Package com.irurueta.ar.slam

Class ConstantVelocityModelSlamCalibrator

java.lang.Object

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

com.irurueta.ar.slam.ConstantVelocityModelSlamCalibrator

public class ConstantVelocityModelSlamCalibrator
extends BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData>

Processes data to estimate calibration for constant velocity model SLAM estimator. This class must be used while gathering data for a system being kept constant (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 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 long	lastTimestampNanos	Last timestamp of a full sample expressed in nanoseconds since the epoch time.

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
ConstantVelocityModelSlamCalibrator()	Constructor.

Method Summary

Modifier and Type	Method	Description
ConstantVelocityModelSlamCalibrationData	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.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, getMostRecentTimestampNanos, getSampleCount, getSampleLength, isAccelerometerSampleReceived, isAccumulationEnabled, isConverged, isFailed, isFinished, isFullSampleAvailable, isGyroscopeSampleReceived, notifyFullSampleAndResetSampleReceive, 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

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.

Constructor Details

ConstantVelocityModelSlamCalibrator

public ConstantVelocityModelSlamCalibrator()

Constructor.

Method Details

reset

public void reset()

Resets calibrator.

Overrides:

reset in class BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData>

getEstimatorStateLength

protected int getEstimatorStateLength()

Obtains the number of state parameters in associated SLAM estimator.

Specified by:

getEstimatorStateLength in class BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData>

Returns:

number of state parameters.

getCalibrationData

public ConstantVelocityModelSlamCalibrationData getCalibrationData()

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

Specified by:

getCalibrationData in class BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData>

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<ConstantVelocityModelSlamCalibrationData>