Package com.irurueta.ar.sfm

Class KnownBaselineTwoViewsSparseReconstructorConfiguration

java.lang.Object

com.irurueta.ar.sfm.BaseTwoViewsSparseReconstructorConfiguration<KnownBaselineTwoViewsSparseReconstructorConfiguration>

com.irurueta.ar.sfm.KnownBaselineTwoViewsSparseReconstructorConfiguration

All Implemented Interfaces:

Serializable

public class KnownBaselineTwoViewsSparseReconstructorConfiguration
extends BaseTwoViewsSparseReconstructorConfiguration<KnownBaselineTwoViewsSparseReconstructorConfiguration>
implements Serializable

Contains configuration for a two view sparse re-constructor assuming that the baseline (separation between 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.BaseTwoViewsSparseReconstructorConfiguration

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_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_REFINE_FUNDAMENTAL_MATRIX, DEFAULT_REFINE_PLANAR_HOMOGRAPHY, DEFAULT_ROBUST_FUNDAMENTAL_MATRIX_ESTIMATOR_METHOD, DEFAULT_ROBUST_PLANAR_HOMOGRAPHY_ESTIMATOR_METHOD

Constructor Summary

Constructors

Constructor	Description
KnownBaselineTwoViewsSparseReconstructorConfiguration()

Method Summary

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

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

getDaqUseHomogeneousPointTriangulator, getFundamentalMatrixComputeAndKeepInliers, getFundamentalMatrixComputeAndKeepResiduals, getFundamentalMatrixConfidence, getFundamentalMatrixMaxIterations, getFundamentalMatrixThreshold, getInitialCamerasAspectRatio, getInitialCamerasCorrectorType, getInitialCamerasEstimatorMethod, getInitialCamerasMarkValidTriangulatedPoints, getInitialIntrinsic1, getInitialIntrinsic2, getNonRobustFundamentalMatrixEstimatorMethod, getPlanarHomographyComputeAndKeepInliers, getPlanarHomographyComputeAndKeepResiduals, getPlanarHomographyConfidence, getPlanarHomographyMaxIterations, getPlanarHomographyThreshold, getPrincipalPointX, getPrincipalPointY, getRobustFundamentalMatrixEstimatorMethod, getRobustPlanarHomographyEstimatorMethod, isFundamentalMatrixCovarianceKept, isFundamentalMatrixRefined, isGeneralSceneAllowed, isPlanarHomographyCovarianceKept, isPlanarHomographyRefined, isPlanarSceneAllowed, setDaqUseHomogeneousPointTriangulator, setFundamentalMatrixComputeAndKeepInliers, setFundamentalMatrixComputeAndKeepResiduals, setFundamentalMatrixConfidence, setFundamentalMatrixCovarianceKept, setFundamentalMatrixMaxIterations, setFundamentalMatrixRefined, setFundamentalMatrixThreshold, setGeneralSceneAllowed, setInitialCamerasAspectRatio, setInitialCamerasCorrectorType, setInitialCamerasEstimatorMethod, setInitialCamerasMarkValidTriangulatedPoints, setInitialIntrinsic1, setInitialIntrinsic2, setNonRobustFundamentalMatrixEstimatorMethod, 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_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

KnownBaselineTwoViewsSparseReconstructorConfiguration

public KnownBaselineTwoViewsSparseReconstructorConfiguration()

Method Details

make

public static KnownBaselineTwoViewsSparseReconstructorConfiguration make()

Creates an instance of a two views 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 KnownBaselineTwoViewsSparseReconstructorConfiguration 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 method can be easily chained.