers or gyroscopes.

  • Field Details

    • slamEstimator

      protected S extends BaseSlamEstimator<D> slamEstimator
      Slam estimator to estimate position, speed, orientation using accelerometer and gyroscope data.

    • slamPosition

      protected final com.irurueta.geometry.InhomogeneousPoint3D slamPosition
      Position estimated by means of SLAM. It is reused each time it is notified.

    • slamCamera

      private final com.irurueta.geometry.PinholeCamera slamCamera
      Camera estimated by means of SLAM. It is reused each time it is notified.

    • slamRotation

      private final com.irurueta.geometry.Quaternion slamRotation
      Camera rotation estimated by means of SLAM. It is reused each time it is notified.

  • Constructor Details

    • BaseSlamSparseReconstructor

      protected BaseSlamSparseReconstructor(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

    • updateAccelerometerSample

      public void updateAccelerometerSample(long timestamp, float accelerationX, float accelerationY, float accelerationZ)
      Provides a new accelerometer sample to update SLAM estimation. This method must be called whenever the accelerometer sensor receives new data. 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.
      accelerationX - linear acceleration along x-axis expressed in meters per squared second (m/s^2).
      accelerationY - linear acceleration along y-axis expressed in meters per squared second (m/s^2).
      accelerationZ - linear acceleration along z-axis expressed in meters per squared second (m/s^2).

    • updateAccelerometerSample

      public void updateAccelerometerSample(long timestamp, float[] data)
      Provides a new accelerometer sample to update SLAM estimation. This method must be called whenever the accelerometer sensor receives new data. 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.
      data - array containing x,y,z components of linear acceleration expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • updateGyroscopeSample

      public void updateGyroscopeSample(long timestamp, float angularSpeedX, float angularSpeedY, float angularSpeedZ)
      Provides a new gyroscope sample to update SLAM estimation. If re-constructor is not running, calling this method has no effect.
      Parameters:
      timestamp - timestamp of gyroscope sample since epoch time and expressed in nanoseconds.
      angularSpeedX - angular speed of rotation along x-axis expressed in radians per second (rad/s).
      angularSpeedY - angular speed of rotation along y-axis expressed in radians per second (rad/s).
      angularSpeedZ - angular speed of rotation along z-axis expressed in radians per second (rad/s).

    • updateGyroscopeSample

      public void updateGyroscopeSample(long timestamp, float[] data)
      Provides a new gyroscope sample to update SLAM estimation. If re-constructor is not running, calling this method has no effect.
      Parameters:
      timestamp - timestamp of gyroscope sample since epoch time and expressed in nanoseconds.
      data - angular speed of rotation along x,y,z axes expressed in radians per second (rad/s).
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setUpCalibrationData

      protected void setUpCalibrationData()
      Configures calibration data on SLAM estimator if available.

    • setUpSlamEstimatorListener

      protected void setUpSlamEstimatorListener()
      Configures listener of SLAM estimator

    • updateScale

      protected boolean updateScale(boolean isInitialPairOfViews)
      Update scene scale 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.

    • notifySlamStateIfNeeded

      private void notifySlamStateIfNeeded()
      Notifies SLAM state if notification is enabled at configuration time.

    • notifySlamCameraIfNeeded

      private void notifySlamCameraIfNeeded()
      Notifies estimated camera by means of SLAM if notification is enabled at configuration time and intrinsics are already available.