BaseSlamSparseReconstructor.java
/*
* Copyright (C) 2017 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.ar.sfm;
import com.irurueta.ar.slam.BaseCalibrationData;
import com.irurueta.ar.slam.BaseSlamEstimator;
import com.irurueta.geometry.GeometryException;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.MetricTransformation3D;
import com.irurueta.geometry.PinholeCamera;
import com.irurueta.geometry.PinholeCameraIntrinsicParameters;
import com.irurueta.geometry.Point3D;
import com.irurueta.geometry.Quaternion;
import java.util.ArrayList;
/**
* Base class in charge of estimating cameras and 3D reconstructed points from sparse
* image point correspondences in multiple views and also in charge of estimating overall
* scene scale by means of SLAM (Simultaneous Location And Mapping) using data obtained
* from sensors like accelerometers or gyroscopes.
*
* @param <D> type defining calibration data.
* @param <C> type of configuration.
* @param <R> type of re-constructor.
* @param <L> type of listener.
* @param <S> type of SLAM estimator.
*/
@SuppressWarnings("DuplicatedCode")
public abstract class BaseSlamSparseReconstructor<
D extends BaseCalibrationData,
C extends BaseSlamSparseReconstructorConfiguration<D, C>,
R extends BaseSlamSparseReconstructor<D, C, R, L, S>,
L extends BaseSlamSparseReconstructorListener<R>,
S extends BaseSlamEstimator<D>> extends BaseSparseReconstructor<C, R, L> {
/**
* Slam estimator to estimate position, speed, orientation using
* accelerometer and gyroscope data.
*/
protected S slamEstimator;
/**
* Position estimated by means of SLAM. It is reused each time it is notified.
*/
protected final InhomogeneousPoint3D slamPosition = new InhomogeneousPoint3D();
/**
* Camera estimated by means of SLAM. It is reused each time it is notified.
*/
private final PinholeCamera slamCamera = new PinholeCamera();
/**
* Camera rotation estimated by means of SLAM. It is reused each time it is notified.
*/
private final Quaternion slamRotation = new Quaternion();
/**
* Constructor.
*
* @param configuration configuration for this re-constructor.
* @param listener listener in charge of handling events.
* @throws NullPointerException if listener or configuration is not
* provided.
*/
protected BaseSlamSparseReconstructor(final C configuration, final L listener) {
super(configuration, listener);
}
/**
* Provides a new accelerometer sample to update SLAM estimation.
* This method must be called whenever the accelerometer sensor receives new
* data.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of accelerometer sample since epoch time and
* expressed in nanoseconds.
* @param accelerationX linear acceleration along x-axis expressed in meters
* per squared second (m/s^2).
* @param accelerationY linear acceleration along y-axis expressed in meters
* per squared second (m/s^2).
* @param accelerationZ linear acceleration along z-axis expressed in meters
* per squared second (m/s^2).
*/
public void updateAccelerometerSample(final long timestamp, final float accelerationX, final float accelerationY,
final float accelerationZ) {
if (slamEstimator != null) {
slamEstimator.updateAccelerometerSample(timestamp, accelerationX, accelerationY, accelerationZ);
}
}
/**
* Provides a new accelerometer sample to update SLAM estimation.
* This method must be called whenever the accelerometer sensor receives new
* data.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of accelerometer sample since epoch time and
* expressed in nanoseconds.
* @param data array containing x,y,z components of linear acceleration
* expressed in meters per squared second (m/s^2).
* @throws IllegalArgumentException if provided array does not have length
* 3.
*/
public void updateAccelerometerSample(final long timestamp, final float[] data) {
if (slamEstimator != null) {
slamEstimator.updateAccelerometerSample(timestamp, data);
}
}
/**
* Provides a new gyroscope sample to update SLAM estimation.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of gyroscope sample since epoch time and
* expressed in nanoseconds.
* @param angularSpeedX angular speed of rotation along x-axis expressed in
* radians per second (rad/s).
