Package com.irurueta.ar.slam

Class AbsoluteOrientationSlamCalibrator

java.lang.Object

com.irurueta.ar.slam.BaseSlamCalibrator<D>

com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>

com.irurueta.ar.slam.AbsoluteOrientationSlamCalibrator

public class AbsoluteOrientationSlamCalibrator
extends AbsoluteOrientationBaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>

Processes data to estimate calibration for absolute orientation SLAM estimator. This class must be used while gathering data for a system being kept constant (under no motion).

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

BaseSlamCalibrator.BaseSlamCalibratorListener<D extends BaseCalibrationData>

Field Summary

Fields

Modifier and Type	Field	Description
private final com.irurueta.geometry.Quaternion	deltaOrientation	Variation of orientation respect to last sample.
private double	lastAccelerationX	Last sample of linear acceleration along x-axis.
private double	lastAccelerationY	Last sample of linear acceleration along y-axis.
private double	lastAccelerationZ	Last sample of linear acceleration along z-axis.
private double	lastAngularSpeedX	Last sample of angular speed along x-axis.
private double	lastAngularSpeedY	Last sample of angular speed along y-axis.
private double	lastAngularSpeedZ	Last sample of angular speed along z-axis.
private com.irurueta.geometry.Quaternion	lastOrientation	Last sample of absolute orientation.
private long	lastTimestampNanos	Last timestamp of a full sample expressed in nanoseconds since the epoch time.

Fields inherited from class com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator

accumulatedOrientation, accumulatedOrientationSamples, orientationTimestampNanos

Fields inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

accelerometerTimestampNanos, accumulatedAccelerationSampleX, accumulatedAccelerationSampleY, accumulatedAccelerationSampleZ, accumulatedAccelerometerSamples, accumulatedAngularSpeedSampleX, accumulatedAngularSpeedSampleY, accumulatedAngularSpeedSampleZ, accumulatedGyroscopeSamples, accumulationEnabled, converged, convergenceThreshold, covDiff, DEFAULT_CONVERGENCE_THRESHOLD, DEFAULT_ENABLE_SAMPLE_ACCUMULATION, DEFAULT_MAX_NUM_SAMPLES, DEFAULT_MIN_NUM_SAMPLES, estimator, failed, finished, gyroscopeTimestampNanos, listener, maxNumSamples, meanDiff, MIN_SAMPLE_LENGTH, minNumSamples, N_COMPONENTS_3D, NANOS_TO_SECONDS, previousCovariance, previousMean, sample, sampleCount

Constructor Summary

Constructors

Constructor	Description
AbsoluteOrientationSlamCalibrator()	Constructor.

Method Summary

Modifier and Type	Method	Description
AbsoluteOrientationSlamCalibrationData	getCalibrationData()	Gets a new instance containing calibration data estimated by this calibrator.
protected int	getEstimatorStateLength()	Obtains the number of state parameters in associated SLAM estimator.
protected void	processFullSample()	Processes a full sample of accelerometer and gyroscope data to compute statistics such as mean and covariance of variations.
void	reset()	Resets calibrator.

Methods inherited from class com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator

getAccumulatedOrientation, getAccumulatedOrientation, getAccumulatedOrientationSamples, getMostRecentTimestampNanos, getOrientationTimestampNanos, isFullSampleAvailable, isOrientationSampleReceived, notifyFullSampleAndResetSampleReceive, updateOrientationSample

Methods inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

getAccelerometerTimestampNanos, getAccumulatedAccelerationSample, getAccumulatedAccelerationSample, getAccumulatedAccelerationSampleX, getAccumulatedAccelerationSampleY, getAccumulatedAccelerationSampleZ, getAccumulatedAccelerometerSamples, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSampleX, getAccumulatedAngularSpeedSampleY, getAccumulatedAngularSpeedSampleZ, getAccumulatedGyroscopeSamples, getCalibrationData, getControlCovariance, getControlCovariance, getControlDistribution, getControlDistribution, getControlMean, getControlMean, getConvergenceThreshold, getGyroscopeTimestampNanos, getListener, getMaxNumSamples, getMinNumSamples, getSampleCount, getSampleLength, isAccelerometerSampleReceived, isAccumulationEnabled, isConverged, isFailed, isFinished, isGyroscopeSampleReceived, propagateWithControlJacobian, propagateWithControlJacobian, setAccumulationEnabled, setConvergenceThreshold, setListener, setMaxNumSamples, setMinNumSamples, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample, updateSample

Methods inherited from class java.lang.Object

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

Field Details

lastAccelerationX

private double lastAccelerationX

Last sample of linear acceleration along x-axis.

lastAccelerationY

private double lastAccelerationY

Last sample of linear acceleration along y-axis.

lastAccelerationZ

private double lastAccelerationZ

Last sample of linear acceleration along z-axis.

lastAngularSpeedX

private double lastAngularSpeedX

Last sample of angular speed along x-axis.

lastAngularSpeedY

private double lastAngularSpeedY

Last sample of angular speed along y-axis.

lastAngularSpeedZ

private double lastAngularSpeedZ

Last sample of angular speed along z-axis.

lastTimestampNanos

private long lastTimestampNanos

Last timestamp of a full sample expressed in nanoseconds since the epoch time.

lastOrientation

private com.irurueta.geometry.Quaternion lastOrientation

Last sample of absolute orientation.

deltaOrientation

private final com.irurueta.geometry.Quaternion deltaOrientation

Variation of orientation respect to last sample.

Constructor Details

AbsoluteOrientationSlamCalibrator

public AbsoluteOrientationSlamCalibrator()

Constructor.

Method Details

reset

public void reset()

Resets calibrator.

Overrides:

reset in class BaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>

getEstimatorStateLength

protected int getEstimatorStateLength()

Obtains the number of state parameters in associated SLAM estimator.

Specified by:

getEstimatorStateLength in class BaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>

Returns:

number of state parameters.

getCalibrationData

public AbsoluteOrientationSlamCalibrationData getCalibrationData()

Gets a new instance containing calibration data estimated by this calibrator.

Specified by:

getCalibrationData in class BaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>

Returns:

a new calibration data instance.

processFullSample

protected void processFullSample()

Processes a full sample of accelerometer and gyroscope data to compute statistics such as mean and covariance of variations.

Specified by:

processFullSample in class BaseSlamCalibrator<AbsoluteOrientationSlamCalibrationData>