Package com.irurueta.ar.sfm

Class ConstantVelocityModelSlamSparseReconstructorConfiguration

java.lang.Object

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

com.irurueta.ar.sfm.BaseSlamSparseReconstructorConfiguration<ConstantVelocityModelSlamCalibrationData,ConstantVelocityModelSlamSparseReconstructorConfiguration>

com.irurueta.ar.sfm.ConstantVelocityModelSlamSparseReconstructorConfiguration

All Implemented Interfaces:

Serializable

public class ConstantVelocityModelSlamSparseReconstructorConfiguration
extends BaseSlamSparseReconstructorConfiguration<ConstantVelocityModelSlamCalibrationData,ConstantVelocityModelSlamSparseReconstructorConfiguration>
implements Serializable

Contains configuration for a two 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. This configuration assumes a constant velocity model and that an orientation relative to the first view will be estimated.

See Also:

• Serialized Form

Field Summary

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

DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA, DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE

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

DEFAULT_ADDITIONAL_CAMERAS_ALLOW_NULLSPACE_DIMENSION2, DEFAULT_ADDITIONAL_CAMERAS_ALLOW_NULLSPACE_DIMENSION3, DEFAULT_ADDITIONAL_CAMERAS_ALLOW_PLANAR_CONFIGURATION, DEFAULT_ADDITIONAL_CAMERAS_ASPECT_RATIO, DEFAULT_ADDITIONAL_CAMERAS_COMPUTE_AND_KEEP_INLIERS, DEFAULT_ADDITIONAL_CAMERAS_COMPUTE_AND_KEEP_RESIDUALS, DEFAULT_ADDITIONAL_CAMERAS_CONFIDENCE, DEFAULT_ADDITIONAL_CAMERAS_HORIZONTAL_PRINCIPAL_POINT, DEFAULT_ADDITIONAL_CAMERAS_MAX_ITERATIONS, DEFAULT_ADDITIONAL_CAMERAS_PLANAR_THRESHOLD, DEFAULT_ADDITIONAL_CAMERAS_ROBUST_ESTIMATION_METHOD, DEFAULT_ADDITIONAL_CAMERAS_SKEWNESS, DEFAULT_ADDITIONAL_CAMERAS_SUGGEST_ASPECT_RATIO_ENABLED, DEFAULT_ADDITIONAL_CAMERAS_SUGGEST_HORIZONTAL_FOCAL_LENGTH_ENABLED, DEFAULT_ADDITIONAL_CAMERAS_SUGGEST_PRINCIPAL_POINT_ENABLED, DEFAULT_ADDITIONAL_CAMERAS_SUGGEST_SKEWNESS_VALUE_ENABLED, DEFAULT_ADDITIONAL_CAMERAS_SUGGEST_VERTICAL_FOCAL_LENGTH_ENABLED, DEFAULT_ADDITIONAL_CAMERAS_SUGGESTED_ASPECT_RATIO_VALUE, DEFAULT_ADDITIONAL_CAMERAS_SUGGESTED_SKEWNESS_VALUE, DEFAULT_ADDITIONAL_CAMERAS_THRESHOLD, DEFAULT_ADDITIONAL_CAMERAS_USE_FAST_REFINEMENT, DEFAULT_ADDITIONAL_CAMERAS_VERTICAL_PRINCIPAL_POINT, 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_INITIAL_CAMERAS_ASPECT_RATIO, DEFAULT_INITIAL_CAMERAS_CORRECTOR_TYPE, DEFAULT_INITIAL_CAMERAS_ESTIMATOR_METHOD, DEFAULT_INITIAL_CAMERAS_MARK_VALID_TRIANGULATED_POINTS, DEFAULT_INITIAL_CAMERAS_PRINCIPAL_POINT_X, DEFAULT_INITIAL_CAMERAS_PRINCIPAL_POINT_Y, DEFAULT_KEEP_COVARIANCE_ADDITIONAL_CAMERAS, DEFAULT_KEEP_FUNDAMENTAL_MATRIX_COVARIANCE, DEFAULT_KEEP_PLANAR_HOMOGRAPHY_COVARIANCE, DEFAULT_NON_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, 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_POINT_TRIANGULATOR_CONFIDENCE, DEFAULT_POINT_TRIANGULATOR_MAX_ITERATIONS, DEFAULT_POINT_TRIANGULATOR_THRESHOLD, DEFAULT_REFINE_ADDITIONAL_CAMERAS, DEFAULT_REFINE_FUNDAMENTAL_MATRIX, DEFAULT_REFINE_PLANAR_HOMOGRAPHY, DEFAULT_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_ROBUST_PLANAR_HOMOGRAPHY_ESTIMATOR_METHOD, DEFAULT_ROBUST_POINT_TRIANGULATOR_METHOD, DEFAULT_USE_DAQ_FOR_ADDITIONAL_CAMERAS_INTRINSICS, DEFAULT_USE_DIAC_FOR_ADDITIONAL_CAMERAS_INTRINSICS, DEFAULT_USE_EPNP_FOR_ADDITIONAL_CAMERAS_ESTIMATION, DEFAULT_USE_HOMOGENEOUS_POINT_TRIANGULATOR, DEFAULT_USE_UPNP_FOR_ADDITIONAL_CAMERAS_ESTIMATION

