Package com.irurueta.ar.sfm

Class KnownBaselineSparseReconstructorConfiguration

java.lang.Object

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

com.irurueta.ar.sfm.KnownBaselineSparseReconstructorConfiguration

All Implemented Interfaces:

Serializable

public class KnownBaselineSparseReconstructorConfiguration
extends BaseSparseReconstructorConfiguration<KnownBaselineSparseReconstructorConfiguration>
implements Serializable

Contains configuration for a multiple view sparse re-constructor assuming that the initial baseline (separation between initial cameras) is known.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
private double	baseline	Camera baseline (expressed in a unit of distance such as meters).
static final double	DEFAULT_BASELINE	Default camera baseline (expressed in a unit of distance such as meters).

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
KnownBaselineSparseReconstructorConfiguration()

Method Summary

Modifier and Type	Method	Description
double	getBaseline()	Gets camera baseline (expressed in a unit of distance such as meters).
static KnownBaselineSparseReconstructorConfiguration	make()	Creates an instance of a multiple view sparse re-constructor configuration with known camera baseline.
KnownBaselineSparseReconstructorConfiguration	setBaseline(double baseline)	Sets camera baseline (expressed in a unit of distance such as meters).

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

Field Details

DEFAULT_BASELINE

public static final double DEFAULT_BASELINE

Default camera baseline (expressed in a unit of distance such as meters). Methods such as DIAC or Essential assume that the camera baseline is 1.0, which yields a reconstruction up to scale, unless the real baseline is provided.

See Also:

• Constant Field Values

baseline

private double baseline

Camera baseline (expressed in a unit of distance such as meters). Contains the real separation between camera centers so that the real scale of cameras and reconstructed points can be retrieved.

Constructor Details

KnownBaselineSparseReconstructorConfiguration

public KnownBaselineSparseReconstructorConfiguration()

Method Details

make

public static KnownBaselineSparseReconstructorConfiguration make()

Creates an instance of a multiple view sparse re-constructor configuration with known camera baseline.

Returns:

configuration instance.

getBaseline

public double getBaseline()

Gets camera baseline (expressed in a unit of distance such as meters). Contains the real separation between camera centers so that the real scale of cameras and reconstructed points can be retrieved.

Returns:

camera baseline.

setBaseline

public KnownBaselineSparseReconstructorConfiguration setBaseline(double baseline)

Sets camera baseline (expressed in a unit of distance such as meters). Contains the real separation between camera centers so that the real scale of cameras and reconstructed points can be retrieved.

Parameters:

baseline - camera baseline.

Returns:

this instance so that methods can be easily chained.