Package com.irurueta.ar.sfm

Interface BaseSlamTwoViewsSparseReconstructorListener<R extends BaseSlamTwoViewsSparseReconstructor<?,?,?,?,?>>

Type Parameters:

R - type of re-constructor.

All Superinterfaces:

BaseTwoViewsSparseReconstructorListener<R>

All Known Subinterfaces:

AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener, AbsoluteOrientationSlamTwoViewsSparseReconstructorListener, ConstantVelocityModelSlamTwoViewsSparseReconstructorListener, SlamTwoViewsSparseReconstructorListener

public interface BaseSlamTwoViewsSparseReconstructorListener<R extends BaseSlamTwoViewsSparseReconstructor<?,?,?,?,?>>
extends BaseTwoViewsSparseReconstructorListener<R>

Listener to retrieve and store required data to compute a 3D reconstruction from sparse image point correspondences in two views. Implementations of this interface also notify when cameras are estimated due to received IMU (Inertial Measurement Unit) data, which contains accelerometer and gyroscope data and uses a SLAM estimator.

Method Summary

Modifier and Type	Method	Description
void	onSlamCameraEstimated(R reconstructor, com.irurueta.geometry.PinholeCamera camera)	Called whenever estimated SLAM camera notification is enabled.
void	onSlamDataAvailable(R reconstructor, double positionX, double positionY, double positionZ, double velocityX, double velocityY, double velocityZ, double accelerationX, double accelerationY, double accelerationZ, double quaternionA, double quaternionB, double quaternionC, double quaternionD, double angularSpeedX, double angularSpeedY, double angularSpeedZ, com.irurueta.algebra.Matrix covariance)	Called whenever slam data notification is enabled and each time all required samples (accelerometer, gyroscope or orientation) are received in order to update SLAM system state to notify new position, velocity, acceleration, orientation and angular speed.

Methods inherited from interface com.irurueta.ar.sfm.BaseTwoViewsSparseReconstructorListener

hasMoreViewsAvailable, onCamerasEstimated, onCancel, onFail, onFinish, onFundamentalMatrixEstimated, onReconstructedPointsEstimated, onRequestMatches, onRequestSamplesForCurrentView, onSamplesAccepted, onSamplesRejected, onStart

Method Details

onSlamDataAvailable

void onSlamDataAvailable(R reconstructor,
 double positionX,
 double positionY,
 double positionZ,
 double velocityX,
 double velocityY,
 double velocityZ,
 double accelerationX,
 double accelerationY,
 double accelerationZ,
 double quaternionA,
 double quaternionB,
 double quaternionC,
 double quaternionD,
 double angularSpeedX,
 double angularSpeedY,
 double angularSpeedZ,
 com.irurueta.algebra.Matrix covariance)

Called whenever slam data notification is enabled and each time all required samples (accelerometer, gyroscope or orientation) are received in order to update SLAM system state to notify new position, velocity, acceleration, orientation and angular speed.

Parameters:

reconstructor - re-constructor raising this event.

positionX - x position coordinate expressed in meters (m).

positionY - y position coordinate expressed in meters (m).

positionZ - z position coordinate expressed in meters (m).

velocityX - x velocity coordinate expressed in meters per second (m/s).

velocityY - y velocity coordinate expressed in meters per second (m/s).

velocityZ - z velocity coordinate expressed in meters per second (m/s).

accelerationX - x linear acceleration coordinate expressed in meters per squared second (m/s^2).

accelerationY - y linear acceleration coordinate expressed in meters per squared second (m/s^2).

accelerationZ - z linear acceleration coordinate expressed in meters per squared second (m/s^2).

quaternionA - a component of quaternion expressing current orientation.

quaternionB - b component of quaternion expressing current orientation.

quaternionC - c component of quaternion expressing current orientation.

quaternionD - d component of quaternion expressing current orientation.

angularSpeedX - x coordinate of angular speed expressed in radians per second (rad/s).

angularSpeedY - y coordinate of angular speed expressed in radians per second (rad/s).

angularSpeedZ - z coordinate of angular speed expressed in radians per second (rad/s).

covariance - contains covariance matrix of estimated SLAM state. Matrix meaning will change depending on slam implementation. See: SlamEstimator.getStateCovariance(), ConstantVelocityModelSlamEstimator.getStateCovariance(), AbsoluteOrientationSlamEstimator.getStateCovariance() or AbsoluteOrientationConstantVelocityModelSlamEstimator.getStateCovariance().

onSlamCameraEstimated

void onSlamCameraEstimated(R reconstructor,
 com.irurueta.geometry.PinholeCamera camera)

Called whenever estimated SLAM camera notification is enabled. This method is called each time all required samples (accelerometer, gyroscope or orientation) are received in order to update SLAM system state to notify a new camera containing current intrinsic parameters, position and orientation. This method will only be called when using essential method for scene reconstruction and initial intrinsic parameters are known.

Parameters:

reconstructor - re-constructor raising this event.

camera - current camera estimated using IMU data. This instance and its associated instances (camera center, rotation and intrinsic parameters) will be reused between consecutive calls to this method.