* @param angularSpeedY angular speed of rotation along y-axis expressed in
* radians per second (rad/s).
* @param angularSpeedZ angular speed of rotation along z-axis expressed in
* radians per second (rad/s).
*/
public void updateGyroscopeSample(final long timestamp, final float angularSpeedX,
final float angularSpeedY, final float angularSpeedZ) {
if (slamEstimator != null) {
slamEstimator.updateGyroscopeSample(timestamp, angularSpeedX, angularSpeedY, angularSpeedZ);
}
}
/**
* Provides a new gyroscope sample to update SLAM estimation.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of gyroscope sample since epoch time and
* expressed in nanoseconds.
* @param data angular speed of rotation along x,y,z axes expressed in
* radians per second (rad/s).
* @throws IllegalArgumentException if provided array does not have length
* 3.
*/
public void updateGyroscopeSample(final long timestamp, final float[] data) {
if (slamEstimator != null) {
slamEstimator.updateGyroscopeSample(timestamp, data);
}
}
/**
* Configures calibration data on SLAM estimator if available.
*/
protected void setUpCalibrationData() {
final var calibrationData = configuration.getCalibrationData();
if (calibrationData != null) {
slamEstimator.setCalibrationData(calibrationData);
}
}
/**
* Configures listener of SLAM estimator
*/
protected void setUpSlamEstimatorListener() {
slamEstimator.setListener(new BaseSlamEstimator.BaseSlamEstimatorListener<>() {
@Override
public void onFullSampleReceived(final BaseSlamEstimator<D> estimator) {
// not used
}
@Override
public void onFullSampleProcessed(final BaseSlamEstimator<D> estimator) {
notifySlamStateAndCamera();
}
@Override
public void onCorrectWithPositionMeasure(final BaseSlamEstimator<D> estimator) {
// not used
}
@Override
public void onCorrectedWithPositionMeasure(final BaseSlamEstimator<D> estimator) {
notifySlamStateAndCamera();
}
private void notifySlamStateAndCamera() {
notifySlamStateIfNeeded();
notifySlamCameraIfNeeded();
}
});
}
/**
* Update scene scale using SLAM data.
*
* @param isInitialPairOfViews true if initial pair of views is being processed, false otherwise.
* @return true if scale was successfully updated, false otherwise.
*/
protected boolean updateScale(final boolean isInitialPairOfViews) {
try {
var metricCamera1 = previousMetricEstimatedCamera.getCamera();
var metricCamera2 = currentMetricEstimatedCamera.getCamera();
double slamPosX;
double slamPosY;
double slamPosZ;
double scale;
if (isInitialPairOfViews) {
// obtain baseline (camera separation from slam estimator data
slamPosX = slamEstimator.getStatePositionX();
slamPosY = slamEstimator.getStatePositionY();
slamPosZ = slamEstimator.getStatePositionZ();
slamPosition.setInhomogeneousCoordinates(slamPosX, slamPosY, slamPosZ);
if (!metricCamera1.isCameraCenterAvailable()) {
metricCamera1.decompose(false, true);
}
if (!metricCamera2.isCameraCenterAvailable()) {
metricCamera2.decompose(false, true);
}
final var center1 = metricCamera1.getCameraCenter();
final var center2 = metricCamera2.getCameraCenter();
final var baseline = center1.distanceTo(slamPosition);
final var estimatedBaseline = center1.distanceTo(center2);
scale = currentScale = baseline / estimatedBaseline;
} else {
scale = currentScale;
}
final var scaleTransformation = new MetricTransformation3D(scale);
// update scale of cameras
final var euclideanCamera1 = scaleTransformation.transformAndReturnNew(metricCamera1);
final var euclideanCamera2 = scaleTransformation.transformAndReturnNew(metricCamera2);
if (!euclideanCamera2.isCameraCenterAvailable()) {