Constructor Summary

Constructors

Constructor	Description
ConstantVelocityModelSlamSparseReconstructorConfiguration()

Method Summary

Modifier and Type	Method	Description
static ConstantVelocityModelSlamSparseReconstructorConfiguration	make()	Creates an instance of a multiple views sparse re-constructor configuration with constant velocity model in slam estimation.

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

getCalibrationData, getCameraPositionCovariance, isNotifyAvailableSlamDataEnabled, isNotifyEstimatedSlamCameraEnabled, setCalibrationData, setCameraPositionCovariance, setCameraPositionVariance, setNotifyAvailableSlamDataEnabled, setNotifyEstimatedSlamCameraEnabled

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

areAdditionalCamerasRefined, getAdditionalCamerasAllowNullspaceDimension2, getAdditionalCamerasAllowNullspaceDimension3, getAdditionalCamerasAllowPlanarConfiguration, getAdditionalCamerasAspectRatio, getAdditionalCamerasComputeAndKeepInliers, getAdditionalCamerasComputeAndKeepResiduals, getAdditionalCamerasConfidence, getAdditionalCamerasHorizontalPrincipalPoint, getAdditionalCamerasIntrinsics, getAdditionalCamerasMaxIterations, getAdditionalCamerasPlanarThreshold, getAdditionalCamerasRobustEstimationMethod, getAdditionalCamerasSkewness, getAdditionalCamerasSuggestedAspectRatioValue, getAdditionalCamerasSuggestedHorizontalFocalLengthValue, getAdditionalCamerasSuggestedPrincipalPointValue, getAdditionalCamerasSuggestedSkewnessValue, getAdditionalCamerasSuggestedVerticalFocalLengthValue, getAdditionalCamerasThreshold, getAdditionalCamerasUseFastRefinement, getAdditionalCamerasVerticalPrincipalPoint, getDaqUseHomogeneousPointTriangulator, getFundamentalMatrixComputeAndKeepInliers, getFundamentalMatrixComputeAndKeepResiduals, getFundamentalMatrixConfidence, getFundamentalMatrixMaxIterations, getFundamentalMatrixThreshold, getInitialCamerasAspectRatio, getInitialCamerasCorrectorType, getInitialCamerasEstimatorMethod, getInitialCamerasMarkValidTriangulatedPoints, getInitialIntrinsic1, getInitialIntrinsic2, getNonRobustFundamentalMatrixEstimatorMethod, getPlanarHomographyComputeAndKeepInliers, getPlanarHomographyComputeAndKeepResiduals, getPlanarHomographyConfidence, getPlanarHomographyMaxIterations, getPlanarHomographyThreshold, getPointTriangulatorConfidence, getPointTriangulatorMaxIterations, getPointTriangulatorThreshold, getPrincipalPointX, getPrincipalPointY, getRobustFundamentalMatrixEstimatorMethod, getRobustPlanarHomographyEstimatorMethod, getRobustPointTriangulatorMethod, getUseDAQForAdditionalCamerasIntrinsics, getUseDIACForAdditionalCamerasIntrinsics, getUseEPnPForAdditionalCamerasEstimation, getUseUPnPForAdditionalCamerasEstimation, isAdditionalCamerasCovarianceKept, isAdditionalCamerasSuggestAspectRatioEnabled, isAdditionalCamerasSuggestHorizontalFocalLengthEnabled, isAdditionalCamerasSuggestPrincipalPointEnabled, isAdditionalCamerasSuggestSkewnessValueEnabled, isAdditionalCamerasSuggestVerticalFocalLengthEnabled, isFundamentalMatrixCovarianceKept, isFundamentalMatrixRefined, isGeneralSceneAllowed, isHomogeneousPointTriangulatorUsed, isPlanarHomographyCovarianceKept, isPlanarHomographyRefined, isPlanarSceneAllowed, setAdditionalCamerasAllowNullspaceDimension2, setAdditionalCamerasAllowNullspaceDimension3, setAdditionalCamerasAllowPlanarConfiguration, setAdditionalCamerasAspectRatio, setAdditionalCamerasComputeAndKeepInliers, setAdditionalCamerasComputeAndKeepResiduals, setAdditionalCamerasConfidence, setAdditionalCamerasCovarianceKept, setAdditionalCamerasHorizontalPrincipalPoint, setAdditionalCamerasIntrinsics, setAdditionalCamerasMaxIterations, setAdditionalCamerasPlanarThreshold, setAdditionalCamerasRefined, setAdditionalCamerasRobustEstimationMethod, setAdditionalCamerasSkewness, setAdditionalCamerasSuggestAspectRatioEnabled, setAdditionalCamerasSuggestedAspectRatioValue, setAdditionalCamerasSuggestedHorizontalFocalLengthValue, setAdditionalCamerasSuggestedPrincipalPointValue, setAdditionalCamerasSuggestedSkewnessValue, setAdditionalCamerasSuggestedVerticalFocalLengthValue, setAdditionalCamerasSuggestHorizontalFocalLengthEnabled, setAdditionalCamerasSuggestPrincipalPointEnabled, setAdditionalCamerasSuggestSkewnessValueEnabled, setAdditionalCamerasSuggestVerticalFocalLengthEnabled, setAdditionalCamerasThreshold, setAdditionalCamerasUseFastRefinement, setAdditionalCamerasVerticalPrincipalPoint, setDaqUseHomogeneousPointTriangulator, setFundamentalMatrixComputeAndKeepInliers, setFundamentalMatrixComputeAndKeepResiduals, setFundamentalMatrixConfidence, setFundamentalMatrixCovarianceKept, setFundamentalMatrixMaxIterations, setFundamentalMatrixRefined, setFundamentalMatrixThreshold, setGeneralSceneAllowed, setHomogeneousPointTriangulatorUsed, setInitialCamerasAspectRatio, setInitialCamerasCorrectorType, setInitialCamerasEstimatorMethod, setInitialCamerasMarkValidTriangulatedPoints, setInitialIntrinsic1, setInitialIntrinsic2, setNonRobustFundamentalMatrixEstimatorMethod, setPlanarHomographyComputeAndKeepInliers, setPlanarHomographyComputeAndKeepResiduals, setPlanarHomographyConfidence, setPlanarHomographyCovarianceKept, setPlanarHomographyMaxIterations, setPlanarHomographyRefined, setPlanarHomographyThreshold, setPlanarSceneAllowed, setPointTriangulatorConfidence, setPointTriangulatorMaxIterations, setPointTriangulatorThreshold, setPrincipalPointX, setPrincipalPointY, setRobustFundamentalMatrixEstimatorMethod, setRobustPlanarHomographyEstimatorMethod, setRobustPointTriangulatorMethod, setUseDAQForAdditionalCamerasIntrinics, setUseDIACForAdditionalCamerasIntrinsics, setUseEPnPForAdditionalCamerasEstimation, setUseUPnPForAdditionalCamerasEstimation

Methods inherited from class java.lang.Object

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

Constructor Details

ConstantVelocityModelSlamSparseReconstructorConfiguration

public ConstantVelocityModelSlamSparseReconstructorConfiguration()

Method Details

make

public static ConstantVelocityModelSlamSparseReconstructorConfiguration make()

Creates an instance of a multiple views sparse re-constructor configuration with constant velocity model in slam estimation.

Returns:

configuration instance.