Package com.irurueta.ar.sfm

Class SlamPairedViewsSparseReconstructor

java.lang.Object

com.irurueta.ar.sfm.BasePairedViewsSparseReconstructor<C,R,L>

com.irurueta.ar.sfm.BaseSlamPairedViewsSparseReconstructor<SlamCalibrationData,SlamPairedViewsSparseReconstructorConfiguration,SlamPairedViewsSparseReconstructor,SlamPairedViewsSparseReconstructorListener,SlamEstimator>

com.irurueta.ar.sfm.SlamPairedViewsSparseReconstructor

public class SlamPairedViewsSparseReconstructor
extends BaseSlamPairedViewsSparseReconstructor<SlamCalibrationData,SlamPairedViewsSparseReconstructorConfiguration,SlamPairedViewsSparseReconstructor,SlamPairedViewsSparseReconstructorListener,SlamEstimator>

Estimates pairs of cameras and 3D reconstructed points from sparse image point correspondences in multiple view pairs and using SLAM (with accelerometer and gyroscope data) for overall scale estimation.

Field Summary

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

slamEstimator

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

configuration, currentEuclideanEstimatedCamera, currentMetricEstimatedCamera, currentScale, currentViewId, DEFAULT_SCALE, euclideanReconstructedPoints, failed, lastEuclideanCameraCenter, lastEuclideanCameraRotation, listener, metricReconstructedPoints, MIN_NUMBER_OF_VIEWS, previousEuclideanEstimatedCamera, previousMetricEstimatedCamera, previousViewId, referenceEuclideanTransformation, running

Constructor Summary

Constructors

Constructor	Description
SlamPairedViewsSparseReconstructor(SlamPairedViewsSparseReconstructorConfiguration configuration, SlamPairedViewsSparseReconstructorListener listener)	Constructor.
SlamPairedViewsSparseReconstructor(SlamPairedViewsSparseReconstructorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	processOneViewPair()	Process one view of all the available data during the reconstruction.

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

hasAbsoluteOrientation, reset, setUpCalibrationData, setUpSlamEstimatorListener, transformPairOfCamerasAndPoints, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample

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

cancel, getConfiguration, getCurrentEstimatedFundamentalMatrix, getCurrentEuclideanEstimatedCamera, getCurrentMetricEstimatedCamera, getCurrentScale, getCurrentViewSamples, getEuclideanReconstructedPoints, getListener, getMetricReconstructedPoints, getPreviousEuclideanEstimatedCamera, getPreviousMetricEstimatedCamera, getPreviousViewSamples, getViewCount, hasFailed, isAdditionalViewPair, isCancelled, isFinished, isFirstViewPair, isRunning, start

Methods inherited from class java.lang.Object

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

Constructor Details

SlamPairedViewsSparseReconstructor

public SlamPairedViewsSparseReconstructor(SlamPairedViewsSparseReconstructorConfiguration configuration,
 SlamPairedViewsSparseReconstructorListener 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.

SlamPairedViewsSparseReconstructor

public SlamPairedViewsSparseReconstructor(SlamPairedViewsSparseReconstructorListener listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

Throws:

NullPointerException - if listener or configuration is not provided.

Method Details

processOneViewPair

public boolean processOneViewPair()

Process one view of all the available data during the reconstruction. This method can be called multiple times instead of BasePairedViewsSparseReconstructor.start() to build the reconstruction step by step, one view at a time.

Overrides:

processOneViewPair in class BasePairedViewsSparseReconstructor<SlamPairedViewsSparseReconstructorConfiguration,SlamPairedViewsSparseReconstructor,SlamPairedViewsSparseReconstructorListener>

Returns:

true if more views can be processed, false when reconstruction has finished.