euclideanCamera2.decompose(false, true);
}
slamEstimator.correctWithPositionMeasure(euclideanCamera2.getCameraCenter(),
configuration.getCameraPositionCovariance());
if (!isInitialPairOfViews) {
slamPosX = slamEstimator.getStatePositionX();
slamPosY = slamEstimator.getStatePositionY();
slamPosZ = slamEstimator.getStatePositionZ();
slamPosition.setInhomogeneousCoordinates(slamPosX, slamPosY, slamPosZ);
// adjust scale of current camera
final var euclideanCenter2 = euclideanCamera2.getCameraCenter();
final var euclideanPosX = euclideanCenter2.getInhomX();
final var euclideanPosY = euclideanCenter2.getInhomY();
final var euclideanPosZ = euclideanCenter2.getInhomZ();
final var scaleVariationX = euclideanPosX / slamPosX;
final var scaleVariationY = euclideanPosY / slamPosY;
final var scaleVariationZ = euclideanPosZ / slamPosZ;
final var scaleVariation = (scaleVariationX + scaleVariationY + scaleVariationZ) / 3.0;
scale *= scaleVariation;
currentScale = scale;
scaleTransformation.setScale(currentScale);
// update camera
scaleTransformation.transform(metricCamera2, euclideanCamera2);
}
final var sqrScale = scale * scale;
previousEuclideanEstimatedCamera = new EstimatedCamera();
previousEuclideanEstimatedCamera.setCamera(euclideanCamera1);
previousEuclideanEstimatedCamera.setViewId(previousMetricEstimatedCamera.getViewId());
previousEuclideanEstimatedCamera.setQualityScore(previousMetricEstimatedCamera.getQualityScore());
if (previousMetricEstimatedCamera.getCovariance() != null) {
previousEuclideanEstimatedCamera.setCovariance(
previousMetricEstimatedCamera.getCovariance().multiplyByScalarAndReturnNew(sqrScale));
}
currentEuclideanEstimatedCamera = new EstimatedCamera();
currentEuclideanEstimatedCamera.setCamera(euclideanCamera2);
currentEuclideanEstimatedCamera.setViewId(currentMetricEstimatedCamera.getViewId());
currentEuclideanEstimatedCamera.setQualityScore(currentMetricEstimatedCamera.getQualityScore());
if (currentMetricEstimatedCamera.getCovariance() != null) {
currentEuclideanEstimatedCamera.setCovariance(
currentMetricEstimatedCamera.getCovariance().multiplyByScalarAndReturnNew(sqrScale));
}
// update scale of reconstructed points
final var numPoints = activeMetricReconstructedPoints.size();
final var metricReconstructedPoints3D = new ArrayList<Point3D>();
for (final var reconstructedPoint : activeMetricReconstructedPoints) {
metricReconstructedPoints3D.add(reconstructedPoint.getPoint());
}
final var euclideanReconstructedPoints3D = scaleTransformation.transformPointsAndReturnNew(
metricReconstructedPoints3D);
// set scaled points into result
activeEuclideanReconstructedPoints = new ArrayList<>();
ReconstructedPoint3D euclideanPoint;
ReconstructedPoint3D metricPoint;
for (var i = 0; i < numPoints; i++) {
metricPoint = activeMetricReconstructedPoints.get(i);
euclideanPoint = new ReconstructedPoint3D();
euclideanPoint.setId(metricPoint.getId());
euclideanPoint.setPoint(euclideanReconstructedPoints3D.get(i));
euclideanPoint.setInlier(metricPoint.isInlier());
euclideanPoint.setQualityScore(metricPoint.getQualityScore());
if (metricPoint.getCovariance() != null) {
euclideanPoint.setCovariance(metricPoint.getCovariance().multiplyByScalarAndReturnNew(sqrScale));
}
euclideanPoint.setColorData(metricPoint.getColorData());
activeEuclideanReconstructedPoints.add(euclideanPoint);
}
return true;
} catch (final Exception e) {
failed = true;
//noinspection unchecked
listener.onFail((R) this);
return false;
}
}
/**
* Notifies SLAM state if notification is enabled at configuration time.
*/
private void notifySlamStateIfNeeded() {
if (!configuration.isNotifyAvailableSlamDataEnabled()) {
return;
}
final var positionX = slamEstimator.getStatePositionX();
final var positionY = slamEstimator.getStatePositionY();
final var positionZ = slamEstimator.getStatePositionZ();
final var velocityX = slamEstimator.getStateVelocityX();
final var velocityY = slamEstimator.getStateVelocityY();
final var velocityZ = slamEstimator.getStateVelocityZ();
final var accelerationX = slamEstimator.getStateAccelerationX();
final var accelerationY = slamEstimator.getStateAccelerationY();
final var accelerationZ = slamEstimator.getStateAccelerationZ();
final var quaternionA = slamEstimator.getStateQuaternionA();
final var quaternionB = slamEstimator.getStateQuaternionB();
final var quaternionC = slamEstimator.getStateQuaternionC();
final var quaternionD = slamEstimator.getStateQuaternionD();
final var angularSpeedX = slamEstimator.getStateAngularSpeedX();
final var angularSpeedY = slamEstimator.getStateAngularSpeedY();
final var angularSpeedZ = slamEstimator.getStateAngularSpeedZ();
//noinspection unchecked
listener.onSlamDataAvailable((R) this, positionX, positionY, positionZ,
velocityX, velocityY, velocityZ,
accelerationX, accelerationY, accelerationZ,
quaternionA, quaternionB, quaternionC, quaternionD,
angularSpeedX, angularSpeedY, angularSpeedZ, slamEstimator.getStateCovariance());
}
/**
* Notifies estimated camera by means of SLAM if notification is enabled at
* configuration time and intrinsics are already available.
*/
private void notifySlamCameraIfNeeded() {
if (!configuration.isNotifyEstimatedSlamCameraEnabled()) {
return;
}
// try with current camera
var camera = currentEuclideanEstimatedCamera != null ? currentEuclideanEstimatedCamera.getCamera() : null;
if (camera == null) {
// if not available try with previous camera
camera = previousEuclideanEstimatedCamera != null ? previousEuclideanEstimatedCamera.getCamera() : null;
}
try {
PinholeCameraIntrinsicParameters intrinsicParameters = null;
if (camera != null) {
if (!camera.areIntrinsicParametersAvailable()) {
// decompose camera to obtain intrinsic parameters
camera.decompose();
}
intrinsicParameters = camera.getIntrinsicParameters();
} else if (configuration.getInitialIntrinsic1() != null) {
intrinsicParameters = configuration.getInitialIntrinsic1();
} else if (configuration.getInitialIntrinsic2() != null) {
intrinsicParameters = configuration.getInitialIntrinsic2();
} else if (configuration.getAdditionalCamerasIntrinsics() != null) {
intrinsicParameters = configuration.getAdditionalCamerasIntrinsics();
}
if (intrinsicParameters == null) {
return;
}
final var positionX = slamEstimator.getStatePositionX();
final var positionY = slamEstimator.getStatePositionY();
final var positionZ = slamEstimator.getStatePositionZ();
slamPosition.setInhomogeneousCoordinates(positionX, positionY, positionZ);
final var quaternionA = slamEstimator.getStateQuaternionA();
final var quaternionB = slamEstimator.getStateQuaternionB();
final var quaternionC = slamEstimator.getStateQuaternionC();
final var quaternionD = slamEstimator.getStateQuaternionD();
slamRotation.setA(quaternionA);
slamRotation.setB(quaternionB);
slamRotation.setC(quaternionC);
slamRotation.setD(quaternionD);
slamCamera.setIntrinsicAndExtrinsicParameters(intrinsicParameters, slamRotation, slamPosition);
//noinspection unchecked
listener.onSlamCameraEstimated((R) this, slamCamera);
} catch (final GeometryException ignore) {
// do nothing
}
}
}